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Development of Medical System for Diagnosis and Treatment with Internal Robots

Research Project

Project/Area Number 09558118
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section展開研究
Research Field Biomedical engineering/Biological material science
Research InstitutionKyoto University

Principal Investigator

IKEUCHI Ken  Kyoto University, Institute for Frontier Medical Sciences, Professor, 再生医科学研究所, 教授 (30026223)

Co-Investigator(Kenkyū-buntansha) TOMITA Naohide  Kyoto University, Institute for Frontier Medical Sciences, Associate Professor, 再生医科学研究所, 助教授 (50263140)
SHIMIZU Yasuhiko  Kyoto University, Institute for Frontier Medical Sciences, Professor, 再生医科学研究所, 教授 (00027111)
Project Period (FY) 1997 – 1999
Project Status Completed (Fiscal Year 1999)
Budget Amount *help
¥9,700,000 (Direct Cost: ¥9,700,000)
Fiscal Year 1999: ¥2,300,000 (Direct Cost: ¥2,300,000)
Fiscal Year 1998: ¥3,000,000 (Direct Cost: ¥3,000,000)
Fiscal Year 1997: ¥4,400,000 (Direct Cost: ¥4,400,000)
KeywordsLow Invasive Medicine / Mucus / Endoscope / Catheter / Microrobot / Artificial Mucus / ロボット / 体内ロボット / 摩擦制御 / 軟式内視鏡 / 液体潤滑 / 超弾性ワイヤ
Research Abstract

(1)The research team developed a new technology to drive medical devices in a human body without contacting with tissues. By this method, thrust force arises due to hydrodynamic effect of mucus when a spiral ribbed cylinder is driven by an electromagnetic micro-motor. The optimal design for the impeller and ribs was found according to results of numerical analysis and experiment.
(2)The relation between thrust force and resistance was investigated for the device that moves in vinyl tube. Effects of curvature and branch on thrust were clarified.
(3)We tried to drive an impeller attached to wire of Ni-Ti alloy in canine digestive tube. The device reached the duodenum in the case of frontward driving through mouth and it reached the ascending colon in the case of backward driving through anus, easily without any injury of the tissue wall.
(4)We fabricated a micro-robot and measured moving velocity and thrust in transparent tube, and investigated the effect of curvature, branch and change of internal radius on propulsion.
(5)When natural mucus is insufficient, steady advance was assured by supplying glutinous starch, origo or nectar as artificial mucus.
(6)We found that friction in viscous fluid film is reduced by vibration. By this method, resistance of a medical device was reduced. Further, active driving was possible if oscillation was added to vibration.
(7)A new technology to navigate catheters by control of magnetic field of electromagnets locate outside of the body. The device was guided at winding or branching region by control of electric current in the magnets and their arrangement.

Report

(4 results)
  • 1999 Annual Research Report   Final Research Report Summary
  • 1998 Annual Research Report
  • 1997 Annual Research Report
  • Research Products

    (25 results)

All Other

All Publications (25 results)

  • [Publications] Ikeuchi,K.: "Analysis of fluid film formation between contacting compliant solids"Tribology International. 31(10). 613-618 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Tomita,Naohide: "Experimental study of hydrodynamic propulsion of a medical device with a spiral ribbed impeller"Wear. 220. 141-144 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Ikeuchi,Ken: "Low invasive propulsion of medical devices by traction using mucus"Wear. 209. 179-183 (1997)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 池内健: "医療用マイクロロボットの往復動による推進法"日本機械学会第10回バイオエンジニアリング講演会論文集. 97-72. 625-626 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] 池内健: "体内ロボットモデルの回転運動による移動実験"日本機械学会第10回バイオエンジニアリング講演会論文集. 97-72. 629-630 (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Ikeuchi,K.: "Low invasive Locomotion system of Medical Micro Robot"Proc. Third World Congress of Biomechanics. (1998)

    • Description
      「研究成果報告書概要(和文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] K. Ikeuchi: "Analysis of fluid film formation between contacting compliant solids"Tribology Internationall. 31(10). 613-618 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Naohide Tomita: "Experimental study of hydrodynamic propulsion of a medical device with a spiral ribbed impeller"Wear. 220. 141-144 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Ken Ikeuchi: "Low invasive propulsion of medical devices by traction using mucus"Wear. 209. 179-183 (1997)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] K. Ikeuchi: "Propulsion of a medical micro robot by reciprocating motion"Proc. 10th Bioengineering Conf./JSME. 97-72. 625-626 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] K. Ikeuchi: "An experimental study of internal medical robot motion by rotation"Proc. 10th Bioengineering Conf./JSME. 97-72. 629-630 (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] K. Ikeuchi: "Low invasive Locomotion system of Medical Micro Robot"Proc. Third World Congress of Biomechanics. (1998)

    • Description
      「研究成果報告書概要(欧文)」より
    • Related Report
      1999 Final Research Report Summary
  • [Publications] Ken Ikeuchi: "A new method for accurate measurement of displacement of the knee menisci"Proc Instn Mech Engrs.. 212(part H). 183-188 (1998)

    • Related Report
      1999 Annual Research Report
  • [Publications] Kiyoshi Yoshinaka: "Experimental study of hydrodynamic propulsion of a medical device with a spiral ribbed impeller"Wear. 220. 141-144 (1998)

    • Related Report
      1999 Annual Research Report
  • [Publications] 池内 健: "医療用マイクロロボットの往復動による推進法"日本機械学会第10回バイオエンジニアリング講演論文集. 97・72. 625-626 (1998)

    • Related Report
      1999 Annual Research Report
  • [Publications] 葭仲 潔: "体内ロボットモデルの回転運動による移動実験"日本機械学会第10回バイオエンジニアリング講演論文集. 97・72. 629-631 (1998)

    • Related Report
      1999 Annual Research Report
  • [Publications] Ken Ikeuchi: "A new method for accurate measurement of displacement of the knee menisci" Proc Instn Mech Engrs.212(part H). 183-188 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] Kiyoshi Yoshinaka: "Experimental study of hydrodynamic propulsion of a medical device with a spiral ribbed impeller" Wear. 220. 141-144 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 池内 健: "医療用マイクロロボットの往復動による推進法" 日本機械学会第10回バイオエンジニアリング講演論文集. 97・72. 625-626 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] 葭仲 潔: "体内ロボットモデルの回転運動による移動実験" 日本機械学会第10回バイオエンジニアリング講演論文集. 97・72. 629-631 (1998)

    • Related Report
      1998 Annual Research Report
  • [Publications] Ken Ikeuchi: "Low invasive propulsion of medical devices by traction using mucus" Wear. 209. 179-183 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 葭仲 潔: "医療用マイクロロボットの移動機構" 日本機械学会第9回バイオエンジニアリング講演会論文集. 96・48. 101-102 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 葭仲 潔: "医療用デバイスの体内移動システム" 電子情報通信学会総合大会論文集. (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 葭仲 潔: "自走型体内ロボットに関する研究" 日本機械学会ロボティクス・メカトロニクス講演合‘97講演論文集(B). 97・22. 1031-1032 (1997)

    • Related Report
      1997 Annual Research Report
  • [Publications] 葭仲 潔: "医用機器の低侵襲体内誘導に関する研究" 第15回日本ロボット学会学術講演会論文集. 715-716 (1997)

    • Related Report
      1997 Annual Research Report

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Published: 1997-04-01   Modified: 2016-04-21  

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