Bending Laser Manipulator for Intrauterine Surgery and Viscoelastic Model of Fetal Rat Tissue

摘要

A bending laser manipulator of 2.4 mm in diameter has been developed for intrauterine fetal surgery. This manipulator deflects a laser fiber in any direction thorough 90 degrees. The results of a positioning test and in vitro/in vivo tests are reported. Meanwhile, creep tests for fetal rat tissue of 16 to 20 days in gestation were performed to evaluate fetal tissue fragility. Unique features of fetal rat tissue compared to other soft organs are discussed and a viscoelastic model of the fetal rat tissue was proposed. The result of the modeling will be used not only for fabricating fetal tissue phantom but also for the force control of robotic application for fetal surgery.