The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec)
Online ISSN : 2424-3124
2009
Session ID : 1A2-L03
Conference information
1A2-L03 Development of a robotic patch-stabilizer using wire-driven for minimally invasive fetal surgery
Bo ZHANGKanako HARADAYo KOBAYASHIJun OKAMOTOToshio CHIBAShin ENOSAWAMasakatsu G. FUJIE
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CONFERENCE PROCEEDINGS FREE ACCESS

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Abstract
The clinical target of this study is intrauterine patch coverage of fetal myelomeningocele. The collagen patch is supposed to be stabilized onto the fragile fetal tissue during the laser fixation process. In this study, a patch-stabilizer using wire driven mechanism has been developed for precise force control on the patch without damaging fetal tissue. The diameter of the patch-stabilizer's shaft is 2.4[mm] and the stabilizing part holds collagen patch with diamond shape mechanism using wire driven. The patch-stabilizer is moved by the ball screw to stabilize the collagen patch and the stabilizing force is estimated with the wires tension. In this paper, the wires tension is controlled less than 0.4[N] and the stabilizing force is small enough to stabilize the collagen patch onto the fetal tissue.
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© 2009 The Japan Society of Mechanical Engineers
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