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Development of an injectable and implantable microstimulator for neuromodulation and neuromuscular control

Research Project

Project/Area Number 16100005
Research Category

Grant-in-Aid for Scientific Research (S)

Allocation TypeSingle-year Grants
Research Field Biomedical engineering/Biological material science
Research InstitutionTohoku University

Principal Investigator

HANDA Yasunobu  Tohoku University, 大学院・医学系研究科, 教授 (00111790)

Co-Investigator(Kenkyū-buntansha) MATSUKI Hidetoshi  東北大学, 大学院・医工学研究科, 教授 (70134020)
SATO Humihiro  東北大学, 大学院・医工学研究科, 准教授 (60323060)
SEKI Kazunori  東北大学, 大学院・医学系研究科, 准教授 (20206618)
OGURA Takahide  東北大学, 大学院・医学系研究科, 助教 (10312688)
二見 亮弘  福島大学, 共生システム理工学群, 教授 (20156938)
渡邊 高志  東北大学, 情報シナジー機構, 助教授 (90250696)
高橋 隆行  福島大学, 共生システム理工学群, 教授 (70197151)
藤居 徹  東北大学, 大学院・医学系研究科, 助手 (70302122)
Co-Investigator(Renkei-kenkyūsha) WATANABE Takashi  東北大学, 医工学研究科, 准教授 (90250696)
TAKAHASHI Takayuki  福島大学, 共生システム理工学群, 教授 (70197151)
HUTRAMI Ryoko  福島大学, 共生システム理工学群, 教授 (20156938)
KANOU Shinnichiro  東北大学, 大学院工学研究科, 助教 (00282103)
Project Period (FY) 2004 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥88,400,000 (Direct Cost: ¥68,000,000、Indirect Cost: ¥20,400,000)
Fiscal Year 2008: ¥11,180,000 (Direct Cost: ¥8,600,000、Indirect Cost: ¥2,580,000)
Fiscal Year 2007: ¥11,440,000 (Direct Cost: ¥8,800,000、Indirect Cost: ¥2,640,000)
Fiscal Year 2006: ¥21,580,000 (Direct Cost: ¥16,600,000、Indirect Cost: ¥4,980,000)
Fiscal Year 2005: ¥23,790,000 (Direct Cost: ¥18,300,000、Indirect Cost: ¥5,490,000)
Fiscal Year 2004: ¥20,410,000 (Direct Cost: ¥15,700,000、Indirect Cost: ¥4,710,000)
Keywords電気刺激素子 / 電磁誘導 / 機能的電気刺激 / ニューロモジュレーション / ニューロモジユレーション / 治療的電気刺激 / FES / TES / 埋込素子 / 神経調節 / 非接触伝送 / 完全埋込素子 / 刺激素子 / 刺激パルス / 共振周波数 / フェライト / 送受電コイル / 送受信コイル / 励磁可能範囲 / 非接触同時伝送 / 体内留置 / 超小型埋込刺激素子 / 注入方式
Research Abstract

回路駆動と刺激エネルギー供給用の受電コイルと刺激波形制御用の受信コイルを一体化した超小型埋込み刺激素子および給電用,通信用のソレノイドコイルを同軸上に設置し広範囲励磁が可能な体外励磁装置の開発に成功した。刺激素子の寸法は外套を含めφ3.0 mm × 長さ 35 mmであり、家兎後肢に1ヶ月間留置しシステムの駆動を検証した所、安定した筋収縮を得られることが判明した。また、留置した刺激電極の組織反応を検索し、生体留置可能な電極であることを確認した。この超小型埋込み電気刺激素子による神経刺激に適した身体部位を確認し、病態改善の有効性を検証する目的で、表面電極による神経刺激効果を検証した。その結果、脳卒中や脊髄損傷その他の神経疾患では求心性神経線維の刺激効果としてのneuromodulationにより運動の随意性の改善が認められた。また、内臓機能障害でもneuromodulation 効果として、仙骨部刺激で難治性の過活動膀胱や前立腺肥大による尿失禁、頻尿、排尿困難の改善、生理痛の軽減、頸部刺激で嚥下障害の改善およびてんかんの軽減効果を得ることができた。

Report

(6 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • 2006 Annual Research Report
  • 2005 Annual Research Report
  • 2004 Annual Research Report
  • Research Products

    (59 results)

All 2009 2008 2007 2006 2005 2004 Other

All Journal Article (29 results) (of which Peer Reviewed: 13 results) Presentation (23 results) Remarks (1 results) Patent(Industrial Property Rights) (6 results)

  • [Journal Article] 治療的電気刺激による痙性麻痺者の歩容改善2009

    • Author(s)
      鈴木佳代子、関和則、半田康延
    • Journal Title

      日本生体医工学会誌 (印刷中)

    • NAID

      10025974227

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] An Effective Method on Applying Feedback Error Learning Scheme to Function al Electrical Stimulation Controller2009

    • Author(s)
      Takashi Watanabe
    • Journal Title

      IEICE Transactions on Information and Systems E92-D

      Pages: 342-345

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Preliminary Tests of a Practical Fuzzy FES Controller Based onCycle-to-Cycle Control in the Knee Flexion and Extension Control2009

    • Author(s)
      Takashi Watanabe
    • Journal Title

      IEICE Transactions on Information and Systems E92-D(印刷中)

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 治療的電気刺激による痙性麻痺者の歩容改善2009

    • Author(s)
      鈴木佳代子
    • Journal Title

      日本生体医工学会誌 (印刷中)

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Duplex Communicatable Implanted Antenna for Magnetic Direct Feeding Method FES2009

    • Author(s)
      K. Kato
    • Journal Title

      Jounal of Applied Physics 105

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Duplex Communicatable Implanted Antenna for Magnetic Direct Feeding Method FES2008

    • Author(s)
      K. Kato, H. Matsuki, F. Sato, T. Satoh and Y. Handa
    • Journal Title

      Jounal of Applied Physics vol. 105

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] A Feasibility Study of Fuzzy FES Controller Based on Cycle-to-Cycle Control: An Experimental Test of Knee Extension Control : IEICE2008

    • Author(s)
      Takashi Watanabe, Tomoya Masuko, Achmad Arifin, and Makoto Yoshizawa
    • Journal Title

      Transactions on Information and Systems Vol.E91-D, No.3

      Pages: 865-868

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] A Feasibility Study of Fuzzy FES Controller Based on Cycle-to-Cycle Control : An Experimental Test of Knee Extension Control2008

    • Author(s)
      Takashi Watanabe
    • Journal Title

      IEICE Transactions on Information and Systems E91-D

      Pages: 865-868

    • NAID

      10026802384

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Gyro-Mouse for the Disabled: 'Click' and 'Position' Control of the Mouse Cursor2007

    • Author(s)
      Gwang-Moon Eom, Kyeong-Seop Kim, Chul-Seung Kim, James Lee, Soon-Cheol Chung, Bongsoo Lee, Hiroki Higa, Norio Furuse, Ryoko Futami, and Takashi Watanabe
    • Journal Title

      International Journal of Control, Automation, and Systems Vol.5, No.2

      Pages: 147-154

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] Temporal Resolution of the Skin Impedance Measurement in Frequency-domain Method2007

    • Author(s)
      T. Fukumoto, G. Eom, S. Ohba, R. Futami and N. Hoshimiya
    • Journal Title

      IEEE Trans. Biomed. Eng. Vol.54, No.1

      Pages: 170-173

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] 完全埋込型EFSシステムの構成要素に関する検討2007

    • Author(s)
      加藤健太郎, 佐藤文博, 松木英敏, 他
    • Journal Title

      電気学会マグネティックス研究会資料 1

      Pages: 63-67

    • Related Report
      2007 Annual Research Report
  • [Journal Article] Magnetic resonance imaging of morphological and functional changes of the uterus induced by sacral surfsace electrical stimulation2006

    • Author(s)
      T. Ogura, T. Murakami, Y. Ozawa, K. Seki and Y. Handa
    • Journal Title

      Tohoku J. exp. Med. 208

      Pages: 65-73

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] A Contactless Powwer and Signal Transmission Device for Implanted Functional Electrical Stimulation (FES)2006

    • Author(s)
      M.Miyashita, et al.
    • Journal Title

      11^<th> Annual Conference of the International Functional Electrical Stimulation Society 2006 Proceedings

      Pages: 255-257

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 完全埋込型電気刺激装置を想定した体外励磁コイルについての基礎的検討2006

    • Author(s)
      後藤, 他
    • Journal Title

      電気関係学会東北支部連合大会講演論文集

      Pages: 136-136

    • Related Report
      2006 Annual Research Report
  • [Journal Article] FES・TES用完全埋込型小型素子構成に関する基礎的検討2006

    • Author(s)
      宮下, 他
    • Journal Title

      電気関係学会東北支部連合大会講演論文集

      Pages: 138-138

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 体内留置式電気刺激治療システム構築に関する検討2006

    • Author(s)
      佐藤, 他
    • Journal Title

      日本応用磁気学会学術講演概要集

      Pages: 174-174

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Magnetic resonance imaging of morphological and functional changes of the uterus induced by sacral surfsace electrical stimulation2006

    • Author(s)
      T.Ogura et al.
    • Journal Title

      Tohoku J.exp.Med. 208

      Pages: 65-73

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Examination of implantable device for electrical stimulation for the sacrum part2005

    • Author(s)
      M.Maedako et al.
    • Journal Title

      Digest of the 29th annual Conference on Magnetics

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Synchronous rectification for contactless power supply utilizing Mn-Zn ferrite core coils2005

    • Author(s)
      Miura, H et al.
    • Journal Title

      Journal of Applied Physics 97・10

    • Related Report
      2005 Annual Research Report
  • [Journal Article] A Synchronous Rectification Using a Digital PLL Technique for Contactless Power Supplies2005

    • Author(s)
      Miura, H et al.
    • Journal Title

      IEEE Transactions on Magnetics 41・10

      Pages: 3997-3999

    • Related Report
      2005 Annual Research Report
  • [Journal Article] 仙骨部表面電気刺激による排尿障害治療2005

    • Author(s)
      中川晴夫他
    • Journal Title

      泌尿器外科 18

      Pages: 17-22

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Joint Angle Control by FES Using a Feedback Error Learning Controller2005

    • Author(s)
      K.Kurosawa et al.
    • Journal Title

      IEEE Transactions on Neural Systems & Rehabilitation Engineering 13・3

      Pages: 359-371

    • Related Report
      2005 Annual Research Report
  • [Journal Article] Effects and indications of sacral surface therapeutic electrical stimulation in refractory urinary incontinence.2004

    • Author(s)
      M. Yokozuka, T. Namima, H. Nakagawa, M. Ichie. Y. Handa.
    • Journal Title

      J. Rehabil. Med.

      Pages: 899-907

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] A new contactless power-signal transmission device for implanted functional electrical stimulation (FES)2004

    • Author(s)
      Sato, F., Nomoto, T., Kano, G., Matsuki, H., Sato,T.
    • Journal Title

      IEEE Transactions on Magnetics 40 (4 II)

      Pages: 2964-2966

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] 仙骨部電気刺激用完全埋込小型素子に関する基礎的検討2004

    • Author(s)
      前田河, 佐藤, 松木, 半田, 他
    • Journal Title

      平成16年度電気関係学会東北支部連合大会講演論文集

      Pages: 87-87

    • NAID

      130005443573

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 完全埋込型FESシステムの体内埋込素子構成に関する実験的検討2004

    • Author(s)
      鹿野, 佐藤, 松木, 他
    • Journal Title

      平成16年度電気関係学会東北支部連合大会講演論文集

      Pages: 81-81

    • NAID

      130005443582

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 完全埋込型FES用体外装着励磁コイルに関する基礎的検討2004

    • Author(s)
      吉澤, 佐藤, 松木, 他
    • Journal Title

      平成16年度電気関係学会東北支部連合大会講演論文集

      Pages: 82-82

    • NAID

      130005443576

    • Related Report
      2004 Annual Research Report
  • [Journal Article] 完全埋込型FESの体内埋込素子と信号伝送系のシステム化に関する検討2004

    • Author(s)
      鹿野, 佐藤, 松木, 他
    • Journal Title

      第28回目本応用磁気学会学術講演概要集

      Pages: 358-358

    • NAID

      10013769619

    • Related Report
      2004 Annual Research Report
  • [Journal Article] A New Contactless Power-Signal Transmission Device for Implanted Functional Electrical Stimulation(FES)2004

    • Author(s)
      F.Sato, G.Kano, H.Matsuki et al.
    • Journal Title

      IEEE Transactions on Magnetics Vol.40, No.4

      Pages: 2964-2966

    • Related Report
      2004 Annual Research Report
  • [Presentation] Duplex Communicatable Implanted Antenna for Magnetic Direct Feeding Method FES2008

    • Author(s)
      K. Kato, H. Matsuki, F. Sato, T. Satoh and Y. Handa
    • Organizer
      53rd Annual Conference on Magnetism and Magnetic Materials
    • Place of Presentation
      Austin
    • Year and Date
      2008-11-11
    • Related Report
      2008 Final Research Report
  • [Presentation] Duplex Communicatable Implanted Antenna for Magnetic Direct Feedi ng Method FES2008

    • Author(s)
      K. Kato
    • Organizer
      53rd Annual Conference on Magnetism and Magnetic Materials
    • Place of Presentation
      USA Austin
    • Year and Date
      2008-11-11
    • Related Report
      2008 Annual Research Report
  • [Presentation] Cervical electrical stimulation to the left neck with surface electrodes for treatment of intractable epilepsy (oral)2008

    • Author(s)
      A. Yoshida, K. Seki, Y. Handa
    • Organizer
      13th Annual Conference of IFESS
    • Place of Presentation
      Freiburg
    • Year and Date
      2008-09-22
    • Related Report
      2008 Final Research Report
  • [Presentation] Sacral Surface electrical stimulation can control the contraction of prostatic smooth muscle2008

    • Author(s)
      C. Hirayama, K. Seki, H. Nakagawa, T. Ogura, Y. Handa
    • Organizer
      13th Annual Conference of IFESS
    • Place of Presentation
      Freiburg
    • Year and Date
      2008-09-22
    • Related Report
      2008 Final Research Report
  • [Presentation] A Preliminary Test of Modified Applying Methods of Feedback Error Learning for FES Control2008

    • Author(s)
      T. Watanabe, K. Kurosawa
    • Organizer
      Proc. of the 13th Annual Conference of the IFESS
    • Place of Presentation
      Freiburg
    • Year and Date
      2008-09-22
    • Related Report
      2008 Final Research Report
  • [Presentation] Cervical electrical stimulation to the left neck with surface electro des for treatment of intractable epilepsy2008

    • Author(s)
      A. Yoshida
    • Organizer
      13th Annual Conference of IFESS
    • Place of Presentation
      Freiburg, Germany
    • Year and Date
      2008-09-22
    • Related Report
      2008 Annual Research Report
  • [Presentation] A Preliminary Test of Modified Applying Methods of Feedback Error Learning for FES Control2008

    • Author(s)
      Takashi Watanabe
    • Organizer
      13th Annual Conference of IFESS
    • Place of Presentation
      Freiburg, Germany
    • Year and Date
      2008-09-22
    • Related Report
      2008 Annual Research Report
  • [Presentation] Gait analysis before and after electrical stimulation for the spastic paraplegic patients and hemiparetic stroke patients2008

    • Author(s)
      K. Suzuki, K. Seki, Y. Handa
    • Organizer
      XVIIth Congress of ISEK
    • Place of Presentation
      Niagara falls
    • Year and Date
      2008-07-21
    • Related Report
      2008 Annual Research Report 2008 Final Research Report
  • [Presentation] A preliminary study on usefulness of cycling wheel chair training for the patients with lower extremities impairment2008

    • Author(s)
      T. Sekiya
    • Organizer
      XVIIth Congress of ISEK
    • Place of Presentation
      Niagara falls
    • Year and Date
      2008-07-21
    • Related Report
      2008 Annual Research Report
  • [Presentation] Prototyping and Evaluation of Magnetic Communication Coils between Inside and Outside of Body for controlling FES2008

    • Author(s)
      K. Kato, M. Goto, K. Sugano, M. Miyasita, F. Sato, H. Matsuki, Y. Handa, and T. Satoh
    • Organizer
      IEEE International Magnetic Conference
    • Place of Presentation
      Madrid
    • Year and Date
      2008-05-07
    • Related Report
      2008 Final Research Report
  • [Presentation] Prototyping and Evaluation of Magnetic Communication Coils betwee n Inside and Outside of Body for controlling FES2008

    • Author(s)
      K. Kato
    • Organizer
      IEEE International Magnetic Conference
    • Place of Presentation
      Spain Madrid
    • Year and Date
      2008-05-07
    • Related Report
      2008 Annual Research Report
  • [Presentation] FES埋込素子用全角度対応励磁コイルの給電基礎特性2008

    • Author(s)
      加藤健太郎, 佐藤文博, 松木英敏
    • Organizer
      平成20年電気学会全国大会
    • Place of Presentation
      福岡
    • Year and Date
      2008-03-19
    • Related Report
      2007 Annual Research Report
  • [Presentation] Functional Electrical Stimulation (FES) for Motor Disabled Patients2008

    • Author(s)
      T. Watanabe
    • Organizer
      3rd International Symposium on Medical, Bio-and Nano-Electronics
    • Place of Presentation
      Sendai
    • Year and Date
      2008-03-05
    • Related Report
      2008 Final Research Report
  • [Presentation] Application of Knowledge Engineering and Fuzzy System in Realizing Cycle-to-Cycle Control Method for Swing Phase of FES-induced Gait2008

    • Author(s)
      A. Arifin, T. Watanabe and T. Masuko
    • Organizer
      3rd International Symposium on Medical, Bio- and Nano-Electronics
    • Place of Presentation
      Sendai
    • Year and Date
      2008-03-05
    • Related Report
      2008 Final Research Report
  • [Presentation] Improvement of swallowing movement after electrical stimulation to lower legacupoints in post stroke patients2007

    • Author(s)
      C Akamatsu, T Seki, T Ebihara, K Seki, H Arai and Y Handa
    • Organizer
      International Neuromodulation Society 8th world congres
    • Place of Presentation
      Acapulco(Mexico)
    • Year and Date
      2007-12-09
    • Related Report
      2007 Annual Research Report
  • [Presentation] A pilot study on the electrical stimulation for the abdomen to improve motorperformance of the inactive elderly2007

    • Author(s)
      M Sasaki, K Seki, M Kojima, T Ogura and Y Handa
    • Organizer
      International FES Society 12th Annual Meeting
    • Place of Presentation
      Philadelphia(USA)
    • Year and Date
      2007-11-12
    • Related Report
      2007 Annual Research Report
  • [Presentation] 完全埋込型FESシステムの構成要素に関する検討2007

    • Author(s)
      加藤健太郎, 佐藤文博, 松木英敏
    • Organizer
      電気学会マグネティックス研究会
    • Place of Presentation
      東京
    • Year and Date
      2007-09-21
    • Related Report
      2007 Annual Research Report
  • [Presentation] Effect of trunk surface electrical stimulation on elderly people with inactivity2007

    • Author(s)
      M Sasaki, M Kojima, K Seki, K Suzuki and Y Handa
    • Organizer
      2nd Congress of International Society of Reconstructive Neurosurgery
    • Place of Presentation
      台北(台湾)
    • Year and Date
      2007-09-13
    • Related Report
      2007 Annual Research Report
  • [Presentation] Development of a new model of cycling wheel chair for the people with lower limbimpairment2007

    • Author(s)
      T Sekiya, K Seki, M Sasaki, T Takahashi and Y Handa
    • Organizer
      2nd Congress of International Society of Reconstructive Neurosurgery
    • Place of Presentation
      台北(台湾)
    • Year and Date
      2007-09-13
    • Related Report
      2007 Annual Research Report
  • [Presentation] Neuromodulation in dysphagia induced by surface electrical stimulation to suprahyoidarea2007

    • Author(s)
      K Mitsuhashi, K seki, N Sato, T Ogura and Y Handa
    • Organizer
      2nd Congress of International Society of Reconstructive Neurosurgery
    • Place of Presentation
      台北(台湾)
    • Year and Date
      2007-09-13
    • Related Report
      2007 Annual Research Report
  • [Presentation] 完全埋込型FESのための多重化通信システム構築に関する検討2007

    • Author(s)
      宮下誠, 佐藤文博, 松木英敏
    • Organizer
      平成19年度電気関係学会東北支部連合大会
    • Place of Presentation
      弘前
    • Year and Date
      2007-08-23
    • Related Report
      2007 Annual Research Report
  • [Presentation] 完全埋込型FESにおける体内阻止の角度ずれに対応した対外側電力励磁コイルの検討2007

    • Author(s)
      後藤公俊, 佐藤文博, 松木英敏
    • Organizer
      平成19年度電気関係学会東北支部連合大会
    • Place of Presentation
      弘前
    • Year and Date
      2007-08-23
    • Related Report
      2007 Annual Research Report
  • [Presentation] 嚥下障害への舌骨上部表面電気刺激による舌骨・喉頭の動態変化に関する画像医学的研究2007

    • Author(s)
      三橋幸聖 関和則 佐藤尚志 小倉隆英 半田康延
    • Organizer
      日本ニューロモデュレーション学会
    • Place of Presentation
      東京
    • Year and Date
      2007-05-12
    • Related Report
      2007 Annual Research Report
  • [Remarks]

    • URL

      http://www.med.tohoku.ac.jp/org/disability/63/index.html

    • Related Report
      2008 Annual Research Report
  • [Patent(Industrial Property Rights)] 皮膚状態帰還式褥瘡予防治療システム2009

    • Inventor(s)
      半田康延、市江雅芳、星宮望、 増本健、佐々木祥弘
    • Industrial Property Rights Holder
      (株)東北テクノアーチ
    • Acquisition Date
      2009-01-30
    • Related Report
      2008 Final Research Report
  • [Patent(Industrial Property Rights)] 皮膚状態帰還式褥瘡予防治療システム2009

    • Inventor(s)
      半田康延, 市江雅芳、星宮望、増本健、佐々木祥弘
    • Industrial Property Rights Holder
      東北大学
    • Filing Date
      2009-01-30
    • Related Report
      2008 Annual Research Report
  • [Patent(Industrial Property Rights)] 足踏式車椅子2008

    • Inventor(s)
      半田康延
    • Industrial Property Rights Holder
      (株)東北テクノアーチ
    • Acquisition Date
      2008-10-03
    • Related Report
      2008 Final Research Report
  • [Patent(Industrial Property Rights)] 前輪駆動式車椅子2008

    • Inventor(s)
      高橋隆行、半田康延
    • Industrial Property Rights Holder
      (株)東北テクノアーチ
    • Acquisition Date
      2008-10-03
    • Related Report
      2008 Final Research Report
  • [Patent(Industrial Property Rights)] 足踏式車椅子2008

    • Inventor(s)
      半田康延
    • Industrial Property Rights Holder
      東北六学
    • Filing Date
      2008-10-03
    • Related Report
      2008 Annual Research Report
  • [Patent(Industrial Property Rights)] 前輪駆動式車椅子2008

    • Inventor(s)
      半田康延, 高橋隆行
    • Industrial Property Rights Holder
      東北大学
    • Filing Date
      2008-10-03
    • Related Report
      2008 Annual Research Report

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Published: 2004-04-01   Modified: 2016-04-21  

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