Development of endoscopic miniature manipulator with multiple connectable bending mechanism

• Project/Area Number: 21700501
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Medical systems
• Research Institution: National Research Institute for Child Health and Development (2010-2011); The University of Tokyo (2009)
• Principal Investigator: YAMASHITA Hiromasa 独立行政法人国立成育医療研究センター, 臨床研究センター, 臨床研究員 (00470005)
• Project Period (FY): 2009 – 2011
• Project Status: Completed (Fiscal Year 2011)
• Budget Amount: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000); Fiscal Year 2011: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2010: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000); Fiscal Year 2009: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000)
• Keywords: 医療・福祉 / 機械要素 / マニピュレータ / 知能機械 / 内視鏡手術

Research Abstract

Our objective is to develop a miniature multi-DOFs manipulator with high reliability for more secure and efficient minimal invasive endoscopic surgery. We propose a new driving method using multiple miniature gears and realize multi-joint cylindrical frames by minimal mechanical elements. In this research we have made two prototypes of 5-mm 2-DOFs manipulator and 3-mm 1-DOF manipulator.

Research Products

• [Presentation] 胎児内視鏡手術:胎児治療のための新しい単孔式手術 (2011)
  • Author(s): 山下紘正
  • Organizer: 第3回小切開・鏡視外科学会
  • Place of Presentation: 東京
  • Year and Date: 2011-11-11
• [Presentation] 胎児内視鏡手術:胎児治療のための新しい単孔式手術 (2011)
  • Author(s): 山下紘正, 柿本隆志, 元文姫, 千葉敏雄
  • Organizer: 第3回小切開・鏡視外科学会
  • Place of Presentation: 東京医科大学(東京)
  • Year and Date: 2011-11-11
• [Presentation] Minimal Invasive Advanced Devices for Intrauterine Fetal Surgery (2011)
  • Author(s): Hiromasa Yamashita, Gontaro Kitazumi, Keri Kim, Ken Masamune, Takeyoshi Dohi, Toshio Chiba
  • Organizer: 第3回小切開・鏡視外科学会
  • Place of Presentation: 東京医科大学(東京)
  • Year and Date: 2011-11-11
• [Presentation] Minimal Invasive Advanced Devices for Intrauterine Fetal Surgery (2011)
  • Author(s): Hiromasa Yamashita
  • Organizer: 第50回日本生体医工学会大会
  • Place of Presentation: 東京
  • Year and Date: 2011-05-01
• [Presentation] Minimal Invasive Advanced Devices for Intrauterine Fetal Surgery (2011)
  • Author(s): Hiromasa Yamashita, Gontaro Kitazumi, Keri Kim, Ken Masamune, Takeyoshi Dohi, Toshio Chiba
  • Organizer: 第50回日本生体医工学会大会
  • Place of Presentation: 東京電機大学(東京)
  • Year and Date: 2011-05-01
• [Presentation] 未来につなげる胎児外科治療機器開発～医工連携におけるものづくり～ (2010)
  • Author(s): 山下紘正
  • Organizer: 第8回日本胎児治療学会
  • Place of Presentation: 埼玉
  • Year and Date: 2010-11-13
• [Presentation] Minimal Invasive Novel Devices for Advanced Intrauterine Fetal Surgery (2010)
  • Author(s): Hiromasa Yamashita
  • Organizer: MHS2010 & Micro-Nano Global COE
  • Place of Presentation: 名古屋
  • Year and Date: 2010-10-08
• [Presentation] Advanced Miniature Manipulator for Minimal Invasive Fetal Surgery (2010)
  • Author(s): Hiromasa YAMASHITA
  • Organizer: The 29th Annual International Fetal Medicine & Surgery Society Conference
  • Place of Presentation: 神奈川
  • Year and Date: 2010-09-27
• [Presentation] 先端低侵襲治療のための多機能内視鏡手術デバイスの開発 (2010)
  • Author(s): 山下紘正
  • Organizer: 第22回バイオエンジニアリング講演会
  • Place of Presentation: 岡山
  • Year and Date: 2010-01-09
• [Presentation] 歯車機構を用いた胎児外科用屈曲マニピュレータの研究開発 (2009)
  • Author(s): 山下紘正
  • Organizer: 第18回日本コンピュータ外科学会大会
  • Place of Presentation: 東京
  • Year and Date: 2009-11-21
• [Book] Chapter title : Super Eyes and Hands for Future Fetal Intervention(Book title : Perinatal Mortality) (2012)
  • Author(s): Hiromasa Yamashita, Takashi Kakimoto, Wenji Yuan, Toshio Chiba
  • Publisher: InTech(年発行予定)
• [Book] Chapter title : Super Eyes and Hands for Future Fetal Intervention (Book title : Perinatal Mortality) (2012)
  • Author(s): Hiromasa Yamashita, Takashi Kakimoto, Wenji Yuan, Toshio Chiba
  • Total Pages: 18
  • Publisher: InTech(アクセプト済み)
• [Patent(Industrial Property Rights)] マニピュレータ及びこれを用いたマニピュレーション装置 (2009)
  • Inventor(s): 山下紘正,正宗賢,土肥健純
  • Industrial Property Rights Holder: 国立大学法人東京大学
  • Industrial Property Number: 2009-204642
  • Filing Date: 2009-09-04
• [Patent(Industrial Property Rights)] マニピュレータ及びこれを用いたマニピュレーション装置 (2009)
  • Inventor(s): 山下紘正, 正宗賢, 土肥健純
  • Industrial Property Rights Holder: 国立大学法人東京大学
  • Industrial Property Number: 2009-204642
  • Filing Date: 2009-09-04