Bending Laser Manipulator for Intrauterine Surgery and Viscoelastic Model of Fetal Rat Tissue

Author

Harada, Kanako ; Bo, Zhang ; Enosawa, Shin ; Chiba, Toshio ; Fujie, Masakatsu G.

Author_Institution

Waseda Univ., Tokyo

fYear

2007

fDate

10-14 April 2007

Firstpage

611

Lastpage

616

Abstract

A bending laser manipulator of 2.4 mm in diameter has been developed for intrauterine fetal surgery. This manipulator deflects a laser fiber in any direction thorough 90 degrees. The results of a positioning test and in vitro/in vivo tests are reported. Meanwhile, creep tests for fetal rat tissue of 16 to 20 days in gestation were performed to evaluate fetal tissue fragility. Unique features of fetal rat tissue compared to other soft organs are discussed and a viscoelastic model of the fetal rat tissue was proposed. The result of the modeling will be used not only for fabricating fetal tissue phantom but also for the force control of robotic application for fetal surgery.

Keywords

laser applications in medicine; manipulators; medical robotics; surgery; 2.4 mm; bending laser manipulator; fetal rat tissue; in vitro test; in vivo test; intrauterine fetal surgery; laser fiber; positioning test; viscoelastic model; Creep; Elasticity; Fiber lasers; In vitro; In vivo; Laser modes; Laser surgery; Optical fiber testing; Performance evaluation; Viscosity;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2007 IEEE International Conference on

Conference_Location

Roma

ISSN

1050-4729

Print_ISBN

1-4244-0601-3

Electronic_ISBN

1050-4729

Type

conf

DOI

10.1109/ROBOT.2007.363054

Filename

4209158