Study of a miniature master-slave five fingers hand robot which can perform surgery in abdominal cavity
| Project/Area Number |
16H03195
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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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 | Kyushu University |
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Principal Investigator |
Nakadate Ryu 九州大学, 先端医療イノベーションセンター, 特任准教授 (40584470)
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| Co-Investigator(Kenkyū-buntansha) |
赤星 朋比古 九州大学, 医学研究院, 准教授 (20336019)
大内田 研宙 九州大学, 大学病院, 講師 (20452708)
荒田 純平 九州大学, 工学研究院, 准教授 (40377586)
橋爪 誠 九州大学, 先端医療イノベーションセンター, 名誉教授 (90198664)
池田 哲夫 九州大学, 大学病院, 准教授 (60585701)
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| Research Collaborator |
OSAWA keisuke
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| Project Period (FY) |
2016-04-01 – 2019-03-31
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| Project Status |
Completed (Fiscal Year 2018)
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| Budget Amount *help |
¥17,550,000 (Direct Cost: ¥13,500,000、Indirect Cost: ¥4,050,000)
Fiscal Year 2018: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
Fiscal Year 2017: ¥2,990,000 (Direct Cost: ¥2,300,000、Indirect Cost: ¥690,000)
Fiscal Year 2016: ¥8,710,000 (Direct Cost: ¥6,700,000、Indirect Cost: ¥2,010,000)
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| Keywords | ロボット / ハンド / 手術ロボット / ロボットハンド |
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| Outline of Final Research Achievements |
A robot system which is composed of, two miniature five-finger hands for right/left arm (21 active degrees of freedom each, 10mm in diameter), a three dimensional bending endoscope (6 degrees of freedom, 10mm in diameter) was developed for the purpose of laparoscopic surgery. The operator’s finger/hand movements and head movement are simultaneously reproduced in abdominal cavity by glove type sensors and a head mount display.
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| Academic Significance and Societal Importance of the Research Achievements |
自由度数の多い人型ハンドロボットとしてはおそらく世界最小のものが完成した。体内に挿入する手術ロボットのみならず、微小空間での作業を行うロボットハンドとして工業分野でも様々な応用が考えられる。またその構成方法の一部は人サイズのロボットハンドにも応用可能である。
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Report
(4 results)
Research Products
(28 results)
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[Journal Article] Colorectal endoscopic submucosal dissection using novel articulating devices: a comparative study in a live porcine model2019
Author(s)
Okamoto Y, Nakadate R, Nakamura S, Arata J, Oguri S, Moriyama T, Esaki M, Iwasa T, Ohuchida K, Akahoshi T, Ikeda T, Kitazono T, Hashizume M
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Journal Title
Surg Endosc
Volume: 33(2)
Issue: 2
Pages: 651-657
DOI
Related Report
Peer Reviewed / Int'l Joint Research
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[Journal Article] A new robotic-assisted flexible endoscope with single-hand control: endoscopic submucosal dissection in the ex vivo porcine stomach2018
Author(s)
Iwasa T, Nakadate R, Onogi S, Okamoto Y, Arata J, Oguri S, Ogino H, Ihara E, Ohuchida K, Akahoshi T, Ikeda T, Ogawa Y, Hashizume M
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Journal Title
Surg Endosc
Volume: 32(7)
Issue: 7
Pages: 3386-3392
DOI
Related Report
Peer Reviewed / Int'l Joint Research
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[Journal Article] Laparoscopic Ultrasound Manipulator With aSpring-Based Elastic Mechanism.2018
Author(s)
Arata J, Fukami K, Oguri S, Onogi S, Ikeda T, Nakadate R, Sakaguchi M, Akahoshi T, Harada K, Mitsuishi M, Hashizume M
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Journal Title
Int J CARS
Volume: -
Issue: 7
Pages: 1063-1072
DOI
Related Report
Peer Reviewed / Int'l Joint Research
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