| Project/Area Number |
15K05917
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Osaka Institute of Technology |
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Principal Investigator |
Kawai Toshikazu 大阪工業大学, ロボティクス&デザイン工学部, 教授 (90460766)
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| Co-Investigator(Kenkyū-buntansha) |
西川 敦 信州大学, 学術研究院繊維学系, 教授 (20283731)
中村 達雄 京都大学, ウイルス・再生医科学研究所, 准教授 (70227908)
西澤 祐吏 国立研究開発法人国立がん研究センター, 東病院, 医員 (50545001)
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥4,810,000 (Direct Cost: ¥3,700,000、Indirect Cost: ¥1,110,000)
Fiscal Year 2017: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2016: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
Fiscal Year 2015: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
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| Keywords | 手術支援ロボット / 鉗子マニピュレータ / 保持マニピュレータ / ローカル操作 / 第３の手 / マニピュレータ / 操作インタフェース / 単孔式内視鏡下手術 / オフセット / ワイヤ駆動 |
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| Outline of Final Research Achievements |
A new forceps manipulator have developed to act as the third arm for robotically assisted single-incision laparoscopic surgery (SILS) performed by a surgeon working near the patient. The locally operated multi-angle manipulator consists of (1) curved-angle forceps manipulator providing the wide field of view and the large working area, (2) compact holding manipulator with linear and circular telescopic rails, and (3) locally operated interface that collaborated with the surgeon and the manipulator. These devices could be used for robotic surgery applications. This proposed manipulator leads to reduce medical staff and the costs, patients waiting for their surgery, and become widely used SILS.
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