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Robotic patch-stabilizer using wire driven mechanism for minimally invasive fetal surgery.

Bo Zhang¹, Yo Kobayashi, Toshio Chiba

¹Graduate School of Science and Engineering, Waseda University, Tokyo, Japan. zhangbo@suou.waseda.jp

Annual International Conference of the IEEE Engineering in Medicine and Biology Society. IEEE Engineering in Medicine and Biology Society. Annual International Conference

|December 8, 2009

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A novel robotic system precisely stabilizes collagen patches for fetal myelomeningocele repair during intrauterine surgery. This innovation ensures gentle force application, protecting delicate fetal tissues from damage.

Area of Science:

Minimally Invasive Surgical Technologies
Fetal Surgery Innovations
Biomedical Robotics

Background:

Fetal myelomeningocele (spina bifida) is a common birth defect requiring surgical intervention.
Current fetal surgery techniques face challenges in precise tissue manipulation and stabilization.
Intrauterine patch coverage is a clinical target for treating fetal myelomeningocele.

Purpose of the Study:

To develop a robotic surgical system for intrauterine fetal surgery.
To create a precise patch-stabilizer for laser fixation of collagen patches.
To achieve controlled force application on fragile fetal tissues during surgery.

Main Methods:

Development of a prototype patch-stabilizer with a 2.4 mm diameter shaft.

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Integration of a wire-driven mechanism for bending up to 40 degrees and patch stabilization.

Implementation of tension control for precise force regulation (0.3 N) of the stabilizing mechanism.

Utilizing a diamond-shaped mechanism for holding the collagen patch.

Main Results:

The patch-stabilizer successfully controlled stabilizing forces between 0.3 N.
The system demonstrated effective collagen patch stabilization on lesion surfaces.
No damage to fetal tissues was observed, even with exposure to amnion liquid.

Conclusions:

A novel robotic patch-stabilizer enables precise and safe intrauterine fetal surgery.
The developed system offers controlled force application for collagen patch fixation.
This technology holds promise for improving outcomes in fetal myelomeningocele treatment.