Surgeon-Assisted robotic surgery navigation system based on bilateral control and augmented reality

• Project/Area Number: 18K17205
• Research Category: Grant-in-Aid for Early-Career Scientists
• Allocation Type: Multi-year Fund
• Review Section: Basic Section 57060:Surgical dentistry-related
• Research Institution: Keio University
• Principal Investigator: USUDA Shin 慶應義塾大学, 医学部(信濃町), 医師(非常勤) (70445287)
• Project Period (FY): 2018-04-01 – 2021-03-31
• Project Status: Completed (Fiscal Year 2020)
• Budget Amount: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000); Fiscal Year 2020: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2019: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2018: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
• Keywords: ロボットサージェリー / ナビゲーションサージェリー / 歯科インプラント / ロボットアーム / ロボット手術 / ナビゲーション手術 / 拡張現実 / 手術ナビゲーション / 手術ロボット / 触覚フィードバック

Outline of Final Research Achievements

For some time, I have been conducting research to prevent these medical errors and to enable treatment that conforms to the treatment plan by using force assistance with a robotic arm as a surgical navigation system. In this study, I developed a tactile robot for surgical assistance using bilateral control for use in oral surgery, and investigated the application of navigation surgery in oral surgery and the transmission of appropriate visual information.

Academic Significance and Societal Importance of the Research Achievements

近年、歯科インプラントが多くの施設で行われるようになった一方で，医療過誤も多発しており，インプラント治療に絡む訴訟件数は年々増える一方である．主な医療過誤としては下歯槽神経の損傷，舌側皮質骨への穿孔，上顎洞へのインプラント迷入などである．手術ナビゲーションシステムを使用しこれらの医療過誤を防止，治療計画に基づいた治療を可能とすべく臨床応用を行ってきた．そこで，かつてのナビゲーションシステムとは一線を画するシステムを構築すべく感覚機能を応用した術者支援ロボットアームを有する手術ナビゲーションシステムを具体化し，ヘッドマウントディスプレイを組み合わせ術者への情報伝達の向上が可能となった．

Research Products

• [Journal Article] A case of spindle cell/pleomorphic lipoma on inferior border of the mandible (2020)
  • Author(s): Munakata Kanako、Asoda Seiji、Usuda Shin、Miyashita Hidetaka、Soma Tomoya、Hasegawa Toshihiro、Ogawa Chiharu、Ohyama Sadao、Yamauchi Tomohiro、Kawaida Miho、Kameyama Kaori、Nakagawa Taneaki、Kawana Hiromasa
  • Journal Title: Journal of Oral and Maxillofacial Surgery, Medicine, and Pathology Volume: 32 Issue: 1 Pages: 49-52
  • DOI: 10.1016/j.ajoms.2019.09.005
  • Peer Reviewed
• [Journal Article] Auricular Osseointegrated Implant Treatment: Basic Technique and Application of Computer Technology (2020)
  • Author(s): Kawana Hiromasa、Usuda Shin、Asoda Seiji、Kaneko Tsuyoshi、Ogawa Kaoru、Itamiya Tomoki、Fuchigami Kei、Nagata Koudai、Kitami Ryoji、Kimoto Katsuhiko、Truppe Michael
  • Journal Title: Applied Sciences Volume: 10 Issue: 14 Pages: 4922-4922
  • DOI: 10.3390/app10144922
  • Peer Reviewed
• [Journal Article] Development of a Multi DOF Haptic Robot for Dentistry and Oral Surgery (2020)
  • Author(s): Iijima Taiga、Matsunaga Takuya、Shimono Tomoyuki、Ohnishi Kouhei、Usuda Shin、Kawana Hiromasa
  • Journal Title: 2020 IEEE/SICE International Symposium on System Integration (SII) Volume: - Pages: 52-57
  • DOI: 10.1109/sii46433.2020.9026216
  • Peer Reviewed
• [Presentation] Development of a Multi DOF Haptic Robot for Dentistry and Oral Surgery (2020)
  • Author(s): Taiga Iijima ; Takuya Matsunaga ; Tomoyuki Shimono ; Kouhei Ohnishi ; Shin Usuda ; Hiromasa Kawana
  • Organizer: 2020 IEEE/SICE International Symposium on System Integration (SII)
  • Int'l Joint Research
• [Presentation] Two cases of image-guided navigation in oral surgery ― Efficient display method of navigation image ― (2019)
  • Author(s): USUDA Shin , ENDO Tomoki, ASODA Seiji , KAWANA Hiromasa, KIZU Hideki
  • Organizer: 7th Biennial Congress of the Advanced Digital Technology in head & neck reconstruction
  • Int'l Joint Research
• [Presentation] 顎矯正手術に対して3Dモデルサージェリーとナビゲーションシステムを併用した1例 (2019)
  • Author(s): 臼田 慎
  • Organizer: 第２０７回公益社団法人日本口腔外科学会関東支部学術集会