TY - GEN
T1 - Robotic patch-stabilizer using wire driven mechanism for minimally invasive fetal surgery
AU - Zhang, Bo
AU - Kobayashi, Yo
AU - Chiba, Toshio
AU - Fujie, Masakatsu G.
PY - 2009
Y1 - 2009
N2 - 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.
AB - 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.
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U2 - 10.1109/IEMBS.2009.5334245
DO - 10.1109/IEMBS.2009.5334245
M3 - Conference contribution
C2 - 19964857
AN - SCOPUS:77950970438
SN - 9781424432967
T3 - Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009
SP - 5076
EP - 5079
BT - Proceedings of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society
PB - IEEE Computer Society
T2 - 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society: Engineering the Future of Biomedicine, EMBC 2009
Y2 - 2 September 2009 through 6 September 2009
ER -