NDLI: Development of 6-DOF wire-driven robotic manipulator for minimally invasive fetal surgery

Content Provider	IEEE Xplore Digital Library
Author	Bo Zhang Kobayashi, Y. Maeda, Y. Chiba, T. Fujie, M.G.
Copyright Year	2011
Description	Author affiliation: National Center for Child Health and Development (NCCHD), Tokyo, Japan (Chiba, T.) \|\| Faculty of Science and Engineering, and the Consolidated Research Institute for Advanced Science and Medical Care, Waseda University, Tokyo, Japan (Fujie, M.G.) \|\| Faculty of Science and Engineering, Waseda University, Japan (Kobayashi, Y.) \|\| Graduate School of Science and Engineering, Waseda University, Tokyo 169-8555, Japan (Bo Zhang; Maeda, Y.)
Abstract	The clinical target of this study is intratracheal balloon occlusion from minimally invasive fetal surgery for Congenital Diaphragmatic Hernia (CDH). The target for the surgery is prenatal temporary tracheal occlusion which enlarges the fetal lungs, and this procedure is promising for severe cases. A balloon is supposed to be inserted for tracheal occlusion using the manipulator. We propose a novel robotic manipulator for intrauterine fetal surgery for tracheal occlusion. In this study, a prototype of the robotic manipulator using a wire-driven mechanism has been developed. The manipulator is thin in structure and has multiple degrees of freedom to avoid damage to the fragile cells of the fetus. Specifically, we describe our development of the 3-unit robotic manipulator with ball joint-shaped arthroses and shaft diameter of 2.4 mm. The mechanism of the robotic manipulator was designed for providing the bending motion and controlling the contact force at its tip by the tension of the driven wires. Results of the experiment suggested that the contact force was controlled to under 0.04 N to insert the manipulator through the mouth of the fetus into the trachea without causing damage to the fetal tissues or changing the fetal attitude in the uterus.
Starting Page	2892
Ending Page	2897
File Size	676673
Page Count	6
File Format	PDF
ISBN	9781612843865
ISSN	10504729
e-ISBN	9781612843858
DOI	10.1109/ICRA.2011.5979976
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-05-09
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Manipulators Wires Force Robot sensing systems Surgery Joints
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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