| Project/Area Number |
25289060
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Partial Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Intelligent mechanics/Mechanical systems
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| Research Institution | Nagoya Institute of Technology |
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Principal Investigator |
Tanaka Yoshihiro 名古屋工業大学, 工学(系)研究科(研究院), 准教授 (90432286)
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| Co-Investigator(Kenkyū-buntansha) |
FUJIWARA Michitaka 名古屋大学, 医学部付属病院, 准教授 (70378222)
SAKAGUCHI Masamichi 名古屋工業大学, 大学院工学研究科, 准教授 (60283727)
SANO Akihito 名古屋工業大学, 大学院工学研究科, 教授 (80196295)
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| Project Period (FY) |
2013-04-01 – 2016-03-31
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| Project Status |
Completed (Fiscal Year 2015)
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| Budget Amount *help |
¥18,590,000 (Direct Cost: ¥14,300,000、Indirect Cost: ¥4,290,000)
Fiscal Year 2015: ¥4,420,000 (Direct Cost: ¥3,400,000、Indirect Cost: ¥1,020,000)
Fiscal Year 2014: ¥5,980,000 (Direct Cost: ¥4,600,000、Indirect Cost: ¥1,380,000)
Fiscal Year 2013: ¥8,190,000 (Direct Cost: ¥6,300,000、Indirect Cost: ¥1,890,000)
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| Keywords | 手術支援機器 / 腹腔鏡下手術 / 触診 / 触覚センサ / 触覚ディスプレイ / 双方向性 / 音響 / 腫瘍 / メカトロニクス / 硬さ / 不潔領域 / 接触位置 / 触知覚 |
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| Outline of Final Research Achievements |
Laparoscopic surgery limits a surgeon's tactile sense. This study was aimed at developing a palpation system for detecting an early stage tumor on the internal wall of the stomach (detecting a lump from the outside wall) in laparoscopic surgery. Tactile sensor and tactile display integrated system was assembled for utilizing operator's haptic bidrectionality between tactile sensation and exploratory movement. We developed a forceps-type tactile sensor using acoustic reflection. The sensor is very simple, has electrical safety, and can be sterilized and disposable. Then, we developed a tactile display that presents normal force to instep, where is in the unclean area of surgeons. Experiments using a phantom of the stomach with an early stage tumor showed availability of the developed palpation system.
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