Paper Info
Title
Surgical Manipulator with Balloon for Stabilizing Fetus in Utero under Ultrasound Guidance
Abstract
This paper describes a surgical manipulator to stabilize intrauterine fetus with ultrasound image guidance. The manipulator includes an outline of 4 mm in diameter, a mechanism with 7 joints, and a set of balloons. The manipulator is arranged as straight form and the balloon is fold to be a minimum size before the insertion. Accuracy evaluation of bending performance showed that the standard deviations were ±3.6 degrees on wired-driven mechanism and ±1.6 degrees on linkage-driven mechanism. Experimental results also demonstrated high repeatability of the mechanisms. In feasibility experiments, ultrasound images in 2D and 3D modes were examined for guiding the manipulator. The 2D images provided wide view and easily viewable display of the balloon inflation. The 3D images provided easily viewable display of bending motion of the arm and the relative position of a phantom. It is possible to operate the manipulator in utero under the ultrasound guidance in 2D and 3D by switching them in each procedural stage.
Year
DOI
Venue
2008
10.1007/978-3-540-79982-5_29
MIAR
Keywords
Field
DocType
wired-driven mechanism,ultrasound image guidance,viewable display,accuracy evaluation,ultrasound guidance,surgical manipulator,balloon inflation,ultrasound image,linkage-driven mechanism,ultrasound,in utero,standard deviation,balloon,3d imaging
Biomedical engineering,Computer science,Surgical manipulator,Imaging phantom,Manipulator,Balloon,Bending,Radiology,In utero,Ultrasound image,Ultrasound
Conference
Volume
ISSN
Citations 
5128
0302-9743
0
PageRank 
References 
Authors
0.34
4
7
Name
Order
Citations
PageRank
Noriaki Yamanaka141.62
Hiromasa Yamashita2418.93
Kiyoshi Matsumiya3266.28
Hongen Liao439070.91
Ken Masamune525348.57
Toshio Chiba64010.00
Takeyoshi Dohi749697.71