High functionality assemblable hand for laparoscopic surgery with sensor integration
| Project/Area Number |
21300186
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Medical systems
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
OMATA Toru 東京工業大学, 大学院・総合理工学研究科, 教授 (10262312)
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| Co-Investigator(Kenkyū-buntansha) |
TAKAYAMA Toshio 東京工業大学, 大学院・総合理工学研究科, 講師 (80376954)
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| Co-Investigator(Renkei-kenkyūsha) |
KOJIMA Kazuyuki 東京医科歯科大学, 医学部・附属病院, 特任教授 (60313243)
TANAKA Naofumi 東京医科歯科大学, 医学部・附属病院, 講師 (90280982)
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| Project Period (FY) |
2009 – 2011
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| Project Status |
Completed (Fiscal Year 2011)
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| Budget Amount *help |
¥18,200,000 (Direct Cost: ¥14,000,000、Indirect Cost: ¥4,200,000)
Fiscal Year 2011: ¥5,590,000 (Direct Cost: ¥4,300,000、Indirect Cost: ¥1,290,000)
Fiscal Year 2010: ¥6,760,000 (Direct Cost: ¥5,200,000、Indirect Cost: ¥1,560,000)
Fiscal Year 2009: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
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| Keywords | 医用ロボット / ロボットハンド |
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| Research Abstract |
We had proposed mechanical hand that can be assembled inside the abdominal cavity. The purpose of this project is to enhance the functionality of the hand with sensor integration. We have developed an assemblable hand with an ultrasound probe that enables observation of the inside of an internal organ while grasping it. The ultrasound sensing also enables the measurement of the position and orientation of the opposite finger. We have also proposed sensing methods using air flow and water pressure for simple and inexpensive contact force sensing.
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Report
(4 results)
Research Products
(23 results)
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[Presentation] 腹腔内組立式3指9自由度ハンド2009
Author(s)
大嶋律也, 高山俊男, 小俣透, 小嶋一幸, 高瀬浩造, 田中直文
Organizer
第27回日本ロボット学会学術講演会
Place of Presentation
横浜国立大学
Year and Date
2009-09-15
Related Report
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