| Project/Area Number |
15500343
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Medical systems
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| Research Institution | Kagawa University |
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Principal Investigator |
HIRATA Hideyuki (2005) Kagawa University, Faculty of Engineering Intelligent Mechanical Systems Engineering Department, Professor, 工学部, 教授 (90304576)
郭 書祥 (2003-2004) 香川大学, 工学部, 助教授 (40273346)
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| Co-Investigator(Kenkyū-buntansha) |
GUO Shuxiang Kagawa University, Faculty of Engineering Intelligent Mechanical Systems Engineering Department, Professor, 工学部, 教授 (40273346)
平田 英之 香川大学, 工学部, 教授 (90304576)
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| Project Period (FY) |
2003 – 2005
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| Project Status |
Completed (Fiscal Year 2005)
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| Budget Amount *help |
¥3,200,000 (Direct Cost: ¥3,200,000)
Fiscal Year 2005: ¥500,000 (Direct Cost: ¥500,000)
Fiscal Year 2004: ¥900,000 (Direct Cost: ¥900,000)
Fiscal Year 2003: ¥1,800,000 (Direct Cost: ¥1,800,000)
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| Keywords | Intelligent Mechanical Systems / Medical System / Biomedical Application / Micro Active Catheter / Intelligent Robotics / Assistance System for Minimal Invasive Neurosurgery / Micro Actutor / Micro Sensor / ICPFアクチュエータ / 動脈瘤 / "In Vitro"挿入実験 / "In Vivo"挿入実験 |
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| Research Abstract |
Intracavity intervention is expected to become increasingly popular in medical practice, both for diagnosis and for surgery. As we know, the blood vessels of brain are narrow and complex, there are many insertion problems using traditional catheter with guide wires for neurosurgery. It is very dangerous such as at divergences and into aneurysms. Therefore a new type of micro active catheters (MAC) has urgently been demanded. MAC is one have the micro and miniature devices, which instrumented with sensing and actuating elements. It can smoothly navigate through body cavities and even soft tissue (divergence), teleoperated by the surgeon. In order to implement intracavity intervention, MAC with multi-DOF should be developed. We developed two prototype models of micro active catheter (MAC) that has two bending degrees of freedom. By using simulators (whose conditions are similar to those of a blood vessel of human brain), we also carried out simulation experiments "in vitro" and "in vivo". Based on our research results, we also proposed Assistance System with Force Feedback for Minimal Invasive Neurosurgery Using Micro Active Catheter (ASFFMINMAC). The experimental results indicate that the proposed ASFFMINMAC works properly, are applicable to minimal invasive neurosurgery.
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