Robotic patch-stabilizer using wire driven mechanism for minimally invasive fetal surgery

Bo Zhang*, Yo Kobayashi, Toshio Chiba, Masakatsu G. Fujie

*この研究の対応する著者

研究成果: Conference contribution

9 被引用数 (Scopus)

抄録

The clinical target of this study is intrauterine patch coverage of fetal myelomeningocele. We propose a new surgical robotic system for intrauterine fetal surgery with patch-stabilizer and laser manipulator. The target disease of the fetal surgery is spina bifida or myelomeningocele, which is incomplete closure in the spinal column and one of the common fetal diseases. In the fetal surgery, the collagen patch is supposed to be stabilized onto the fragile fetal tissue during the laser fixation process. In this study, a prototype of the patch-stabilizer using wire driven mechanism has been developed for precise force control on the patch without damaging fetal tissue. The diameter of the patch-stabilizer's shaft is 2.4 mm. The patch-stabilizer including one ball joint and wire driven mechanism is able to bend through 40 degrees. The stabilizing part holds collagen patch with diamond shape mechanism using wire driven. In this paper, we showed that the patch-stabilizer is developed with the stabilizing force control using the tension control of wires. Results of the experiment showed that the tension of driven wires was controlled at 0.3 N to stabilize the collagen patch onto the lesion surface without the damages of fetal tissues and the influence by the amnion liquid.

本文言語English
ホスト出版物のタイトルProceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society
ホスト出版物のサブタイトルEngineering the Future of Biomedicine, EMBC 2009
出版社IEEE Computer Society
ページ5076-5079
ページ数4
ISBN(印刷版)9781424432967
DOI
出版ステータスPublished - 2009
イベント31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009 - Minneapolis, MN, United States
継続期間: 2009 9 22009 9 6

出版物シリーズ

名前Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009

Conference

Conference31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009
国/地域United States
CityMinneapolis, MN
Period09/9/209/9/6

ASJC Scopus subject areas

  • 細胞生物学
  • 発生生物学
  • 生体医工学
  • 医学(全般)

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