Study of holding mechanism and control methodology of endoscopic surgery tools using artificial muscle actuators
Project/Area Number |
19206047
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Research Category |
Grant-in-Aid for Scientific Research (A)
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Allocation Type | Single-year Grants |
Section | 一般 |
Research Field |
Control engineering
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Research Institution | Osaka University |
Principal Investigator |
NISHIKAWA Atsushi Osaka University, 大学院・基礎工学研究科, 准教授 (20283731)
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Co-Investigator(Kenkyū-buntansha) |
MIYAZAKI Fumio 大阪大学, 大学院・基礎工学研究科, 教授 (20133142)
HIRAI Hiroaki 大阪大学, 大学院・基礎工学研究科, 助教 (60388147)
SHIMADA Junichi 京都府立医科大学, 医学系研究科, 講師 (60315942)
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Project Period (FY) |
2007 – 2009
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Project Status |
Completed (Fiscal Year 2009)
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Budget Amount *help |
¥48,620,000 (Direct Cost: ¥37,400,000、Indirect Cost: ¥11,220,000)
Fiscal Year 2009: ¥3,770,000 (Direct Cost: ¥2,900,000、Indirect Cost: ¥870,000)
Fiscal Year 2008: ¥18,460,000 (Direct Cost: ¥14,200,000、Indirect Cost: ¥4,260,000)
Fiscal Year 2007: ¥26,390,000 (Direct Cost: ¥20,300,000、Indirect Cost: ¥6,090,000)
|
Keywords | 内視鏡手術 / 医療ロボット / 人工筋肉アクチュエータ / パラレルメカニズム / タッチパネルインタフェース / ビジュアルサーボ / ゆらぎ / シングルポート(単孔) / 湾曲器具 / 電場応答性高分子 / 人工筋肉 / 冗長多自由度 / 伸縮アクチュエータ / 弯曲 / 多自由度鉗子 / 屈曲アクチュエータ |
Research Abstract |
Endoscopic surgery has grown rapidly in popularity in recent years, not only because it is less invasive and produces less visible scarring, but also because of its benefits in terms of healthcare economy. However, there are many unsolved problems such as difficult hand-eye coordination and limited field of view. We developed new hardware (endoscopic tool holding mechanism) and software (endoscopic tool control methodologies) for human-robot cooperation surgery based on the use of artificial muscle actuators.
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Report
(4 results)
Research Products
(56 results)
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[Journal Article]2010
Author(s)
Kazuhiro Taniguchi
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Journal Title
Robot Surgery, Chapter 1(IN-TECH Education and Publishing)
Pages: 1-24
Related Report
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[Journal Article]2009
Author(s)
Kazuhiro Taniguchi
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Journal Title
Advances in Human-Robot Interaction, Chapter 9(IN-TECH Education and Publishing)
Pages: 141-164
Related Report
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[Journal Article] 水圧駆動型内視鏡マニピュレータのin-vivo評価.2008
Author(s)
谷口和弘, 西川敦, 小林武治, 数原幸平, 市原貴晴, 倉下直人, 関本貢嗣, 瀧口修司, 三吉範克, 土岐祐一郎, 森正樹, 宮崎文夫
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Journal Title
生体医工学 Vol.46,No.6
Pages: 606-620
NAID
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[Journal Article] ディスポーザブル型内視鏡把持位置決めロボット.2008
Author(s)
谷口和弘, 西川敦, 中越宏明, 小林武治, 数原幸平, 市原貴晴, 倉下直人, 青柳さやか, 杉野友啓, 関本貢嗣, 瀧口修司, 門田守人, 宮崎文夫
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Journal Title
日本ロボット学会誌 Vol.26,No.6
Pages: 502-513
NAID
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[Presentation] Analysis of Decisions by Camera Assistants on the Field of View for Laparoscopic Surgery and Its Application to Automatic Positioning of a Laparoscope.2009
Author(s)
A. Nishikawa, Y. Yamada, S. Toda, M. Sekimoto, N. Miyoshi, S. Takiguchi, Y. Doki, M. Mori, F. Miyazaki
Organizer
21st International Conference of the Society for Medical Innovation and Technology (SMIT2009), Sinaia, Romania
Place of Presentation
SMIT2009 2nd Poster Prizeを受賞
Year and Date
2009-10-08
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[Presentation] Development of a disposable laparoscope manipulator using hydraulic actuators (second prototype).2008
Author(s)
K. Taniguchi, A. Nishikawa, T. Kobayashi, K. Kazuhara, T. Ichihara, N. Kurashita, M. Sekimoto, S. Takiguchi, M. Monden, F. Miyazaki
Organizer
20th International Conference of the Society for Medical Innovation and Technology (SMIT2008)
Place of Presentation
Vienna, Austria
Year and Date
2008-08-28
Related Report
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[Presentation] A disposable laparoscope manipulator using hydraulic actuators with air spring.2008
Author(s)
K. Taniguchi, A. Nishikawa, T. Kobayashi, K. Kazuhara, T. Ichihara, N. Kurashita, M. Sekimoto, S. Takiguchi, M. Monden, F. Miyazaki
Organizer
22nd International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS2008)
Place of Presentation
Barcelona, Spain
Year and Date
2008-06-27
Related Report
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[Presentation] A disposable laparoscope manipulator using hydraulic actuators.2008
Author(s)
K. Taniguchi, A. Nishikawa, T. Kobayashi, K. Kazuhara, T. Ichihara, N. Kurashita, M. Sekimoto, S. Takiguchi, M. Monden, F. Miyazaki
Organizer
2008 Emerging Technology Session of the Society of American Gastrointestinal and Endoscopic Surgeons (SAGES2008)
Place of Presentation
Philadelphia, Pennsylvania, USA
Year and Date
2008-04-12
Related Report
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[Presentation] Development of a novel disposable laparoscope manipulator.2007
Author(s)
K. Taniguchi, A. Nishikawa, H. Nakagoe, K. Kazuhara, T. Kobayashi, T. Ichihara, M. Sekimoto, K. Okada, S. Takiguchi, M. Monden, F. Miyazaki
Organizer
19th International Conference of the Society for Medical Innovation and Technology (SMIT2007)
Place of Presentation
Sendai, Japan
Year and Date
2007-11-21
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[Book] Classification, design and evaluation of endoscope robots. In Seung Hyuk Baik, editor, Robot Surgery2010
Author(s)
K. Taniguchi, A. Nishikawa, M. Sekimoto, T. Kobayashi, K. Kazuhara, T. Ichihara, N. Kurashita, S. Takiguchi, Y. Doki, M. Mori, F. Miyazaki
Publisher
TIN-TECH Education and Publishing
Related Report
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[Book] Method for objectively evaluating psychological stress resulting when humans interact with robots. In Vladimir A. Kulyukin, editor, Advances in Human-Robot Interaction2009
Author(s)
K. Taniguchi, A. Nishikawa, T. Sugino, S. Aoyagi, M. Sekimoto, S. Takiguchi, K. Okada, M. Monden, F. Miyazaki
Publisher
IN-TECH Education and Publishing
Related Report
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[Remarks] 2007.5.8-5.14.「内視鏡手術に使い捨てロボ」(共同通信記事ならびに47NEWS動画配信),秋田魁新報,東京新聞,山梨日日新聞,岐阜新聞,北國新聞,神戸新聞,四国新聞,高知新聞,山口新聞,南日本新聞,大阪日日新聞などに掲載.
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