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Haptic display system for a medical simulator that enhances human's and equipment's performances

Research Project

Project/Area Number 25282156
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypePartial Multi-year Fund
Section一般
Research Field Medical systems
Research InstitutionHiroshima University

Principal Investigator

Kurita Yuichi  広島大学, 工学(系)研究科(研究院), 准教授 (80403591)

Co-Investigator(Kenkyū-buntansha) 辻 敏夫  広島大学, 工学研究院, 教授 (90179995)
惠木 浩之  広島大学, 病院(医), 講師 (20403537)
永田 和之  国立研究開発法人産業技術総合研究所, 知能システム研究部門, 主任研究員 (10357634)
Project Period (FY) 2013-04-01 – 2017-03-31
Project Status Completed (Fiscal Year 2016)
Budget Amount *help
¥18,330,000 (Direct Cost: ¥14,100,000、Indirect Cost: ¥4,230,000)
Fiscal Year 2016: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000)
Fiscal Year 2015: ¥5,850,000 (Direct Cost: ¥4,500,000、Indirect Cost: ¥1,350,000)
Fiscal Year 2014: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2013: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Keywordsコンピュータ外科 / 触覚 / 力覚提示 / 確率共鳴 / ヒューマンインタフェース / 力覚・触覚 / 医用工学 / トレーニングシミュレータ / 人間拡張 / コンピュータ外科学 / バーチャルリアリティ
Outline of Final Research Achievements

We proposed the concept of surgical grasping forceps with enhanced sensorimotor capability based on attaching a vibrator to the forceps' grip by evoking a stochastic resonance (SR) effect. The experiments conducted with the proposed forceps showed that maintaining the noise intensity within the optimal range could improve tactile sensitivity, and confirmed the usefulness of the SR application for medical devices. We also developed a haptic display system to render the force response of a viscoelastic object that considers the applications to a laparoscopic surgery training with the HER method was developed. The results of evaluation experiments showed that the displayed force by the proposed HER method can provide closer haptic feeling to the target object than that generated by the mass-spring model.

Report

(5 results)
  • 2016 Annual Research Report   Final Research Report ( PDF )
  • 2015 Annual Research Report
  • 2014 Annual Research Report
  • 2013 Annual Research Report
  • Research Products

    (41 results)

All 2017 2016 2015 2014 2013 Other

All Int'l Joint Research (1 results) Journal Article (9 results) (of which Int'l Joint Research: 2 results,  Peer Reviewed: 6 results,  Acknowledgement Compliant: 2 results,  Open Access: 1 results) Presentation (25 results) (of which Int'l Joint Research: 4 results,  Invited: 2 results) Book (1 results) Remarks (4 results) Patent(Industrial Property Rights) (1 results)

  • [Int'l Joint Research] ジョージア工科大学(米国)

    • Related Report
      2016 Annual Research Report
  • [Journal Article] Unpowered sensorimotor-enhancing suit reduces muscle activation and improves force perception2017

    • Author(s)
      Yuichi Kurita, Jumpei Sato, Takayuki Tanaka, Minoru Shinohara, and Toshio Tsuji
    • Journal Title

      IEEE Transactions on Human-Machine Systems

      Volume: 印刷中

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
  • [Journal Article] 人機一体を実現するためのヒューマンロボットインタラクション技術2017

    • Author(s)
      栗田雄一
    • Journal Title

      技術総合誌オーム

      Volume: 104(2) Pages: 25-27

    • Related Report
      2016 Annual Research Report
  • [Journal Article] Surgical Grasping Forceps with Enhanced Sensorimotor Capability via the Stochastic Resonance Effect2016

    • Author(s)
      Yuichi Kurita, Yamato Sueda, Takaaki Ishikawa, Minoru Hattori, Hiroyuki Sawada, Hiroyuki Egi, HidekiOhdan, Jun Ueda, and Toshio Tsuji
    • Journal Title

      IEEE/ASME Transactions on Mechatronics

      Volume: 21(6) Issue: 6 Pages: 2624-2634

    • DOI

      10.1109/tmech.2016.2591591

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Int'l Joint Research / Acknowledgement Compliant
  • [Journal Article] Stiffness display by muscle contraction via electric muscle stimulation2016

    • Author(s)
      Yuichi Kurita, Takaaki Ishikawa, and Toshio Tsuji
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 1(2) Issue: 2 Pages: 1014-1019

    • DOI

      10.1109/lra.2016.2529689

    • Related Report
      2016 Annual Research Report 2015 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 骨格筋電気刺激による力覚感提示2016

    • Author(s)
      栗田雄一
    • Journal Title

      電気学会誌

      Volume: 136(10) Pages: 674-677

    • NAID

      130005597987

    • Related Report
      2016 Annual Research Report
  • [Journal Article] Stochastic resonance enhanced tactile feedback in laparoscopic surgery.2015

    • Author(s)
      Sawada H, Egi H, Hattori M, Suzuki T, Mukai S, Kurita Y, Yasui W, Ohdan H.
    • Journal Title

      Surg Endosc.

      Volume: 29 Issue: 12 Pages: 3811-8

    • DOI

      10.1007/s00464-015-4124-y

    • Related Report
      2015 Annual Research Report 2014 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] 力覚重畳呈示技術を利用した腹腔鏡下手術用トレーニングシミュレータ2014

    • Author(s)
      栗田雄一,永田和之,恵木浩之,辻敏夫
    • Journal Title

      化学工業

      Volume: 65 Pages: 48-53

    • Related Report
      2014 Annual Research Report
  • [Journal Article] Wearable Haptics2014

    • Author(s)
      Yuichi Kurita
    • Journal Title

      Wearable Sensors

      Volume: - Pages: 45-63

    • Related Report
      2014 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Wearable Sensorimotor Enhancer for Fingertip using Stochastic Resonance Effect2013

    • Author(s)
      Yuichi Kurita, Minoru Shinohara, and Jun Ueda
    • Journal Title

      IEEE Transactions on Human-Machine Systems

      Volume: 43 Pages: 333-337

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Presentation] 感覚/運動機能をアシストする工学技術2016

    • Author(s)
      栗田雄一
    • Organizer
      第7回 広島大学病院スポーツ医科学センター地域交流講演会
    • Place of Presentation
      広島
    • Year and Date
      2016-12-12
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] HMDへのリアルタイム全天球画像提示による腹腔鏡手術支援システム2016

    • Author(s)
      笠原拓也,服部稔,恵木浩,大段秀樹,辻敏夫,栗田雄一
    • Organizer
      第25回計測自動制御学会中国支部学術講演
    • Place of Presentation
      広島
    • Year and Date
      2016-11-26
    • Related Report
      2016 Annual Research Report
  • [Presentation] 感覚運動機能を向上させるウェアラブルスーツ:SEnS -第五報:腹腔鏡外科手術を支援するスーツの評価-2016

    • Author(s)
      栗田雄一,小池祐輝,田中孝之,辻敏夫
    • Organizer
      第34回日本ロボット学会学術講演会
    • Place of Presentation
      山形
    • Year and Date
      2016-09-07
    • Related Report
      2016 Annual Research Report
  • [Presentation] 興奮性神経ネットワークモデルを用いた確率共鳴現象による触覚知覚感度向上効果の考察2016

    • Author(s)
      栗田雄一
    • Organizer
      LIFE2016(第32回ライフサポート学会大会,第16回日本生活支援工学会大会,日本機械学会福祉工学シンポジウム2016)
    • Place of Presentation
      宮城
    • Year and Date
      2016-09-05
    • Related Report
      2016 Annual Research Report
  • [Presentation] 感覚・運動機能を拡張するウェアラブルアシストデバイス2016

    • Author(s)
      栗田雄一
    • Organizer
      第8回テレイグジスタンス研究会
    • Place of Presentation
      東京
    • Year and Date
      2016-06-29
    • Related Report
      2016 Annual Research Report
  • [Presentation] 主観は制御できるか?- 物理量と感覚量を繋げる工学技術 -2016

    • Author(s)
      栗田雄一
    • Organizer
      日本認知心理学会第14回大会 産学連携公開シンポジウム
    • Place of Presentation
      広島
    • Year and Date
      2016-06-18
    • Related Report
      2016 Annual Research Report
    • Invited
  • [Presentation] 全天球カメラを利用した腹腔鏡下手術支援システム2016

    • Author(s)
      笠原 拓也, 辻 敏夫, 栗田 雄一
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2016
    • Place of Presentation
      神奈川
    • Year and Date
      2016-06-08
    • Related Report
      2016 Annual Research Report
  • [Presentation] 感覚運動機能を向上させるアシストスーツ:SEnS -第四報:腹腔鏡外科医師向けスーツの試作-2016

    • Author(s)
      栗田 雄一,小池 祐輝, 田中 孝之, 辻 敏夫
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2016
    • Place of Presentation
      神奈川
    • Year and Date
      2016-06-08
    • Related Report
      2016 Annual Research Report
  • [Presentation] Palpation force display by enhancing the force response of a surgical training phantom2015

    • Author(s)
      Yoshihide Otsuru, Yuichi Kurita, Koji Kawaguchi, Minoru Hattori, Hiroyuki Egi, Hideki Ohdan, Kazuyuki Nagata and Toshio Tsuji
    • Organizer
      International Conference on Advanced Mechatronics (ICAM2015)
    • Place of Presentation
      Tokyo
    • Year and Date
      2015-12-05
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Influence of visual and tactile feedback on haptic sensation by muscle electric stimulation2015

    • Author(s)
      Takaaki Ishikawa, Yuichi Kurita and Toshio Tsuji
    • Organizer
      International Conference on Advanced Mechatronics (ICAM2015)
    • Place of Presentation
      Tokyo
    • Year and Date
      2015-12-05
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 骨格筋電気刺激による仮想力覚提示 -押し込み量による刺激量の変化-2015

    • Author(s)
      石川敬明,辻敏夫,栗田雄一
    • Organizer
      情報処理学会研究報告グラフィクスとCAD(CG)
    • Place of Presentation
      広島
    • Year and Date
      2015-06-30
    • Related Report
      2015 Annual Research Report
  • [Presentation] 力覚重畳呈示技術を用いた腹腔鏡手術用トレーニングシステム -心拍の再現-2015

    • Author(s)
      大鶴佳秀,川口孝二,服部稔,惠木浩之,大段秀樹,永田和之,辻敏夫,栗田雄一
    • Organizer
      情報処理学会研究報告グラフィクスとCAD(CG)
    • Place of Presentation
      広島
    • Year and Date
      2015-06-30
    • Related Report
      2015 Annual Research Report
  • [Presentation] Haptic force augmentation on a 3D printed surgical training phantom2015

    • Author(s)
      Yuichi Kurita, Yoshihide Otsuru, Masahiro Kiyooka, Toshio Tsuji, Kazuyuki Nagata, Koji Kawaguchi, Minoru Hattori, Hiroyuki Egi, Hideki Ohdan
    • Organizer
      50th Golden Anniversary Congress of the European Society for Surgical Research
    • Place of Presentation
      Liverpool, UK
    • Year and Date
      2015-06-10
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Vibrating forceps enhances laparoscopic urgical skills2015

    • Author(s)
      Hiroyuki Sawada, Hiroyuki Egi, Minoru Hattori, Takashi Suzuki, Syouichiro Mukai, Yuichi Kurita and Hideki Ohdan
    • Organizer
      50th Golden Anniversary Congress of the European Society for Surgical Research
    • Place of Presentation
      Liverpool, UK
    • Year and Date
      2015-06-10
    • Related Report
      2015 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 骨格筋電気刺激による仮想力覚提示2015

    • Author(s)
      石川敬明,辻敏夫,栗田雄一
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2015講演論文集
    • Place of Presentation
      京都
    • Year and Date
      2015-05-17
    • Related Report
      2015 Annual Research Report
  • [Presentation] 力覚重畳呈示技術を用いた腹腔鏡手術用トレーニングシステム-三次元補助物体 への力覚重畳-2015

    • Author(s)
      大鶴佳秀,辻敏夫,栗田雄一
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2015講演論文集
    • Place of Presentation
      京都
    • Year and Date
      2015-05-17
    • Related Report
      2015 Annual Research Report
  • [Presentation] 力覚重畳呈示を用いた腹腔鏡下手術用トレーニングシステム -モックアップ臓器の利用-2014

    • Author(s)
      大鶴佳秀,辻敏夫,栗田雄一
    • Organizer
      第19回日本バーチャルリアリティ学会大会論文集
    • Place of Presentation
      名古屋
    • Year and Date
      2014-09-19
    • Related Report
      2014 Annual Research Report
  • [Presentation] Haptic rendering of tissue stiffness by the haptic enhanced reality method2014

    • Author(s)
      Yoshihide Otsuru, Toshio Tsuji and Yuichi Kurita
    • Organizer
      EuroHaptics 2014
    • Place of Presentation
      Versailles, France
    • Year and Date
      2014-06-24 – 2014-06-26
    • Related Report
      2014 Annual Research Report
  • [Presentation] 力覚重畳呈示技術を用いた腹腔鏡手術用トレーニングシステム2014

    • Author(s)
      大鶴佳秀,辻敏夫,栗田雄一
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2014講演論文集
    • Place of Presentation
      富山
    • Year and Date
      2014-05-28
    • Related Report
      2014 Annual Research Report
  • [Presentation] Haptic rendering of needle penetration by enhancing the real force response of a base object2014

    • Author(s)
      Yuichi Kurita, Hiroyuki Ohtsuka, Kazuyuki Nagata, and Tosho Tsuji
    • Organizer
      Haptics Symposium
    • Place of Presentation
      Houston, TX, USA
    • Related Report
      2013 Annual Research Report
  • [Presentation] Improvement of tactile sensitivity by stochastic resonance effect - Applications to surgical grasping forceps -2013

    • Author(s)
      Yamato Sueda, Minoru Hattori, Hideki Ohdan, Hiroyuki Egi, Hiroyuki Sawada, Jun Ueda, Toshio Tsuji and Yuichi Kurita
    • Organizer
      35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society
    • Place of Presentation
      Osaka, Japan
    • Related Report
      2013 Annual Research Report
  • [Presentation] 力覚拡張呈示を用いたなぞり感呈示2013

    • Author(s)
      清岡 雅弘,辻 敏夫,栗田 雄一
    • Organizer
      第14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論文集
    • Place of Presentation
      兵庫
    • Related Report
      2013 Annual Research Report
  • [Presentation] 確率共鳴現象を利用した触覚知覚感度の向上効果に関する考察2013

    • Author(s)
      栗田雄一,末田大和,上田淳,辻敏夫
    • Organizer
      電子情報通信学会技術報告
    • Place of Presentation
      鹿児島
    • Related Report
      2013 Annual Research Report
  • [Presentation] 確率共鳴現象を利用した触覚知覚感度向上に関する研究-加算ネットワークモデルに基づく知覚向上効果の考察-2013

    • Author(s)
      栗田雄一, 末田大和, 辻敏夫, 服部稔, 澤田紘幸, 惠木浩之, 大段秀樹, 竹村裕, 上田淳
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      茨城
    • Related Report
      2013 Annual Research Report
  • [Presentation] 補助物体の反力に力覚デバイスの仮想力を重畳する力覚拡張呈示に関する研究2013

    • Author(s)
      清岡雅弘, 永田和之, 辻敏夫, 栗田雄一
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会
    • Place of Presentation
      茨城
    • Related Report
      2013 Annual Research Report
  • [Book] Human Modeling for Bio-Inspired Robotics2016

    • Author(s)
      Jun Ueda and Yuichi Kurita
    • Total Pages
      358
    • Publisher
      Academic Press, Elsevier
    • Related Report
      2016 Annual Research Report
  • [Remarks] 栗田グループの研究紹介ページ

    • URL

      http://www.bsys.hiroshima-u.ac.jp/~kurita/work.html

    • Related Report
      2016 Annual Research Report
  • [Remarks] 力覚の重畳技術を利用したハプティックデバイス

    • URL

      http://www.bsys.hiroshima-u.ac.jp/~kurita/work_j_her.html

    • Related Report
      2015 Annual Research Report 2014 Annual Research Report
  • [Remarks] Medical applications of haptic modeling

    • URL

      http://www.bsys.hiroshima-u.ac.jp/~kurita/work_e_medical.html

    • Related Report
      2014 Annual Research Report
  • [Remarks] 力覚の重畳技術を利用したハプティックデバイス

    • URL

      http://www.bsys.hiroshima-u.ac.jp/~kurita/work_j_her.html

    • Related Report
      2013 Annual Research Report
  • [Patent(Industrial Property Rights)] 補助スーツ2015

    • Inventor(s)
      田中孝之,栗田雄一
    • Industrial Property Rights Holder
      田中孝之,栗田雄一
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2015-218662
    • Filing Date
      2015-11-06
    • Related Report
      2015 Annual Research Report

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Published: 2013-05-21   Modified: 2022-02-16  

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