ICRA 2011 Paper Abstract


Paper WeA113.1

Zhang, Bo (Waseda Univ.), Kobayashi, Yo (Waseda University), Maeda, yoshinari (Waseda Univ.), Chiba, Toshio (National Center for Child Health and Development), Fujie, Masakatsu G. (Waseda University)

Development of 6-DOF Wire-Driven Robotic Manipulator for Minimally Invasive Fetal Surgery

Scheduled for presentation during the Regular Sessions "Medical Robots I" (WeA113), Wednesday, May 11, 2011, 08:20−08:35, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on July 14, 2020

Keywords Medical Robots and Systems, Mechanism Design of Manipulators, Motion Control of Manipulators


The clinical target of this study is intratracheal balloon occlusion from minimally invasive fetal surgery for Congenital Diaphragmatic Hernia (CDH). We propose a new robotic manipulator for intrauterine fetal surgery for tracheal occlusion. The target for the fetal surgery is prenatal temporary tracheal occlusion which enlarges the fetal lungs, and this procedure is promising for severe cases. In the fetal surgery, a balloon is supposed to be inserted for tracheal occlusion using the manipulator. In this study, a prototype of the robotic manipulator using a wire-driven mechanism has been developed for intratracheal balloon occlusion without damaging fetal tissue. The manipulator is thin in structure and has multiple degrees of freedom to avoid damage to the fragile cells of the fetus. In this article, 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 using driven wires for bending, and the contact force was controlled using torque control of the ball joints by the tension of the driven wires. Results of the experiment showed 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.



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