Micro manipulators for intrauterine fetal surgery in an open MRI

Kanako Harada, Kota Tsubouchi, Masakatsu G. Fujie, Toshio Chiba

    研究成果: Conference contribution

    61 被引用数 (Scopus)

    抄録

    We propose a new surgical robotic system for intrauterine fetal surgery in an Open MRI. The target disease of the fetal surgery is spina bifida or myelomeningocele that is incomplete closure in the spinal column and one of the common fetal diseases. In the proposed surgical process, the abdominal wall and uterine wall would not widely be opened but rather surgical instruments inserted through the small holes in both walls to perform minimally invasive surgery. In this paper, a prototype of the micro manipulator of diameter is 2.4mm and bending radius 2.45 mm is presented. The diameter and bending radius of this manipulator is one of the smallest ever developed among surgical robots to the best of the knowledge of the investigating authors. The mechanism of the manipulator includes two ball joints and is driven using four wires able to bend through 90 degrees in any direction. The features of the mechanism include a small diameter, small bending radius, ease of fabrication, high rigidity and applicability for other surgical applications. Although the manipulator is not yet MRI compatible, the feature of the prototype demonstrated the feasibility of robotic intrauterine fetal surgery.

    本文言語English
    ホスト出版物のタイトルProceedings - IEEE International Conference on Robotics and Automation
    ページ502-507
    ページ数6
    2005
    DOI
    出版ステータスPublished - 2005
    イベント2005 IEEE International Conference on Robotics and Automation - Barcelona
    継続期間: 2005 4 182005 4 22

    Other

    Other2005 IEEE International Conference on Robotics and Automation
    CityBarcelona
    Period05/4/1805/4/22

    ASJC Scopus subject areas

    • ソフトウェア
    • 制御およびシステム工学

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