Development of Single Port Surgery Robot using Brain-Machine Interface

• Project/Area Number: 23650101
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Perception information processing/Intelligent robotics
• Research Institution: Waseda University
• Principal Investigator: MASAKATSU G.fujie 早稲田大学, 理工学術院, 教授 (20339716)
• Co-Investigator(Kenkyū-buntansha): KOBAYASHI Yo 早稲田大学, 理工学術院, 准教授 (50424817) ; WATANABE Hiroki 早稲田大学, 理工学術院, 助手 (00609266) ; HASHIZUME Makoto 九州大学, 医学系研究科, 教授 (90198664)
• Project Period (FY): 2011 – 2012
• Project Status: Completed (Fiscal Year 2012)
• Budget Amount: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000); Fiscal Year 2012: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2011: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
• Keywords: 単孔式手術支援ロボット / ブレイン・マシン・インターフェース / 手術支援ロボット / マスタ・スレーブ / SPS / メディカル・ロボティクス / 単孔式手術 / BMI / 知的制御 / 遠隔システム

Research Abstract

Single Port Surgery has the great potential to realize the minimal invasive surgery. Surgeon inserts the microscopic manipulator into patient’s body from only single port. Opening wound site is only single so that patient could recover early. But, single port surgery has the critical problems that endoscope is difficult to control and manipulator is lack of movement of range and degree of freedom. This study presents a novel system using brain-machine interface to control surgical manipulator designed on the basis of human engineering and cognitive science.

Research Products

• [Journal Article] Intuitive Operability Evaluation of Robotic Surgery Using Brain Activity Measurement to Clarify Immersive Reality (2013)
  • Author(s): Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo, Masakatsu G. Fujie
  • Journal Title: Journal of Robotics and Mechatronics Volume: Vol. 25, No. 1 Pages: 162-171
  • Peer Reviewed
• [Journal Article] Intuitive Operability Evaluation of Robotic Surgery Using Brain Activity Measurements to Clarify Immersive Reality (2013)
  • Author(s): Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo, Masakatsu G. Fujie
  • Journal Title: Journal of Robotics and Mechatronics Volume: 25 Pages: 162-171
  • Peer Reviewed
• [Journal Article] Development of a Tool Manipulator Driven by a Flexible Shaft for Single Port Endoscopic Surgery (2011)
  • Author(s): Yuta Sekiguchi, Yo Kobayashi, Yu Tomono, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masakatsu G. Fujie
  • Journal Title: Journal of Robotics and Mechatronics(JRM) Volume: Vol.23 Pages: 1115-1124
  • Peer Reviewed
• [Journal Article] Development of a Tool Manipulator Driven by a Flexible Shaft for Single Port Endoscopic Surgery. (2011)
  • Author(s): Yuta Sekiguchi, Yo Kobayashi, Yu Tomono, Hiroki Watanabe, Kazutaka Toyoda, Kozo Konishi, Morimasa Tomikawa, Satoshi Ieiri, Kazuo Tanoue, Makoto Hashizume, Masakatsu G. Fujie
  • Journal Title: ", Journal of Robotic and Machatronics (JRM) Volume: vol.23(6） Pages: 1115-1124
  • Peer Reviewed
• [Presentation] Brain Activity Measurement to Evaluate Hand-Eye Coordination for Slave and Endoscope in a Surgical Robot", in Proceedings of 2013 (2013)
  • Author(s): Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Yuki Yokoo and Masakatsu G. Fujie
  • Organizer: IEEE International Conference on Robotics and Automation (ICRA'13)
  • Place of Presentation: Kongresszentrum, Karlsruhe, Karlsruhe, Germany
• [Presentation] Brain Activity Measurement to Evaluate Hand-Eye Coordination for Slave and Endoscope in a Surgical Robot (2013)
  • Author(s): Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Yuki Yokoo and Masakatsu G. Fujie
  • Organizer: 2013 IEEE International Conference on Robotics and Automation
  • Place of Presentation: Kongresszentrum, Karlsruhe, Germany
• [Presentation] Configuration of Slave and Endoscope in Surgical Robot based on Brain Activity Measurement (2012)
  • Author(s): Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Yuki Yokoo and Masakatsu G. Fujie
  • Organizer: in Proceeding of The 6th International Conference on Soft Computing and Intelligent Systems and The 13th International Symposium on Advanced Intelligent Systems (SCIS-ISIS 2012)
  • Place of Presentation: Kobe
• [Presentation] Application of Control Modes of a Master Manipulator for a Robotic System to Assist with Single Port Endoscopic Surgery (2012)
  • Author(s): Takehiko Noguchi, Yo Kobayashi, Kazuya Kawamura, Hiroki Watanabe, Yu Tomono, Yuta Sekiguchi, Hiroki Seno, Masakatsu G. Fujie
  • Organizer: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Vilamoura, Algarve, Portugal
• [Presentation] Intuitive Operability Evaluation of Robotic Surgery Using Brain Activity Measurement to Determine Immersive Reality (2012)
  • Author(s): Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo and Masakatsu G. Fujie
  • Organizer: in Proceeding of the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'12)
  • Place of Presentation: San Diego, USA
• [Presentation] Intuitive Operability Evaluation of Robotic Surgery Using Brain Activity Measurement to Identify Hand-Eye Coordination (2012)
  • Author(s): Satoshi Miura, Yo Kobayashi, Masatoshi Seki, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo and Masakatsu G. Fujie
  • Organizer: in Proceedings of 2012 IEEE International Conference on Robotics and Automation (ICRA'12)
  • Place of Presentation: St. Paul, MN, USA
• [Presentation] 脳活動計測に基づいた手術支援ロボットの直感的な操作性評価 (2012)
  • Author(s): 三浦智,小林洋,川村和也,中島康貴,関雅俊,野口建彦,粕谷昌宏,横尾勇樹,藤江正克
  • Organizer: 日本機械学会2012年度年次大会,J165033
  • Place of Presentation: 金沢大学角間キャンパス, 金沢
• [Presentation] 単孔式手術の支援を目的とした術具マニピュレータの開発 (2012)
  • Author(s): 小林洋,関口雄太,野口建彦,高橋悠,豊田和孝,植村宗則,家入里志,富川盛雅,大平猛,橋爪誠,藤江正克
  • Organizer: 第21回日本コンピュータ外科学会
  • Place of Presentation: 徳島
• [Presentation] Intuitive Operability Evaluation of Robotic Surgery Using Brain Activity Measurement to Identify Hand-Eye Coordination (2012)
  • Author(s): Satoshi Miura, Yo Kobayashi, Masatoshi Seki, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo and Masakatsu G. Fujie
  • Organizer: 2012 IEEE International Conference on Robotics and Automation
  • Place of Presentation: St. Paul, MN, USA
• [Presentation] Configuration of Slave and Endoscope in Surgical Robot based on Brain Activity Measurement (2012)
  • Author(s): Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Yuki Yokoo and Masakatsu G. Fujie
  • Organizer: SCIS-ISIS
  • Place of Presentation: Kobe, JPN
• [Presentation] Intuitive Operability Evaluation of Robotic Surgery Using Brain Activity Measurement to Determine Immersive Reality (2012)
  • Author(s): Satoshi Miura, Yo Kobayashi, Kazuya Kawamura, Masatoshi Seki, Yasutaka Nakashima, Takehiko Noguchi, Masahiro Kasuya, Yuki Yokoo and Masakatsu G. Fujie
  • Organizer: the 34th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
  • Place of Presentation: San Diego, USA
• [Presentation] 脳活動計測に基づいた直感的な操作性評価 (2012)
  • Author(s): 三浦智，小林洋，川村和也，中島康貴，関雅俊，野口建彦，粕谷昌宏，横尾勇樹，藤江正克
  • Organizer: 日本機械学会 2012年度年次大会
  • Place of Presentation: 金沢
• [Presentation] In Vivo Experiments of a Surgical Robot with Vision Field Control for Single Port Endoscopic Surgery (2011)
  • Author(s): Yuta Sekiguchi, Yo Kobayashi, Hiroki Watanabe, Makoto Hashizume, Masakatsu G. Fujie
  • Organizer: Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'11)
  • Place of Presentation: Boston, USA
  • Year and Date: 2011-09-03
• [Presentation] In Vivo Experiments of a Surgical Robot with Vision Field Control for Single Port Endoscopic Surgery (2011)
  • Author(s): Yuta Sekiguchi, Yo Kobayashi, Hiroki Watanabe, Makoto Hashizume, Masakatsu G. Fujie
  • Organizer: Proceeding of the 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC’11)
  • Place of Presentation: ボストン