Development of the micro robot system for microsurgery

Research Project

Project/Area Number	59400002
Research Category	Grant-in-Aid for General Scientific Research (A)
Allocation Type	Single-year Grants
Research Field	広領域
Research Institution	The University of Tokyo
Principal Investigator	FUNAKUBO Hiroyasu The University of Tokyo Faculty of Engineering Professor, 工学部, 教授 (10010688)
Co-Investigator(Kenkyū-buntansha)	KOMEDA Takashi The University of Tokyo Faculty of Engineering Lecuture, 工学部, 講師 (10175010) MISHIMA Seiichi The University of Tokyo Faculty of Medicine Professor, 医学部, 教授 (60009917) NOMURA Masaya The University of Tokyo Faculty of Medicine Professor, 医学部, 教授 (30009948) KUROKAWA Takahide The University of Tokyo Faculty of Medicine Professor, 医学部, 教授 (90010298) DOHI Takeyoshi The University of Tokyo Faculty of Engineering Associate Professor, 工学部, 助教授 (40130299)
Project Period (FY)	1984 – 1986
Project Status	Completed (Fiscal Year 1986)
Budget Amount *help	¥21,800,000 (Direct Cost: ¥21,800,000) Fiscal Year 1986: ¥4,000,000 (Direct Cost: ¥4,000,000) Fiscal Year 1985: ¥6,000,000 (Direct Cost: ¥6,000,000) Fiscal Year 1984: ¥11,800,000 (Direct Cost: ¥11,800,000)
Keywords	Microsurgery / Robot / Trephination of cornea / 医用工学 / トレパン
Research Abstract	In this study, authors developed the microsurgycal robot system for trephination of corneas. At first, we developed a standing-type microsurgicalrobot system "Type 1", which could be located at any position on the floor and could realize the trephination of corneas half automaticacly. However, it had some faults in its flexibility and precision, and moreover it became clear from the result of experiments with dog's eye that the torque for trephination which airmotor as acutuator suppcied was insufficient. Therefore, we developed a compact microsurgical robot system "Type 2". And it comprises the arm section, which can be instalced on the desk and has 5-bar linkage mechanism, and the trephination section, of which the flexibility of trephination has been progressed by putting the whole deiving system together. The arm section has the motors and can set the trephine at any point on the eyeball according to the command from the computer. The trephination section has the precise positioning mechanism, trephination mechanism driven by motors, cornea suction mechanism etc.. And it overcomes the problem such as flexibility and so on, which "Type 1" had, by the use of the control from computer. Moreover, in order to make its function progress, we developed the method of automatic positioning by image processing. The image is supllied through the endscope instacled at the tip of the trephination section, and the center of the eyeball is determined. Authors tried for the first time to introduce robot into the field of microsurgery, in which surgeons'skills are very important, and have realized the system which is mostly enough to answer the initial purpose. Hereafter, we aim at the development of microsurgicac robot system for other fields of surgeries.