Application of Flexible Micro-Actuator to Medical Precision-Work
| Project/Area Number |
05805025
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| Research Category |
Grant-in-Aid for General Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Yokohama National University |
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Principal Investigator |
TANAKA Hirohisa Yokohama National University Faculty of Engineering, Professor., 工学部, 教授 (90092262)
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| Co-Investigator(Kenkyū-buntansha) |
SUZUMORI Koichi Toshiba Corporation Research and Development Center, Research Scientist, 研究開発センター・機構研究室, 研究主務
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| Project Period (FY) |
1993 – 1994
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| Project Status |
Completed (Fiscal Year 1994)
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| Budget Amount *help |
¥1,500,000 (Direct Cost: ¥1,500,000)
Fiscal Year 1994: ¥700,000 (Direct Cost: ¥700,000)
Fiscal Year 1993: ¥800,000 (Direct Cost: ¥800,000)
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| Keywords | Micro-machine, / Medical operation, / Manipulator, / Fiberreinforced rubber, / Endoscope, / Anesthesia, / Insertion, / Optical fiber |
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| Research Abstract |
Applying a robotic manipulator to a medical operation, it is important for an actuator to have adaptability to organism and to be disposal for being free from infection. As general anesthesia, inhalation method is appropriate for a patient to stop the consciousness, pain and mobility by the gas-control of absorption and excretion through lung. The issue for this work is how to insert the gas-pipe into the bronchus without injuring the mucous membrane. Usually the operator manages to insert the hard endoscope to the lung through the epiglottis and glottis receiving the feeling of reaction force from the soft membrane. The endoscope is sometimes difficult to be applied to fat adults and children. The research started to study the instrument, gas, tubes and operation-work in the hospital, which presents an idea to make a new flexible actuator, called FMA,with hollow-sensing mechanism.
Firstly a small size FMA of 5mm in diameter and 50mm in length with three internal chambers for 3 degrees of freedom is made. It has also two optical fibers of 0.2mm in diameter in the middle of FMA for sensing the hollow of the bronchus. The working principle is to control the attitude angle of the FMA by pneumatic pressure which is controlled by a combination of 3-port switching-valve demanded by the optical sensing on/off signal. The FMA bends 90 degrees at 0.4MPa pressure within 0.4s. The performance is evaluated from the operating time by using a newly designed plastic-model of two-dimensional trachea and pharynx with glottis. The working time is shorten from 110s to 34s compared to conventional operation by stylus.
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Report
(3 results)
Research Products
(12 results)
