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Endoscopic surgery has become an accepted major type of minimally invasive surgery. However, complications arising from heat generated by sources of endoscopic illumination can include surgical fire or burns, and intense illumination during ob-gyn/fetoscopic surgery might damage fetal ocular development. Fiber-optic bundles for illumination within the(More)
Twin-twin transfusion syndrome (TTTS) is a condition in which twins share blood disproportionately by the communicating vessels in the shared placenta, resulting in high fetal and perinatal mortality. Fetoscopic laser photocoagulation is performed to interrupt these communicating vessels; however, small vessels are often missed due to the poor image(More)
Fetoscopic laser photocoagulation of chorionic plate anastomosing vessels (FLPC) applies to the treatment of previable fetuses with severe twin-twin transfusion syndrome (TTTS). The ultimate goal of FLPC is selective blood flow interruption of anastomotic communicating vessels on the placenta fetoscopically. However, there has not been an established method(More)
In endoscopic surgery, surgeons must manipulate an endoscope inside the body cavity to observe a large field-of-view while estimating the distance between surgical instruments and the affected area by reference to the size or motion of the surgical instruments in 2-D endoscopic images on a monitor. Therefore, there is a risk of the endoscope or surgical(More)
We developed a new laser device using a composite-type optical fiberscope for laser surgery to treat twin-twin transfusion syndrome. The composite-type optical fiberscope (2.2 mm in external diameter) consists of a centrally located single fiber for laser treatment (0.1 mm in diameter) and its surrounding fibers for diagnosis. This fiberscope enables(More)
The concentric-tube continuum robot generates distal end motions by translating and rotating the proximal ends of pre-curved tubes that overlap concentrically. This robot does not require additional actuators along the tubes because the overall curvature and distal end position are determined solely by interactions between the inner and outer tubes.(More)
As a steerable needle or robotic manipulator, the concentric-tube robot shows good potential for use in minimally invasive medical procedures. However, the torsional deformation of the precurved tubes comes at the price of instability, which not only limits the workspace and tool path but also potentially creates danger of tissue rupture when external load(More)
One of the greatest difficulties in endoscopic surgery is the limited field-of-view (FOV) of endoscopes. During endoscopic manipulation in body cavities to expand the FOV, there is the risk of inadvertent damage to body tissues, nerves, and internal organs. The risk increases especially in surgery that is performed inside a very small cavity, or in which(More)
We.. have developed a novel robotic endoscope system. It can be used to observe a wide field of view without moving or bending the whole endoscope system. .. It consists of a rigid endoscope and two wedge prisms at the distal tip. Rotating each wedge prism respectively, we can change the direction of view. Accordingly it becomes possible to observe a wide(More)
We develop a kind of active cannula robot (microsurgery system) used in minimally invasive surgery. This robot mainly consists of two parts: active cannula and control unit. The active cannula is composed of two or three concentric pre-curved elastic tubes that can be translated and rotated relative to one another. Each tube is driven by a motor with a(More)