Development of a curved multi-tube (CMT) catheter for percutaneous umbilical blood sampling and control methods of CMT catheters for solid organs

We have proposed the concept of curved multi-tube (CMT) catheter for this system. This system makes safe minimally-invasive surgery possible, because all complex mechanisms are arranged outside of the body. In this paper, we present the development of a robot named FORMS (fetus operation robot using master slave system) which aimed at pulling out blood from umbilical cord. We also present the control method of curved multi-tube catheter for solid organs like brain and liver, and the various applicable fields of CMT catheters in medical treatments and industries.