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外科医の意志通りに動くマイクロサージェリーハンドの開発

Research Project

Project/Area Number 07555400
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section試験
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionThe University of Tokyo

Principal Investigator

HATAMURA Yotaro  The Univ. of Tokyo, Dept.of Eng.Synthesis, Prof., 大学院・工学系研究科, 教授 (40010863)

Co-Investigator(Kenkyū-buntansha) ISHII Tetsuo  Tokyo Woman's Medical College, Prof., 教授 (30082126)
SATO Tomomasa  The Univ. of Tokyo, RCAST,Prof., 先端科学技術センター, 教授 (50235371)
NAKAO Masayuki  The Univ. of Tokyo, Dept.of Eng.Synthesis, Associate Prof., 大学院・工学系研究科, 助教授 (90242007)
Project Period (FY) 1995 – 1996
Project Status Completed (Fiscal Year 1996)
Budget Amount *help
¥4,400,000 (Direct Cost: ¥4,400,000)
Fiscal Year 1996: ¥4,400,000 (Direct Cost: ¥4,400,000)
KeywordsSugery / Bone Cutting / Force Sensor / Image Tracking / 骨掘削
Research Abstract

To assist a surgeon who can't control his hands in micro-force operation, a new "micro surgery hand" was designed, fabricated and evaluated. It is composed of four elements : force control mechanism, microtool, multi-jointed arm and image driven system. It measures a large operting force using a strain gauge typed force sensor, e.g. 1N,which an operator wants to bring into the micro tool. Next ot treats a micro working force, e.g. 10mN,using a piezo typed force sensor and a piezo actuator, which is smaller, proportional to the operating force. Practically, it works the task with less than 40 msec in delay time. As a micro tool, a diamond cutting tool with 45 degrees of blade angle newly fabricated. Conventional stainless steel tools were so dull that they were used for tapping or scraping, but not cutting. The diamond tool could cut a bone like a planer cutting. However, it was difficult to cut the bone like a chisel cutting because the bone looks wetter, more deformable than metals or wood. The motion of the tool was real-timely measured with a 1mm resolution by image driven system. But the tool totally has a low rigidity because the multi-jointed arm has a low rigidity, e.g. 1N/mm : the piezo actuator can't make the force because it expands only 50 microns in maximum. The micro surgery tool can works as designed, but requires some new elements in future : an actuator which has a larger expansion, e.g. 10mm, or a micro tool for a chisel cutting.

Report

(3 results)
  • 1996 Annual Research Report   Final Research Report Summary
  • 1995 Annual Research Report
  • Research Products

    (11 results)

All Other

All Publications (11 results)

  • [Publications] M.Nakao et al: "Micro-Impulse Generation Digging Tool for Micro Surgery" Proceedings of Annual Meeting 95 of ASPE. 317-320 (1995)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] M.Nakao et al: "Two-axis Force Sensing Surgery Knife to Obtain Dynamic Information" Proceedings of Annual Meeting 94 of ASPE. 61-64 (1994)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] 中尾政之,他: "微小力制御可能な外科手術用骨掘削工具の開発" 精密工学会 1996年度春季大会講演論文集. 337-338 (1996)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Masayuki Nakano, et al.: "Development of Micro-Force Controllable Bone Cutting Tool for Surgery" Proc.of JSPE Spring Meeting 96. 337-338 (1996)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Masayuki Nakano, et al.: "Micro-Impulse Generation Digging Tool for Micro Surgery" Proc.of ASPE Annual Meeting 95. 317-320 (1995)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] Masayuki Nakano, et al.: "Two-axis Force Sensing Surgery Knife to Obtain Dynamic Information" Proc.of ASPE Annual Meeting 94. 61-64 (1994)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1996 Final Research Report Summary
  • [Publications] M.Nakao et al: "Micro-Impulse Generation Digging Tool for Micro Surgery" Proceedings of Annual Meeting 95 of ASPE. 317-320 (1995)

    • Related Report
      1996 Annual Research Report
  • [Publications] M.Nakao et al: "Two-axis Force Sensing Surgery Knife to Obtain Dynamic Information" Proceedings of Annual Meeting 94 of ASPE. 61-64 (1994)

    • Related Report
      1996 Annual Research Report
  • [Publications] 中尾政之 他3名: "微小力制御可能な外科手術用骨掘削工具の開発" 精密工学会1996年度春季大会講演論文集. 337-338 (1996)

    • Related Report
      1996 Annual Research Report
  • [Publications] Masayuki Nakao: "Micro-Impulse Generation Digging Tool for Micro Surgery" Proc. of 10th ASPE Annual Meeting. 317-320 (1995)

    • Related Report
      1995 Annual Research Report
  • [Publications] 中尾政之: "微小力制御可能な外科手術用骨掘削工具の開発" 1996年度精密工学会春季大会学術講演論文集. (印刷中). (1996)

    • Related Report
      1995 Annual Research Report

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Published: 1996-04-01   Modified: 2016-04-21  

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