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Surgical robots with combined flexibility and rigidity - fundamental technology development and implementation

Research Project

Project/Area Number 18H03549
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Review Section Basic Section 90130:Medical systems-related
Research InstitutionKyushu University

Principal Investigator

ARATA JUMPEI  九州大学, 工学研究院, 教授 (40377586)

Co-Investigator(Kenkyū-buntansha) 木口 量夫  九州大学, 工学研究院, 教授 (90269548)
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)
Project Period (FY) 2018-04-01 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥17,160,000 (Direct Cost: ¥13,200,000、Indirect Cost: ¥3,960,000)
Fiscal Year 2020: ¥7,150,000 (Direct Cost: ¥5,500,000、Indirect Cost: ¥1,650,000)
Fiscal Year 2019: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
Fiscal Year 2018: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Keywords医療システム / 手術ロボット / 可変剛性 / 医用システム / 柔軟機構 / コンプライアントメカニズム
Outline of Final Research Achievements

In this study, we developed a robotic joint module that contains an elastic belt that allows the control of effective length of spring, thus the joint stiffness. The experimental evaluations revealed that the developed prototype is compact and capable of larger range of variable stiffness. From these results, we concluded that the developed joint is applicable for a surgical robot, making the rigidity from soft to hard depending on the surgical procedures.

Academic Significance and Societal Importance of the Research Achievements

より優れた機構の探索は,根本的に安全性の担保を求められる医療ロボット分野において必須である.そこには従来の産業機械では存在しなかった要求が多く存在し,新たな研究開発の必要性が広大に残されている.例えば,コンピュータによる電算処理はロボット制御に広く活用されているが,力センサシステムの手術ロボット搭載が困難なのは,その複雑さゆえに安全性の担保が不可能であり,簡便かつ安定な機構的解決手段が求められると考えられる.本課題は機械技術の新たな活用として、医療ロボットの基盤技術を提供するものであり、学術的、社会的に意義を有すると考えられる.

Report

(4 results)
  • 2020 Annual Research Report   Final Research Report ( PDF )
  • 2019 Annual Research Report
  • 2018 Annual Research Report
  • Research Products

    (2 results)

All 2019

All Presentation (2 results) (of which Int'l Joint Research: 1 results)

  • [Presentation] Compact and Lightweight Variable Stiffness Mechanism Using Elastic Band for Medical Robots2019

    • Author(s)
      Kenichiro Seto, Kazuo Kiguchi, Jumpei Arata
    • Organizer
      IEEE Int. Conf. on Robotics and Biomimetics (ROBIO)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 医療ロボットへの導入を目指した帯状弾性体を用いた可変剛性機構の開発2019

    • Author(s)
      瀬戸謙一郎, 木口量夫, 荒田純平
    • Organizer
      第37回日本ロボット学会学術講演会予稿集
    • Related Report
      2019 Annual Research Report

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Published: 2018-04-23   Modified: 2022-01-27  

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