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Construction and Control of high-precision human robot simulator for evaluating endovascular surgery strategy

Research Project

Project/Area Number 18206027
Research Category

Grant-in-Aid for Scientific Research (A)

Allocation TypeSingle-year Grants
Section一般
Research Field Intelligent mechanics/Mechanical systems
Research InstitutionNagoya University

Principal Investigator

TOSHIO Fukuda  Nagoya University, 大学院・工学研究科, 教授 (70156785)

Co-Investigator(Kenkyū-buntansha) FUMIHITO Arai  東北大学, 大学院・工学研究科, 教授 (90221051)
MAKOTO Negoro  藤田保健衛生大学, 医学部, 教授 (90115618)
池田 誠一  名古屋大学, 大学院・工学研究科, 研究員 (00377821)
Project Period (FY) 2006 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥49,270,000 (Direct Cost: ¥37,900,000、Indirect Cost: ¥11,370,000)
Fiscal Year 2008: ¥10,530,000 (Direct Cost: ¥8,100,000、Indirect Cost: ¥2,430,000)
Fiscal Year 2007: ¥19,240,000 (Direct Cost: ¥14,800,000、Indirect Cost: ¥4,440,000)
Fiscal Year 2006: ¥19,500,000 (Direct Cost: ¥15,000,000、Indirect Cost: ¥4,500,000)
Keywordsメディカルロボットシステム / 血管内手術 / 手術シミュレータ / テーラーメイド医療 / ラピッドプロトタイピング / マイクロ3次元加工 / 光弾性計測 / 拡張現実感技術 / 血管立体モデル / 血管内カテーテル手術 / 光弾性解析 / ラピッドプロトタイプ / 微細加工 / 拡張現実感システム
Research Abstract

本研究では, (1)血管内治療に係る医療技術, 知見および医療機器の高度な評価を可能にする手術シミュレータを構築し, (2)得られたシミュレータを用いて, 上記の評価を行なった. 本研究により, 動静脈・毛細血管に至る全身の血管領域と拍動血流および術中に使用されるX 線透視映像を再現し, かつ医療行為が身体に及ぼす影響(血管に加わった応力等)の定量的を評価とする手術シミュレータを実現した. また技術の応用により, テーラーメイドの人工血管足場を実現し, 本シミュレータを用いた評価を実施した.

Report

(4 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • 2006 Annual Research Report
  • Research Products

    (46 results)

All 2009 2008 2007 2006 Other

All Journal Article (18 results) (of which Peer Reviewed: 6 results) Presentation (22 results) Remarks (4 results) Patent(Industrial Property Rights) (2 results)

  • [Journal Article] Bomba Hibrida para la Simulacion de la Presion Arterial Humana2009

    • Author(s)
      C. Tercero, E. Tijerino, S. Ikeda, H. Oura, T. Fukuda, M. Destarac, K. Sekiyama, M. Negoro, I. Takahashi
    • Journal Title

      Revista de la Universidad del Valle de Guatemala. No. 19 (accepted) 未定(掲載決定)

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 脳血管内手術シミュレーションのための個別型脳血管立体モデル : 第3報, 光弾性法による血管壁面応力の模擬術中計測2008

    • Author(s)
      池田誠一, 岡田雄太, 福田敏男, 新井史人, 根来眞, 高橋郁夫
    • Journal Title

      日本機械学会論文集(C編) 74(743)

      Pages: 1914-1919

    • NAID

      110006836854

    • Related Report
      2008 Final Research Report
  • [Journal Article] Motoharu Hayakawa, and Ikuo Takahashi. Patient-Specific IVR Endovascular Simulator with Augmented Reality for Medical Training and Robot Evaluation2008

    • Author(s)
      Seiichi Ikeda, Carlos Tercero, Toshio Fukuda, Yuta Okada, Fumihito Arai, Makoto Negoro
    • Journal Title

      Journal of Robotics and Mechatronics Vol. 20 No. 3(Peer Reviewed)

      Pages: 441-448

    • Related Report
      2008 Final Research Report
  • [Journal Article] Robot Manipulation and Guidance using Magnetic Motion Capture Sensor and Software Maps2008

    • Author(s)
      Carlos Tercero, Seiichi Ikeda, Toshio Fukuda, Kosuke Sekiyama, Yuta Okada, Tomomi Uchiyama, Makoto Negoro, Ikuo Takahashi
    • Journal Title

      Journal of Robotics and Mechatronics Vol.20 no.1(Peer Reviewed)

      Pages: 151-158

    • Related Report
      2008 Final Research Report
  • [Journal Article] Numerical evaluation method for catheter prototypes using photoelastic stress analysis on patient specific vascular model.2008

    • Author(s)
      C. Tercero, Y. Okada S. Ikeda, T. Fukuda, K. Sekiyama, et. al.
    • Journal Title

      Internation journal of medical robotics and computer assisted surgery (accepted) 3:4

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Robot manipulation and guidance using magnetic motion capture sensor and a rule based controller2008

    • Author(s)
      C. Tercero, S. Ikeda, T. Fukuda, K. Sekiyama, Y. Okada, et. al.
    • Journal Title

      Journal of robotics and mechatoronics (accepted) Vol.20,no.1

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Patient-Specific IVR Endovascular Simulator with Augmented Reality for Medical Training and Medical Robot Evaluation2008

    • Author(s)
      S. Ikeda, C. Tercero, T. Fukuda, Y. Okada, F. Arai, et. al.
    • Journal Title

      Journal of robotics and mechatoronics (accepted)

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 脳血管内手術シミュレーションのための個別型脳血管立体モデル第3報光弾性法による壁面応力の模擬術中計測2008

    • Author(s)
      岡田雄太、池田誠一、福田敏男、新井史人、根来眞、高橋郁夫
    • Journal Title

      日本機会学会論文集C編(accepted)

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Development biodegradable scaffolds based on patient-specific arterial configuration2007

    • Author(s)
      Tomoyuki Uchida, Seiichi Ikeda, Hiroyuki Oura, Mika Tada, Takuma Nakano, Toshio Fukuda, Takehisa Matsuda, Fumihito Arai
    • Journal Title

      Journal of Biotechnology Issue 2, 20(Peer Reviewed)

      Pages: 213-218

    • Related Report
      2008 Final Research Report
  • [Journal Article] Numerical evaluation method for catheter prototypes using photo-elastic stress analysis on patient-specific vascular model2007

    • Author(s)
      Carlos Tercero, Yuta Okada, Seiichi Ikeda, Toshio Fukuda, Kosuke Sekiyama, Makota Negoro, Ikuo Takahashi
    • Journal Title

      International Journal of Medical Robotics and Computer Assisted Surgery Vol.3 : 4(Peer Reviewed)

      Pages: 349-354

    • Related Report
      2008 Final Research Report
  • [Journal Article] Autonomous catheter insertion system using magnetic motion capture sensor for endovascular surgery2007

    • Author(s)
      Carlos Tercero, Seiichi Ikeda, Tomomi Uchiyama, Toshio Fukuda, Fumihito Arai, Yuta Okada, Y Ono, R Hattori, T Yamamoto, Makoto Negoro, Ikuo Takahashi
    • Journal Title

      International Journal of Medical Robotics and Computer Assisted Surgery Vol. 3 No. 1(Peer Reviewed)

      Pages: 52-58

    • Related Report
      2008 Final Research Report
  • [Journal Article] Fabrication of Cell-Adhesion Surface and Arteriole Model by Photolithography2007

    • Author(s)
      F. Arai, T. Nakano, M. Tada, Yu-Ching Lin, S. Ikeda, T. Uchida, H. Oura, T. Fukuda, T. Matsuda, M. Negoro
    • Journal Title

      Journal of Robotics and Mechatronics 17-5(Peer Reviewed)

      Pages: 535-543

    • Related Report
      2008 Final Research Report
  • [Journal Article] Autonomous Catheter Insertion System using Magnetic Motion Capture Sensor for endovascular surgery2007

    • Author(s)
      C. Tercero, S. Ikeda, T. Uchiyama, T. Fukuda, F. Arai, et. al.
    • Journal Title

      International journal of medical robotics and computer assisted surgery 3:1

      Pages: 52-58

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Patient-Specific Blood Vessel Scaffold for Regenerative Medicine2007

    • Author(s)
      S.Ikeda, F.Arai, T.Fukuda, O.Hiroyuki, M.Negoro
    • Journal Title

      Proc. of IEEE ICRA

      Pages: 1912-1917

    • Related Report
      2006 Annual Research Report
  • [Journal Article] Ikuo Takahashi. Patient-Tailored Cerebral Arterial Model for Simulating Neurovascular Intervention (2nd Report, In Vitro Reproduction of Membranous Vascular Structure Accompanied with Elastic Deformation)2006

    • Author(s)
      Seiichi Ikeda, Fumihito Arai, Toshio Fukuda, Makoto Negoro, Keiko Irie
    • Journal Title

      Transactions of the Japanese Society of Mechanical Engineers, Series C Vol.72, No.720(Peer Reviewed)

      Pages: 261-267

    • Related Report
      2008 Final Research Report
  • [Journal Article] Development of Patient-Specific Scaffold for Artificial Blood Vessel2006

    • Author(s)
      S.Ikeda, F.Arai, T.Fukuda, M.Negoro
    • Journal Title

      Proc. of IEEE Micro-NanoMechatronics and Human Science

      Pages: 108-113

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 患者脳血管立体モデルによるIVR(術中血管撮影)の再現2006

    • Author(s)
      池田誠一, 岡田雄太, 福田敏男, 新井史人, 根来眞, 高橋郁夫
    • Journal Title

      第24回日本ロボット学会学術講演会

    • Related Report
      2006 Annual Research Report
  • [Journal Article] 光弾性効果を利用した生体情報に基づく脳血管モデルの応力解析2006

    • Author(s)
      池田誠一, 岡田雄太, 福田敏男, 新井史人, 根来眞, 高橋郁夫
    • Journal Title

      第24回日本ロボット学会学術講演会

    • Related Report
      2006 Annual Research Report
  • [Presentation] PHOTOELASTIC Stress Analysis on Patient-Specific Anatomical Model of Cerebral Arteryby Reflection Method2008

    • Author(s)
      Motoki matsushima
    • Organizer
      2008 IEEE International Symposium on Micro-Nano Mechatronics and Human Science
    • Place of Presentation
      愛知
    • Year and Date
      2008-11-07
    • Related Report
      2008 Annual Research Report
  • [Presentation] 患者個人情報に基づく脳血管立体モデルを用いた反射法による光弾性応力解析2008

    • Author(s)
      松島幹
    • Organizer
      第26回日本ロボット学会学術講演会
    • Place of Presentation
      兵庫
    • Year and Date
      2008-09-10
    • Related Report
      2008 Annual Research Report
  • [Presentation] 生体血管の力学的特性を有する人工血管足場の開発2008

    • Author(s)
      大浦裕就
    • Organizer
      第26回日本ロボット学会学術講演会
    • Place of Presentation
      兵庫
    • Year and Date
      2008-09-10
    • Related Report
      2008 Annual Research Report
  • [Presentation] 生体血管の力学的特性を有する人工血管足場の開発2008

    • Author(s)
      大浦裕就, 池田誠一, カルロステルセロ, 中野琢磨, 新井史人, 根来真, 松田武久, 福田敏男
    • Organizer
      第26回日本ロボット学会学術講演会
    • Place of Presentation
      神戸市
    • Year and Date
      2008-09-09
    • Related Report
      2008 Final Research Report
  • [Presentation] カルロステルセロ.患者個人情報に基づく脳血管立体モデルを用いた反射法による光弾性応力解析2008

    • Author(s)
      岡田雄太, 池田誠一, 松島幹, 福田敏男, 新井史人, 根来真, 高橋郁夫
    • Organizer
      第26回日本ロボット学会学術講演会
    • Place of Presentation
      神戸市
    • Year and Date
      2008-09-09
    • Related Report
      2008 Final Research Report
  • [Presentation] 磁性果糖ビーズの自己組織化を利用した多孔質生分解性足場の造形2008

    • Author(s)
      内田智之, 大浦裕就, 池田誠一, 中野琢磨, 新井史人, 根来真, 松田武久, 福田敏男
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      長野市
    • Year and Date
      2008-06-06
    • Related Report
      2008 Final Research Report
  • [Presentation] カルロステルセロ.反射法による患者個人対応型立体血管モデルの光弾性応力解析2008

    • Author(s)
      岡田雄太, 池田誠一, 福田敏男, 新井史人, 根来真, 高橋郁夫
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      長野市
    • Year and Date
      2008-06-06
    • Related Report
      2008 Final Research Report
  • [Presentation] 孔密度の傾斜を有する多層構造の人工血管足場開発2008

    • Author(s)
      大浦裕就, 内田智之, 池田誠一, 中野琢磨, 新井史人, 根来真, 松田武久, 福田敏男
    • Organizer
      ロボティクス・メカトロニクス講演会
    • Place of Presentation
      長野市
    • Year and Date
      2008-06-06
    • Related Report
      2008 Final Research Report
  • [Presentation] 孔密度の傾斜を有する多層構造の人工血管足場開発2008

    • Author(s)
      大浦裕就
    • Organizer
      ロボティクスメカトロニクス講演会
    • Place of Presentation
      長野
    • Year and Date
      2008-06-06
    • Related Report
      2008 Annual Research Report
  • [Presentation] Fabrication of Transparent Arteriole Membrane Models.Proc. Of the Int'l Symp2008

    • Author(s)
      Takuma Nakano, Keisuke Yoshida, Seiichi Ikeda**, Hiroyuki Oura, Toshio Fukuda, Takehisa Matsuda, Makoto Negoro and Fumihito Arai
    • Organizer
      on Micro-NanoMechatronics and Human Science
    • Place of Presentation
      Nagoya, Japan
    • Related Report
      2008 Final Research Report
  • [Presentation] Ikuo Takahashi. Photoelastic Stress Analysis on Patient-Specific Anatomical Model of Cerebral Artery by Reflection Method2008

    • Author(s)
      Motoki Matsushima, Yuta Okada, Seiichi Ikeda,Toshio Fukuda, Fumihito Arai, Makoto Negoro
    • Organizer
      Proc. Of the Int'l Symp. On Micro-NanoMechatronics and Human Science
    • Place of Presentation
      Nagoya, Japan
    • Related Report
      2008 Final Research Report
  • [Presentation] Photoelastic stress analysis on patient specific anatomical model of cerebral artery2007

    • Author(s)
      Y. Okada, S. Ikeda, T. Fukuda, F. Arai, M. Negoro, et. al.
    • Organizer
      International symposium on micro nano mechatroronics and human science
    • Place of Presentation
      愛知県
    • Year and Date
      2007-11-14
    • Related Report
      2007 Annual Research Report
  • [Presentation] Patient-Specific IVR Surgical Simulator for Endovascular Intervention2007

    • Author(s)
      S. Ikeda, C. Tercero, Y. Okada, T. Fukuda, F. Arai, et. al.
    • Organizer
      International symposium on micro nano mechatroronics and human science
    • Place of Presentation
      愛知県
    • Year and Date
      2007-11-12
    • Related Report
      2007 Annual Research Report
  • [Presentation] 患者脳血管立体モデルによるAR脳血管内手術シミュレータ2007

    • Author(s)
      池田誠一、福田敏男、新井史人, 他
    • Organizer
      第25回日本ロボット学会学術講演会
    • Place of Presentation
      千葉県
    • Year and Date
      2007-09-14
    • Related Report
      2007 Annual Research Report
  • [Presentation] 患者個人情報に基づく脳血管立体モデル上での光弾性法による応力解析2007

    • Author(s)
      岡田雄太、福田敏男、池田誠一, 他
    • Organizer
      第25回日本ロボット学会学術講演会
    • Place of Presentation
      千葉県
    • Year and Date
      2007-09-13
    • Related Report
      2007 Annual Research Report
  • [Presentation] 生体情報に基づくin vitro脳血管内手術シミュレータ2007

    • Author(s)
      岡田雄太、福田敏男、池田誠一, 他
    • Organizer
      日本機会学会年次大会
    • Place of Presentation
      大阪府
    • Year and Date
      2007-09-12
    • Related Report
      2007 Annual Research Report
  • [Presentation] Catheter insertion path reconstruction with autonomous system for endovascular surgery2007

    • Author(s)
      C. Tercero, S. Ikeda, T. Fukuda, K. Sekiyama, Y. Okada, et. al.
    • Organizer
      IEEE international symposium on computational intelligence in robotics and automation
    • Place of Presentation
      FL, USA
    • Year and Date
      2007-06-22
    • Related Report
      2007 Annual Research Report
  • [Presentation] 光弾性法による患者個人対応型脳血管立体モデルの応力解析2007

    • Author(s)
      岡田雄太、福田敏男、池田誠一, 他
    • Organizer
      ロボティクスメカトロニクス(Robomec)講演会
    • Place of Presentation
      秋田県
    • Year and Date
      2007-05-12
    • Related Report
      2007 Annual Research Report
  • [Presentation] 患者血管モデルによる脳血管内手術シミュレータの構築IVR(術中血管造影)の再現2007

    • Author(s)
      池田誠一、新井史人、福田敏男, 他
    • Organizer
      ロボティクスメカトロニクス(Robomec)講演会
    • Place of Presentation
      秋田県
    • Year and Date
      2007-05-12
    • Related Report
      2007 Annual Research Report
  • [Presentation] Patient-Specific Blood Vessel Scaffold for Regenerative Medicine. Proc2007

    • Author(s)
      Seiichi Ikeda, Fumihito Arai, Toshio Fukuda, Hiroyuki Oura, Makoto Negoro
    • Organizer
      IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Roma, Italy
    • Related Report
      2008 Final Research Report
  • [Presentation] Development of biodegradable scaffolds by leaching self-assembled magnetic sugar particles2007

    • Author(s)
      Tomoyuki Uchida, Hiroyuki Oura, Seiichi Ikeda, Takuma Nakano, Fumihito Arai, Makoto Negoro, Takehisa Matsuda, Toshio Fukuda
    • Organizer
      IEEE International Conference on Robotics and Automation
    • Place of Presentation
      Roma, Italy
    • Related Report
      2008 Final Research Report
  • [Presentation] Photoelastic Stress Analysis on Patient-Specific Anatomical Model of Cerebral Artery2007

    • Author(s)
      Yuta Okada, Seiichi Ikeda, Toshio Fukuda, Fumihito Arai, Makoto Negoro Ikuo Takahashi, Carlos Tercero
    • Organizer
      Proc. of the International Symp. On Micro-Nano Mechatronics and Human Science
    • Place of Presentation
      Nagoya, Japan
    • Related Report
      2008 Final Research Report
  • [Remarks]

    • URL

      http://www.robo.mein.nagoya-u.ac.jp

    • Related Report
      2008 Final Research Report
  • [Remarks]

    • URL

      http://www.imech.mech.tohoku.ac.jp/index.html

    • Related Report
      2008 Final Research Report
  • [Remarks]

    • URL

      http://www.fujita-hu.ac.jp/index.html

    • Related Report
      2008 Final Research Report
  • [Remarks]

    • URL

      http://www.fain-biomedical.com2

    • Related Report
      2008 Final Research Report
  • [Patent(Industrial Property Rights)] 多層多孔足場及びその製造方法2007

    • Inventor(s)
      内田智之, 福田敏男, 大浦裕就, 池田誠一
    • Industrial Property Rights Holder
      内田智之, 福田敏男, 大浦裕就, 池田誠一, 名古屋大学
    • Industrial Property Number
      2007-318906
    • Filing Date
      2007-11-11
    • Related Report
      2008 Final Research Report
  • [Patent(Industrial Property Rights)] 多孔質足場2007

    • Inventor(s)
      大浦裕就, 福田敏男, 内田智之, 池田誠一
    • Industrial Property Rights Holder
      大浦裕就, 福田敏男, 内田智之, 池田誠一, 名古屋大学
    • Industrial Property Number
      2007-318907
    • Filing Date
      2007-11-11
    • Related Report
      2008 Final Research Report

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Published: 2006-04-01   Modified: 2016-04-21  

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