Development of a curved multi-tube (CMT) catheter for percutaneous umbilical blood sampling and control methods of CMT catheters for solid organs

Author

Furusho, Junji ; Ono, Tomoya ; Murai, Ryousuke ; Fujimoto, Tetsuo ; Chiba, Yoshihide ; Horio, Hiroyuki

Author_Institution

Graduate Sch. of Eng., Osaka Univ., Japan

Volume

1

fYear

2005

Firstpage

410

Abstract

We have proposed the concept of curved multi-tube (CMT) catheter for this system. This system makes safe minimally-invasive surgery possible, because all complex mechanisms are arranged outside of the body. In this paper, we present the development of a robot named FORMS (fetus operation robot using master slave system) which aimed at pulling out blood from umbilical cord. We also present the control method of curved multi-tube catheter for solid organs like brain and liver, and the various applicable fields of CMT catheters in medical treatments and industries.

Keywords

catheters; medical robotics; patient treatment; FORMS; curved multi-tube catheter; fetus operation robot using master slave system; invasive surgery; medical robotics; percutaneous umbilical blood sampling; solid organs; umbilical blood sampling; Blood; Catheters; Fetus; Master-slave; Medical control systems; Medical robotics; Sampling methods; Service robots; Solids; Surgery;

fLanguage

English

Publisher

ieee

Conference_Titel

Mechatronics and Automation, 2005 IEEE International Conference

Print_ISBN

0-7803-9044-X

Type

conf

DOI

10.1109/ICMA.2005.1626582

Filename

1626582