| Project/Area Number |
16K18050
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| Research Category |
Grant-in-Aid for Young Scientists (B)
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| Allocation Type | Multi-year Fund |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Shiga University of Medical Science |
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Principal Investigator |
Yamada Atsushi 滋賀医科大学, バイオメディカル・イノベーションセンター, 特任助教 (40534334)
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| Project Period (FY) |
2016-04-01 – 2018-03-31
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| Project Status |
Completed (Fiscal Year 2017)
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| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2017: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2016: ¥3,120,000 (Direct Cost: ¥2,400,000、Indirect Cost: ¥720,000)
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| Keywords | 弾性メカニズム / ステアリング機構 / ループ機構 / 手術ロボット / 自在屈曲弾性機構 / ステアリング / フレキシブルメカニズム / 針 / マイクロカテーテル / 操舵機構 / Steerable Needle / Active Microcatheter / アクティブマイクロカテーテル / アクティブニードル / ナビゲーションシステム |
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| Outline of Final Research Achievements |
Active Sheath mechanisms proposed by authors were applied to steerable needles and fine needles, TIPS needles and steerable microcatheters. Each steerable needle consisted of a flexible cannula and a flexible loop-shaped stylet. The steerable microcatheter consisted of a micro catheter and a loop-shaped guidewire. Especially, the TIPS needle employed a combination of the Active Sheath mechanism and a concentric tube mechanism. About the steerable needles, kinematics and FEM simulations were performed. A real-time MRI navigation systems was developed to track needle insertions.
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