Micro Manipulator and Forceps Navigation for Endoscopic Fetal Surgery
Kanako Harada*,**, Kentaro Iwase*, Kota Tsubouchi*,
Kousuke Kishi*,***, Tetsuya Nakamura****, Toshio Chiba**,
and Masakatsu G. Fujie*
**Department of Strategic Medicine, National Center for Child Health and Development
***Mechanical Engineering Research Laboratory, Hitachi, Ltd.
In this report, we propose newly devised surgical assistance for endoscopic fetal surgery using a micro manipulator and a new forceps navigation system. For this purpose, we fabricated a prototype of a micro manipulator 2.4mm in diameter. The manipulator on which a laser fiber is mounted bends in any direction using ball joints driven by four wires. We also developed a forceps navigation system in which computer graphics can indicate forceps positions even when they stay outside the endoscopic view. This navigation is expected to make endoscopic surgery much more feasible.
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