2A1-G08 低侵襲胎児手術を目的としたパッチスタビライザに関する基礎研究 : ワイヤ駆動による試作機とパッチを押さえる力制御の提案(手術支援ロボティクス・メカトロニクス)

概要

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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 paper, a robotic patch stabilizer using wire driven mechanism (2 D.O.F, Max bending angle is 45[deg]) has been developed for precise force control on the patch without damaging fetal tissue. The diameter of the stabilizer's shaft is 2.4[mm] and the length of the stabilizing part is 60[mm].The driving wires are moved using an ultrasonic motor while the tension of the wires is measured using a force sensor. The stabilizing force was estimated by the wire tension with 3.5 % error between the estimated value and the measured value. The future work is to control the stabilizing force using a phantom of fetal fragility.
一般社団法人日本機械学会の論文
2007-05-11