开放式MRI中子宫内胎儿手术的微操纵器

K. Harada, K. Tsubouchi, T. Chiba, M. Fujie
{"title":"开放式MRI中子宫内胎儿手术的微操纵器","authors":"K. Harada, K. Tsubouchi, T. Chiba, M. Fujie","doi":"10.1109/ROBOT.2005.1570168","DOIUrl":null,"url":null,"abstract":"We propose a new surgical robotic system for intrauterine fetal surgery in an Open MRI. The target disease of the fetal surgery is spina bifida or myelomeningocele that is incomplete closure in the spinal column and one of the common fetal diseases. In the proposed surgical process, the abdominal wall and uterine wall would not widely be opened but rather surgical instruments inserted through the small holes in both walls to perform minimally invasive surgery. In this paper, a prototype of the micro manipulator of diameter is 2.4mm and bending radius 2.45 mm is presented. The diameter and bending radius of this manipulator is one of the smallest ever developed among surgical robots to the best of the knowledge of the investigating authors. The mechanism of the manipulator includes two ball joints and is driven using four wires able to bend through 90 degrees in any direction. The features of the mechanism include a small diameter, small bending radius, ease of fabrication, high rigidity and applicability for other surgical applications. Although the manipulator is not yet MRI compatible, the feature of the prototype demonstrated the feasibility of robotic intrauterine fetal surgery.","PeriodicalId":350878,"journal":{"name":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","volume":"9 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2005-04-18","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"70","resultStr":"{\"title\":\"Micro Manipulators for Intrauterine Fetal Surgery in an Open MRI\",\"authors\":\"K. Harada, K. Tsubouchi, T. Chiba, M. Fujie\",\"doi\":\"10.1109/ROBOT.2005.1570168\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We propose a new surgical robotic system for intrauterine fetal surgery in an Open MRI. The target disease of the fetal surgery is spina bifida or myelomeningocele that is incomplete closure in the spinal column and one of the common fetal diseases. In the proposed surgical process, the abdominal wall and uterine wall would not widely be opened but rather surgical instruments inserted through the small holes in both walls to perform minimally invasive surgery. In this paper, a prototype of the micro manipulator of diameter is 2.4mm and bending radius 2.45 mm is presented. The diameter and bending radius of this manipulator is one of the smallest ever developed among surgical robots to the best of the knowledge of the investigating authors. The mechanism of the manipulator includes two ball joints and is driven using four wires able to bend through 90 degrees in any direction. The features of the mechanism include a small diameter, small bending radius, ease of fabrication, high rigidity and applicability for other surgical applications. Although the manipulator is not yet MRI compatible, the feature of the prototype demonstrated the feasibility of robotic intrauterine fetal surgery.\",\"PeriodicalId\":350878,\"journal\":{\"name\":\"Proceedings of the 2005 IEEE International Conference on Robotics and Automation\",\"volume\":\"9 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"2005-04-18\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"70\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings of the 2005 IEEE International Conference on Robotics and Automation\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.2005.1570168\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings of the 2005 IEEE International Conference on Robotics and Automation","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.2005.1570168","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 70

摘要

我们提出了一个新的手术机器人系统宫内胎儿手术在开放MRI。胎儿手术的目标疾病是脊柱裂或脊髓脊膜膨出,这是脊柱的不完全闭合,是常见的胎儿疾病之一。在我们所建议的手术过程中,腹壁和子宫壁不会被广泛打开,而是通过腹壁和子宫壁的小孔插入手术器械进行微创手术。本文给出了一种直径为2.4mm、弯曲半径为2.45 mm的微机械臂样机。据调查作者所知,该机械手的直径和弯曲半径是有史以来最小的手术机器人之一。机械手的机构包括两个球关节,并使用四根能够在任何方向弯曲90度的导线驱动。该机构的特点包括直径小,弯曲半径小,易于制造,高刚性和适用于其他手术应用。虽然机械臂还不能与MRI兼容,但原型机的特点证明了机器人宫内胎儿手术的可行性。
本文章由计算机程序翻译,如有差异,请以英文原文为准。
Micro Manipulators for Intrauterine Fetal Surgery in an Open MRI
We propose a new surgical robotic system for intrauterine fetal surgery in an Open MRI. The target disease of the fetal surgery is spina bifida or myelomeningocele that is incomplete closure in the spinal column and one of the common fetal diseases. In the proposed surgical process, the abdominal wall and uterine wall would not widely be opened but rather surgical instruments inserted through the small holes in both walls to perform minimally invasive surgery. In this paper, a prototype of the micro manipulator of diameter is 2.4mm and bending radius 2.45 mm is presented. The diameter and bending radius of this manipulator is one of the smallest ever developed among surgical robots to the best of the knowledge of the investigating authors. The mechanism of the manipulator includes two ball joints and is driven using four wires able to bend through 90 degrees in any direction. The features of the mechanism include a small diameter, small bending radius, ease of fabrication, high rigidity and applicability for other surgical applications. Although the manipulator is not yet MRI compatible, the feature of the prototype demonstrated the feasibility of robotic intrauterine fetal surgery.
求助全文
通过发布文献求助,成功后即可免费获取论文全文。 去求助
来源期刊
自引率
0.00%
发文量
0
×
引用
GB/T 7714-2015
复制
MLA
复制
APA
复制
导出至
BibTeX EndNote RefMan NoteFirst NoteExpress
×
提示
您的信息不完整,为了账户安全,请先补充。
现在去补充
×
提示
您因"违规操作"
具体请查看互助需知
我知道了
×
提示
确定
请完成安全验证×
copy
已复制链接
快去分享给好友吧!
我知道了
右上角分享
点击右上角分享
0
联系我们:info@booksci.cn Book学术提供免费学术资源搜索服务,方便国内外学者检索中英文文献。致力于提供最便捷和优质的服务体验。 Copyright © 2023 布克学术 All rights reserved.
京ICP备2023020795号-1
ghs 京公网安备 11010802042870号
Book学术文献互助
Book学术文献互助群
群 号:481959085
Book学术官方微信