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The shortage of nurses who assist operating surgeons exchange surgical instruments has been chronically severe. To compensate for this shortage, we have been proposing and developed three versions of the Scrub Nurse Robot (SNR) system that is capable of functioning as a skilled human scrub nurse in endoscopic and laparoscopic surgery. In this paper, we mentioned those three versions of SNR and its...
For advanced intrauterine fetal surgery, we have developed novel devices as “new hand” and “new eye”. As new hands, we developed a miniature bending manipulator with exchangeable distal-end effector of laser photocoagulation and forceps for safe approach and optimal procedure of intrauterine myelomeningocele repair and twin-to-twin transfusion syndrome. The manipulator performed high bending accuracy...
We developed a MRI compatible manipulator system operated under the use of preoperative / intraoperative MR images to realize RFA needle navigation for minimally invasive liver surgery inside an Open MRI gantry. This system has a capability to position a needle to a target inside the MRI gantry by integrating the real space, preoperative/intraoperative MR images and the manipulator coordinate systems...
This paper describes a surgical manipulator designed with regard to its safety and sterilization in medical setting of anterior cruciate ligament (ACL) reconstruction. The manipulator system consists of two five-bar linkage mechanisms, an optical tracking device, and a user interface of surgical navigation. We designed and fabricated a prototype manipulator and evaluated the performance of the system...
This paper describes a manipulator for controlling position and posture of fetus in uterus and a surgical procedure for supporting the fetus in intrauterine surgery. The manipulator is equipped with multiple linkages and a balloon to support the fetus softly in the uterus. The linkages with two bending mechanisms are designed for inserting the balloon to an optimal position under the fetus. The balloon...
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