腹腔鏡下手術のための音響式多軸力検出に基づく触覚フィードバックシステムの開発
| Project/Area Number |
19J23169
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| Research Category |
Grant-in-Aid for JSPS Fellows
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| Allocation Type | Single-year Grants |
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| Section | 国内 |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | Nagoya Institute of Technology |
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Principal Investigator |
LY HOANG HIEP 名古屋工業大学, 工学研究科, 特別研究員(DC1)
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| Project Period (FY) |
2019-04-25 – 2022-03-31
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| Project Status |
Completed (Fiscal Year 2021)
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| Budget Amount *help |
¥2,500,000 (Direct Cost: ¥2,500,000)
Fiscal Year 2021: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 2020: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 2019: ¥900,000 (Direct Cost: ¥900,000)
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| Keywords | Tumor detection / Tactile display / Shear force / Pneumatic-based device / Substitutional display / Tumor characterization / Laparoscopic surgery / tactile display / pneumatic power / shear force / tumor detection / substitutional display / laparoscopic surgery / tactile sensor / acoustic reflection / multiple force sensor |
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| Outline of Research at the Start |
In this study, 1)I will develop a tactile sensor capable of detecting force information of 2 axes (normal and tangential force). 2)Then, I plan to propose a tactile display which appropriately and effectively presents the measured biaxial force from the grasper. 3)In addition, I will establish a model using deep learning that could present the contact object’s features such as the shape and softness of the tissue from the measured force from the grasper.
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| Outline of Annual Research Achievements |
In laparoscopic cancer surgery, assessing the target tumor enables surgeons to resect the tumor with a minimum margin . I developed a ring-type substitutional tactile display with high clinical applicability, called SuP-Ring, that provides users with normal and shear force feedback for intra-operative tumor localization. The experimental results showed that users could enhance their performance in localizing the tumor based on the shear feedback of the tactile display, while the normal feedback contributes to ensuring the safety requirements during operation. Furthermore, users could identify the tumor depth and size based on both normal and shear feedback. The SuP-Ring concept and the experimental results were summarized and published in two international journals and my doctoral thesis.
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| Research Progress Status |
令和3年度が最終年度であるため、記入しない。
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| Strategy for Future Research Activity |
令和3年度が最終年度であるため、記入しない。
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Report
(3 results)
Research Products
(6 results)
