期刊
ADVANCED INTELLIGENT SYSTEMS
卷 4, 期 11, 页码 -出版社
WILEY
DOI: 10.1002/aisy.202200182
关键词
fetal surgery; laser surgery; magnetic navigation systems; medical robotics; twin-to-twin transfusion syndrome
资金
- Swiss National Science Foundation [200020B_185039]
- European Research Council [743217]
- BRIDGE [180861]
- European Union [952152]
- Swiss National Science Foundation (SNF) [200020B_185039] Funding Source: Swiss National Science Foundation (SNF)
A robotic platform using remote magnetic navigation for fetoscopic surgery is proposed in this study, which can effectively treat twin-to-twin transfusion syndrome with flexibility, dexterity, safety, and precision.
Twin-to-twin transfusion syndrome (TTTS) is a severe disorder that often leads to the death of monochorionic twin fetuses, if left untreated. Current prenatal interventions to treat the condition involve the use of rigid fetoscopes for targeted laser coagulation of the vascular anastomoses. These tools are limited in their area of operation, making treatment challenging, especially in cases with anterior placentation. Herein, a robotic platform to perform this task using remote magnetic navigation is proposed. In contrast to rigid tools, the presented custom magnetic fetoscope is highly flexible, dexterous, and has considerable advantages, including safety and precision. A visual servoing algorithm that allows the surgeon to navigate in the uterus with submillimeter precision is introduced. The system has been validated on ex vivo human placentas in a setting that mimics the real intraoperative conditions.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据