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JRM Vol.18 No.3 pp. 257-263
doi: 10.20965/jrm.2006.p0257
(2006)

Paper:

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:
Kanako Harada, Kentaro Iwase, Kota Tsubouchi,
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.
Data files:
References
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