Development of robotic system with deformable and thermal simulator

• Project/Area Number: 21700513
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Medical systems
• Research Institution: Waseda University
• Principal Investigator: KOBAYASHI Yo Waseda University, 理工学術院, 講師 (50424817)
• Project Period (FY): 2009 – 2010
• Project Status: Completed (Fiscal Year 2010)
• Budget Amount: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000); Fiscal Year 2010: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000); Fiscal Year 2009: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
• Keywords: ロボティクス / 生体熱工学 / 構造力学 / バイオメカ二クス / 制御システム / バイオメカニクス / 低侵襲治療システム / コンピュータ外科学 / 医用ロボット

Research Abstract

The goal of this study is to develop robotic system with both deformable and thermal simulator. We mainly addressed the development and evaluation of thermal simulator in this project. Specifically, we studied (1) Measurement and modeling of liver thermal properties, (2) Development of temperature distribution simulator, (3) In vitro evaluation of thermal simulator, (4) Consideration of effect of blood flow of in vivo situation.

Research Products

• [Journal Article] Temperature Dependence of Thermal Conductivity of Liver Based on Various Experiments and a Numerical Simulation for RF Ablation (2010)
  • Author(s): Hiroki Watanabe, Nozomu Yamazaki, Kobayashi, Tomoyuki Miyashita, Makoto Hashizume, Masakatsu G.Fujie
  • Journal Title: in Proceeding of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society Buenos Aires, Argentina Pages: 3222-3228
  • Peer Reviewed
• [Journal Article] Design of a Surgical Robot with Dynamic Vision Field Control for Single Port Endoscopic Surgery (2010)
  • Author(s): Yo Kobayashi, Yu Tomono, Yuta Sekiguchi, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satos Ieiri, Kazuo Tanoue, Makoto Hashizume, Masaktsu G.Fujie
  • Journal Title: in Proceeding of the 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society Buenos Aires, Argentina Pages: 979-983
  • Peer Reviewed
• [Journal Article] Method to Generate Distribution Maps of the Material Parameters of the Human Body Using Robotic and Dynamic Simulation Systems (2009)
  • Author(s): Takeharu Hoshi, Yo Kobayashi, Masakatsu G.Fujie
  • Journal Title: in Proceedings of 2009, November 29 Tokyo, Japan IEEE/SICE International sympojium on system integration Tokyo, Japan Pages: 60-66
  • Peer Reviewed
• [Journal Article] Integrated System for RFA Therapy with Biomechanical Simulation and Needle Insertion Robot (2009)
  • Author(s): Hiroki Watanabe, Yo Kobayashi, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G.Fujie, Makoto Hashizume
  • Journal Title: in Proceedings of 2009 IEEE/SICE International sympojium on system integration Tokyo, Japan Pages: 54-59
  • Peer Reviewed
• [Journal Article] Parameter Setting Method considering Variation of Organ Stiffness for the Control Method to Prevent Overload at Fragile Tissue (2009)
  • Author(s): Yo Kobayashi, Atsushi Kato, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G.Fujie
  • Journal Title: in Proceedings of 2009 IEEE International Conference on Intelligent Robots and Systems St.Louis, USA Pages: 2155-2161
  • Peer Reviewed
• [Journal Article] A Robotic Palpation-Based Needle Insertion Method for Diagnostic Biopsy and Treatment of Breast Cancer (2009)
  • Author(s): Yo Kobayashi, Makiko Suzuki, Atsushi Kato, Kozo Konishi, Makoto Hashizume, Masakatsu G.Fujie
  • Journal Title: in Proceedings of 2009 IEEE International Conference on Intelligent Robots and Systems St.Louis, USA Pages: 5534-5539
  • Peer Reviewed
• [Journal Article] Modeling the Temperature Dependence of Thermophysical Properties : Study on the Effect of Temperature Dependence for RFA (2009)
  • Author(s): Hiroki Watanabe, Yo Kobayashi, Makoto Hashizume, Masakatsu G.Fujie
  • Journal Title: in Proceeding of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society Minneapolis, Minnesota, USA Pages: 5100-5105
  • Peer Reviewed
• [Journal Article] Modeling of Friction Force based on Relative Velocity between Liver Tissue and Needle for Needle Insertion Simulation (2009)
  • Author(s): Yo Kobayashi, Takahiro Sato, Masakatsu G.Fujie
  • Journal Title: in Proceeding of the 31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society Minneapolis, Minnesota, USA Pages: 5274-5278
  • Peer Reviewed
• [Journal Article] Developing a Planning Method for Straight Needle Insertion using Probability-Based Condition where a Puncture Occurs (2009)
  • Author(s): Yo Kobayashi, Akinori Onishi, Hiroki Watanabe, Takeharu Hoshi, Kazuya Kawamura, Masakatsu G.Fujie
  • Journal Title: in Proceedings of 2009 IEEE International Conference on Robotics and Automation Kobe, Japan Pages: 3482-3489
  • Peer Reviewed
• [Presentation] 肝臓RFA用温度分布推定シミュレータの開発～血流が温度分布に及ぼす影響についての基礎的検討～ (2010)
  • Author(s): 渡辺広樹, 山崎望, 小林洋, 大平猛, 橋爪誠, 藤江正克
  • Organizer: 第11回計測自動制御学会システムインテグレーション部門講演会(11th SICE System Integration Division Annual Conference),pp.1158-1160,2010
  • Place of Presentation: 仙台,日本
  • Year and Date: 2010-12-23
• [Presentation] 渡辺広樹, 山崎望, 小林洋, 大平猛, 橋爪誠, 藤江正克 (2010)
  • Author(s): 渡辺広樹, 山崎望, 小林洋, 大平猛, 橋爪誠, 藤江正克
  • Organizer: 第11回計測自動制御学会システムインテグレーション部門講演会
  • Place of Presentation: 仙台,日本
  • Year and Date: 2010-12-23
• [Presentation] 肺の熱伝導率の内部圧力依存性の測定 (2010)
  • Author(s): 山崎望, 渡辺広樹, 関雅俊, 小林洋,宮下朋之, 藤江正克
  • Organizer: 生活生命支援医療福祉工学系学会連合大会WWLS(Welfare, Wellbeing, Life Support),pp.459-460,2010
  • Place of Presentation: Aichi,Japan
  • Year and Date: 2010-12-06
• [Presentation] Organ Biomechanical Simulators for Model based Control of Robotic RF Ablation System (2010)
  • Author(s): Hiroki Watanabe, Yo Kobayashi, Masakatsu G.Fuije
  • Organizer: the 2010 IEEE International Symposium on Micro-Nano Mechatronics and Human Science
  • Place of Presentation: Aichi, Japan
  • Year and Date: 2010-12-06
• [Presentation] 血流の存在を考慮した肝臓RFA用温度分布シミュレータの開発 (2010)
  • Author(s): 渡辺広樹, 山崎望, 小林洋, 大平猛, 橋爪誠, 藤江正克
  • Organizer: 第19回日本コンピュータ外科学会大会,pp.296-297,2010
  • Place of Presentation: 福岡,日本
  • Year and Date: 2010-11-02
• [Presentation] 肺臓のラジオ波施工中における電極針近傍の温度測定 (2010)
  • Author(s): 山崎望, 渡辺広樹, 関雅俊, 小林洋, 宮下朋之, 藤江正克
  • Organizer: 第19回日本コンピュータ外科学会大会
  • Place of Presentation: 福岡,日本
  • Year and Date: 2010-11-02
• [Presentation] 血流の存在を考慮した肝臓RFA用温度分布シミュレータの開発 (2010)
  • Author(s): 渡辺広樹, 山崎望, 小林洋, 大平猛, 橋爪誠, 藤江正克
  • Organizer: 第19回日本コンピュータ外科学会大会
  • Place of Presentation: 福岡,日本
  • Year and Date: 2010-11-02
• [Presentation] 肺臓のラジオ波施工中における電極針近傍の温度測定 (2010)
  • Author(s): 山崎望, 渡辺広樹, 関雅俊, 小林洋, 宮下朋之, 藤江正克
  • Organizer: 第19回日本コンピュータ外科学会大会,pp.302-303,2010
  • Place of Presentation: 大阪,日本
  • Year and Date: 2010-09-18
• [Presentation] 肺の熱伝導率の内部圧力依存性の測定 (2010)
  • Author(s): 山崎望, 渡辺広樹, 関雅俊, 小林洋, 宮下朋之, 藤江正克
  • Organizer: 生活生命支援医療福祉工学系学会連合大会
  • Place of Presentation: 大阪,日本
  • Year and Date: 2010-09-18
• [Presentation] Temperature Dependence of Thermal Conductivity of Liver Based on Various Experiments and a Numerical Simulation for RF Ablation (2010)
  • Author(s): H.Watanabe, N.Yamazaki, Y.Kobayashi, et al.
  • Organizer: The 32nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society
  • Place of Presentation: Buenos Aires, Argentina
  • Year and Date: 2010-09-01
• [Presentation] Integrated System for RFA Therapy with Biomechanical Simulation and Needle Insertion Robot (2009)
  • Author(s): Hiroki Watanabe, Yo Kobayashi, et al.
  • Organizer: Proceedings of 2009 IEEE/SICE International sympoj ium on system integration
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 2009-11-29
• [Presentation] Method to Generate Distribution Maps of the Material Parameters of the Human Body Using Robotic and Dynamic Simulation Systems (2009)
  • Author(s): Takeharu Hoshi, Yo Kobayashi, Masakatsu G.Fujie
  • Organizer: Proceedings of 2009 IEEE/SICE International sympoj ium on system integratio
  • Place of Presentation: Tokyo. Japan
  • Year and Date: 2009-11-29
• [Presentation] A Robotic Palpation-Based Needle Insertion Method for Diagnostic Biopsy and Treatment of Breast Cancer (2009)
  • Author(s): Yo Kobayashi, et al.
  • Organizer: Proceedings of 2009 IEEE International Conference on Intelligent Robots and Systems
  • Place of Presentation: St.Louis, USA
  • Year and Date: 2009-10-11
• [Presentation] Parameter Setting Method cons idering Variation of Organ Stiffness for the Control Method to Prevent Merload at Fragile Tissue (2009)
  • Author(s): Yo Kobayashi, et al.
  • Organizer: Proceedings of 2009 IEEE International Conference on Intelligent Robots and Systems
  • Place of Presentation: St.Louis, USA
  • Year and Date: 2009-10-11
• [Presentation] Modeling of Friction Force based on Relative Velocity between Liver Tissue and Needle for Needle Insertion Simulation (2009)
  • Author(s): Yo Kobayashi, Takahiro Sato, Masakatsu G.Fujie
  • Organizer: Proceeding of the 31st Annual International Conference of the IEEE Enginee ring in Medicine and Biology Society
  • Place of Presentation: Minneapolis, Minnesota, USA
  • Year and Date: 2009-09-02
• [Presentation] Modeling the Temperature Dependence of Thermophysical Properties : Study on the Effect of Tenperature Dependence for RFA (2009)
  • Author(s): Hiroki Watanabe, Yo Kobayashi, Makoto Hashizume, Masakatsu G.Fujio
  • Organizer: Proceeding of the 31st Mnual International Conference of the IEEE Enginee ring in Medicine and BioloBy Society
  • Place of Presentation: Minneapolis, Minnesota, USA.
  • Year and Date: 2009-09-02
• [Presentation] Developing a Planning Method for Straight Needle Insertion using Probability-Based Condition where a Puncture Occurs (2009)
  • Author(s): Yo Kobayashi, et al.
  • Organizer: Proceedings of 2009 IEEE International Conference on Robotics and Automation
  • Place of Presentation: Kobe, Japan
  • Year and Date: 2009-05-12