DocumentCode :
2621137
Title :
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
Link To Document :
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