Micro Manipulator and Forceps Navigation for Endoscopic Fetal Surgery

Kanako Harada; Kentaro Iwase; Kota Tsubouchi; Kousuke Kishi; Tetsuya Nakamura; Toshio Chiba; Masakatsu G. Fujie

doi:10.20965/jrm.2006.p0257

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JRM Vol.18 No.3 pp. 257-263

doi: 10.20965/jrm.2006.p0257

(2006)

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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^*

^*Waseda University

^**Department of Strategic Medicine, National Center for Child Health and Development

^***Mechanical Engineering Research Laboratory, Hitachi, Ltd.

^****PENTAX Corporation

Received:

November 8, 2005

Accepted:

February 7, 2006

Published:

June 20, 2006

Keywords:

surgical robot, fetal surgery, safety, navigation

Abstract

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.

Cite this article as:

K. Harada, K. Iwase, K. Tsubouchi, K. Kishi, T. Nakamura, T. Chiba, and M. 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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References

[1] M. R. Harrison et al., “The Unborn Patient: The Art and Science of Fetal Therapy,” Elsevier Science Health Science div, 2001.
[2] M. R. Harrison, “The Unborn Patient: Prenatal Diagnosis and Treatment,” Elsevier Science Health Science div, 1991.
[3] E. Danzer, R. M. Sydorak, M. R. Harrison, and C. T. Albanese, “Minimal access fetal surgery,” European Journal of Obstetrics & Gynecology and Reproductive Biology, Vol.108, Issue 1, pp. 3-13, May 1, 2003.
[4] L. Y. Wee, and N. M. Fisk, “The twin-twin transfusion syndrome,” Seminars in Neonatology, Vol.7, Issue 3, pp. 187-202, June, 2002.
[5] N. Tulipan, “Intrauterine closure of myelomeningocele: an update,” Neurosurgery Focus, Vol.16, pp. 1-4, February, 2004.
[6] J. P. Bruner, N. B. Tulipan, W. O. Richards, W. F. Walsh, F. H. Boehm, and E. K. Vrabcak, “In utero Repair of Myelomeningocele: A Comparison of Endoscopy and Hysterotomy,” Fetal Diagnosis and Therapy, Vol.15, pp. 83-88, 2000.
[7] T. Chiba, M. R. Harrison, C. T. Albanese, and D. L. Farmer, “Fetal Surgery: Past, Present, and Future,” Fetal Surgery Japan Society of Prenatal and Neonatal Medicine, Vol.36, No.4, pp. 524-539, 2000.
[8] K. Cleary, and C. Nguyen, “State of the Art in Surgical Robotics: Clinical Applications and Technology Challenges,” Computer Aided Surgery, November, 2001.
[9] O. S. Aaronson, N. B. Tulipan, R. Cywes, H. W. Sundell, G. H. Davis, J. P. Bruner, and W. O. Richards, “Robot-Assisted Endoscopic Intrauterine Myelomeningocele Repair: A Feasibility Study,” Pediatric Neurosurgery, Vol.36, pp. 85-89, 2002.
[10] T. Kohl et al., “Percutaneous fetoscopic patch coverage of experimental lumbosacral full-thickness skin lesions in sheep,” Surgical Endoscopy, Vol.17, pp. 1218-1223, 2003.
[11] R. Nakamura, T. Oura, E. Kobayashi, I. Sakuma, T. Dohi, N. Yahagi, T. Tsuji, M. Shimada, and M. Hashizume, “Multi-DOF Forceps Manipulator System for Laparoscopic Surgery – Mechanism miniaturized & Evaluation of New Interface,” Proc. of Fourth International Conference on Medical Image Computing and Computer assisted Interventions (MICCAI2001), Utrecht, the Netherlands, October 14-17, 2001: pp. 606-613, 2001.
[12] K. Nishizawa, and K. Kishi, “Development of Interference-Free Wire-Driven Joint Mechanism for Surgical Manipulator Systems,” Journal of Robotics and Mechatronics, Vol.16, No.2, pp. 116-121, 2004.
[13] Y. Haga, and M. Esashi, “Biomedical Microsystems for Minimally Invasive Diagnosis and Treatment,” Proceedings of the IEEE, Vol.92, No.1, pp. 98-114, 2004.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] M. R. Harrison et al., “The Unborn Patient: The Art and Science of Fetal Therapy,” Elsevier Science Health Science div, 2001.

[2] [2] M. R. Harrison, “The Unborn Patient: Prenatal Diagnosis and Treatment,” Elsevier Science Health Science div, 1991.

[3] [3] E. Danzer, R. M. Sydorak, M. R. Harrison, and C. T. Albanese, “Minimal access fetal surgery,” European Journal of Obstetrics & Gynecology and Reproductive Biology, Vol.108, Issue 1, pp. 3-13, May 1, 2003.

[4] [4] L. Y. Wee, and N. M. Fisk, “The twin-twin transfusion syndrome,” Seminars in Neonatology, Vol.7, Issue 3, pp. 187-202, June, 2002.

[5] [5] N. Tulipan, “Intrauterine closure of myelomeningocele: an update,” Neurosurgery Focus, Vol.16, pp. 1-4, February, 2004.

[6] [6] J. P. Bruner, N. B. Tulipan, W. O. Richards, W. F. Walsh, F. H. Boehm, and E. K. Vrabcak, “In utero Repair of Myelomeningocele: A Comparison of Endoscopy and Hysterotomy,” Fetal Diagnosis and Therapy, Vol.15, pp. 83-88, 2000.

[7] [7] T. Chiba, M. R. Harrison, C. T. Albanese, and D. L. Farmer, “Fetal Surgery: Past, Present, and Future,” Fetal Surgery Japan Society of Prenatal and Neonatal Medicine, Vol.36, No.4, pp. 524-539, 2000.

[8] [8] K. Cleary, and C. Nguyen, “State of the Art in Surgical Robotics: Clinical Applications and Technology Challenges,” Computer Aided Surgery, November, 2001.

[9] [9] O. S. Aaronson, N. B. Tulipan, R. Cywes, H. W. Sundell, G. H. Davis, J. P. Bruner, and W. O. Richards, “Robot-Assisted Endoscopic Intrauterine Myelomeningocele Repair: A Feasibility Study,” Pediatric Neurosurgery, Vol.36, pp. 85-89, 2002.

[10] [10] T. Kohl et al., “Percutaneous fetoscopic patch coverage of experimental lumbosacral full-thickness skin lesions in sheep,” Surgical Endoscopy, Vol.17, pp. 1218-1223, 2003.

[11] [11] R. Nakamura, T. Oura, E. Kobayashi, I. Sakuma, T. Dohi, N. Yahagi, T. Tsuji, M. Shimada, and M. Hashizume, “Multi-DOF Forceps Manipulator System for Laparoscopic Surgery – Mechanism miniaturized & Evaluation of New Interface,” Proc. of Fourth International Conference on Medical Image Computing and Computer assisted Interventions (MICCAI2001), Utrecht, the Netherlands, October 14-17, 2001: pp. 606-613, 2001.

[12] [12] K. Nishizawa, and K. Kishi, “Development of Interference-Free Wire-Driven Joint Mechanism for Surgical Manipulator Systems,” Journal of Robotics and Mechatronics, Vol.16, No.2, pp. 116-121, 2004.

[13] [13] Y. Haga, and M. Esashi, “Biomedical Microsystems for Minimally Invasive Diagnosis and Treatment,” Proceedings of the IEEE, Vol.92, No.1, pp. 98-114, 2004.

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*

Kanako Harada^*,**, Kentaro Iwase^, Kota Tsubouchi^,
Kousuke Kishi^,, Tetsuya Nakamura^, Toshio Chiba^,
and Masakatsu G. Fujie^*