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.
Kousuke Kishi, Tetsuya Nakamura, Toshio Chiba, and
and Masakatsu G. Fujie, “Micro Manipulator and Forceps Navigation for Endoscopic Fetal Surgery,” J. Robot. Mechatron., Vol.18, No.3, pp. 257-263, 2006.
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