High Precision, Low X-Ray Radiation Exposure and Minimally Invasive Surgical Robot and Medical CAD/CAM system

2005 Fiscal Year Final Research Report Summary

• Project/Area Number: 15206026
• Research Category: Grant-in-Aid for Scientific Research (A)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: The University of Tokyo
• Principal Investigator: MITSUISHI Mamoru The University of Tokyo, Faculty of Engineering, Professor, 大学院・工学系研究科, 教授 (90183110)
• Co-Investigator(Kenkyū-buntansha): WARISAWA Shin'ichi The University of Tokyo, Faculty of Engineering, Associate Professor, 大学院・工学系研究科, 助教授 (20262321) ; NAKAJIMA Nobuyuki The University of Tokyo, Faculty of Engineering, Assistant Professor, 大学院・工学系研究科, 助手 (60011178) ; SUGITA Naohiko The University of Tokyo, Faculty of Engineering, Assistant Professor, 大学院・工学系研究科, 助手 (70372406) ; MORIYA Hideshige Chiba University, Graduate of School of Medicine, Professor, 大学院・医学研究院, 教授 (30092109) ; SUZUKI Masahiko Chiba University, Graduate of School of Medicine, Assistant Professor, 大学院・医学研究院, 助手 (10312951)
• Project Period (FY): 2003 – 2005
• Keywords: Robotic Surgery / Medical CAD / CAM / Total Knee Arthroplasty / Registration / Minimally Invasive Surgery / Low X-Ray Radiation Exposure / 3D Position Measurement / Tool Path Generation

Research Abstract

The acquired results are as follows :
(1)Specification determination of a computer-integrated knee arthroplasty system
Fail-safe mechanism was adopted based on the knowledge from previous studies concerning safety. Methods of information presentation and mechanical designs were introduced to improve the maneuverability
(2)Determination of communication protocol
A communication protocol among modules was determined. In particular, standardization of communication protocol in a networked medical system was also included as a target.
(3)Design and production of a bone cutting robot
The mechanism of the bone cutting robot was determined by considering the space layout of this system, assistants, bed, astral lamp, X-ray equipment in operation room. The structure was determined by considering the rigidity, and d.o.f. The middle part was placed between clean and dirty parts.
(4)Leg fixture
A mechanical jig to fix the leg rigidly is required in the system to realize the high precision cutting. In the design, sterilizability and influence to radiography were taken into account.
(5)Development of a preplanning system
A software system to determine the position, size and model of an implant was developed.
(6)Intra-operational interface software for surgeon
The intra-operational interface software was implemented. A surgeon can intervene at any phase of operation and operate it with high flexibility.
(7)Registration and a CAM system
Correlation of preplanning 3D model of bone and intraoperational X-ray image was calculated. The tool path information was sent to robot controller in the system.
(8)Integration of the system and the evaluation
Components mentioned above were integrated as a total system. Evaluation experiments using a cadaver were performed.

Research Products

• [Journal Article] 骨のエンドミル加工における切削温度と冷却効果 (2006)
  • Author(s): 杉田直彦, 光石衛
  • Journal Title: 精密工学会誌 72・2 Pages: 117-121
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] Relationship between anisotropic tissue and cutting stress characteristics (2006)
  • Author(s): Sugita, N., Mitsuishi, M, Funada, Y., Sugita,T.
  • Journal Title: 先端加工学会誌 24・1 Pages: 8-13
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] Minimally Invasive Orthopaedic Surgery Using Robot in Unicondylar Knee Arthroplasty (2006)
  • Author(s): Sugita, N., Warisawa, S., Mitsuishi, M., et al.
  • Journal Title: The first IEEE / RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] 最小侵襲人工関節置換術支援システムの性能評価 (2006)
  • Author(s): 光石衛
  • Journal Title: 整形外科最小侵襲手術ジャーナル 39 Pages: 2-14
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] Cutting Temperature and Cooling Effects in End Milling of Bone (2006)
  • Author(s): Sugita, N., Mitsuishi, M.
  • Journal Title: Journal of Japan Society of Precision Engineering Vol.72, No.2 Pages: 117-121
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Relationship between anisotropic tissue and cutting stress characteristics (2006)
  • Author(s): Sugita, N., Mitsuishi, M., Funada, Y., Sugita, T.
  • Journal Title: Journal of Japan Society of Advanced Production Technology Vol.24, No.1 Pages: 8-13
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Minimally Invasive Orthopaedic Surgery Using Robot in Unicondylar Knee Arthroplasty (2006)
  • Author(s): Sugita, N., Matsuda, N., Warisawa, S., Mitsuishi, M., Abe, N., Fujiwara, K., Hashizume, H., Inoue, H., Suzuki, M., Moriya, H., Nakashima, Y., Kuramoto, K., Inoue, T.
  • Journal Title: The first IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Current Status and Perspective of Robotic Surgery (2006)
  • Author(s): Mitsuishi, M.
  • Journal Title: Journal of Minimally Invasive Orthopaedic Surgery No.39 Pages: 2-14
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] 骨切削における硬度が切削性に及ぼす影響および切削温度の検討 (2005)
  • Author(s): 杉田直彦, 割澤伸一, 光石衛
  • Journal Title: 2005年度精密工学会春季大会学術講演会講演論文集 Pages: 437-438
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] 豚皮質骨の切削挙動について - 組織と切削現象 - (2005)
  • Author(s): 杉田忠彰, 舟田義則, 杉田直彦, 粟津薫, 光石衛
  • Journal Title: 先端加工学会誌 23/1 Pages: 51-57
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] A Study of Bone Micro-Cutting Characteristics Using a Newly Developed Advanced Bone Cutting Machine Tool for Total Knee Arthroplasty (2005)
  • Author(s): Mitsuishi, M., Sugita, N., Warisawa, S., et al.
  • Journal Title: CIRP Annals 54・1 Pages: 41-46
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] 微小切削にみられる豚皮質骨の被削性 (2005)
  • Author(s): 杉田直彦, 光石衛, 割澤伸一
  • Journal Title: 精密工学会誌 71・9 Pages: 1151-1156
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] Computer-Integrated Surgery (2005)
  • Author(s): Mitsuishi, M.
  • Journal Title: The first International Conference on Complex Medical Engineering (CME 2005) Pages: 3
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] A Cutting Temperature Study of Bone Machining for Orthopaedic Robotic Surgery (2005)
  • Author(s): Sugita, N., Warisawa, S., Mitsuishi, M.
  • Journal Title: Proceedings of the 20th Annual Meeting of the American Society for Precision Engineering
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] Computer-Integrated Surgical System (2005)
  • Author(s): Mitsuishi, M.
  • Journal Title: Surgical Robotics 2nd Summer European University
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] Medical Robotics (2005)
  • Author(s): Mitsuishi, M.
  • Journal Title: Taiwan-Japan Bilateral Workshop on Automation Technology Pages: 153-177
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] Computer-Integrated Surgical Systems (2005)
  • Author(s): Mitsuishi, M.
  • Journal Title: 6th International Workshop on Human-friendly Welfare Robotic Systems Pages: 37-80
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] Computer Integrated Surgical System (2005)
  • Author(s): Mitsuishi, M.
  • Journal Title: Thailand-Japan Technical Transfer Project Symposium
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] 手術支援ロボット (2005)
  • Author(s): 光石 衛
  • Journal Title: 2005年度KECセミナー「人との共栄に向けてのこれからのロボット技術」 Pages: 43-69
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] コンピュータ統合手術システム (2005)
  • Author(s): 光石 衛, 杉田 直彦
  • Journal Title: 第6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 Pages: 1147-1148
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] 低侵襲人工膝関節置換術支援システムに関する研究 (2005)
  • Author(s): 杉田直彦, 小野寺春菜, 平間裕二郎, 阿部信寛, 藤原一夫, 橋詰博行, 割澤伸一, 光石衛
  • Journal Title: 日本機械学会ロボティクス・メカトロニクス講演会'05講演論文集 Pages: 2A1-N-035
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] ロボティック・サージェリーによる低侵襲単顆関節置換術 (2005)
  • Author(s): 阿部信寛, 藤原一夫, 吉鷹輝仁, 尾崎敏文, 光石衛, 他
  • Journal Title: 第32回日本臨床バイオメカニクス学会抄録集 Pages: 168
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] 人工膝関節置換術におけるコンピュータ支援手術の精度評価 (2005)
  • Author(s): 藤原一夫, 阿部信寛, 吉鷹輝仁, 尾崎敏文, 光石衛, 他
  • Journal Title: 第32回日本臨床バイオメカニクス学会抄録集 Pages: 169
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] 最小侵襲人工関節置換術支援骨切除ロボットの開発 (2005)
  • Author(s): 光石衛 他
  • Journal Title: 第14回日本コンピュータ外科学会大会論文集 Pages: 121-122
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] 最小侵襲人工関節置換術支援システムの性能評価 (2005)
  • Author(s): 杉田直彦, 松田長親, 割澤伸一, 光石衛, 他
  • Journal Title: 第14回日本コンピュータ外科学会大会論文集 Pages: 241-242
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] Influence of Hardness to Cutting Performance and a Trail of Temperature Measurement during Bone Cutting (2005)
  • Author(s): Sugita, N., Warisawa, S., Mitsuishi, M.
  • Journal Title: 2005 JSPE Spring Conference, Kanagawa Pages: 437-438
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Cutting Behavior of Pig Cortical Bone -Relationship between Bone Structure and Cutting Phenomena (2005)
  • Author(s): Sugita, T., Funada, Y., Sugita, N., Awazu, K., Mitsuishi, M.
  • Journal Title: Journal of Japan Society of Advanced Production Technology Vol.23, No.1 Pages: 51-57
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Cutting Behavior of Pig Cortical Bone -Dependency of Cutting Condition and Anisotropic Tissue Property- (2005)
  • Author(s): Sugita, T., Funada, Y., Sugita, N., Awazu, K., Mitsuishi, M.
  • Journal Title: Journal of Japan Society of Advanced Production Technology Vol.23, No.1 Pages: 58-64
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] A Study of Bone Micro-Cutting Characteristics Using a Newly Developed Advanced Bone Cutting Machine Tool for Total Knee Arthroplasty (2005)
  • Author(s): Mitsuishi, M., Warisawa, S.Sugita, N., et al.
  • Journal Title: Annals of the International Institution for Production Engineering Research(CIRP Annals) vol.54/1 Pages: 41-46
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Micro Cutting Characteristics of Pig Cortical Bone under Micro Cutting (2005)
  • Author(s): Sugita, N., Mitsuishi, M., Warisawa, S.
  • Journal Title: Journal of Japan Society of Precision Engineering Vol.71, No.9 Pages: 1151-1156
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Computer-Integrated Surgery (2005)
  • Author(s): Mitsuishi, M.
  • Journal Title: The first International Conference on Complex Medical Engineering CME 2005, Kagawa Japan Pages: 39-43
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Computer-Integrated Surgical System (2005)
  • Author(s): Mitsuishi, M.
  • Journal Title: Surgical robotics 2nd Summer European University, Montpellier, France
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Medical Robotics (2005)
  • Author(s): M.Mitsuishi
  • Journal Title: Taiwan-Japan Bilateral Workshop on Automation Technology Pages: 153-177
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Surgical Robotics (2005)
  • Author(s): Mitsuishi, M.
  • Journal Title: 2005 KEC Seminar "Robot Technique for Co-prosperity with Human" Pages: 43-69
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Computer Integrated Surgical Systems (2005)
  • Author(s): Mitsuishi, M., Sugita, S.
  • Journal Title: SICE SI2005, Kumamoto Pages: 1147-1148
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Research on a Minimally Invasive Robotic Surgery System for Knee Arthroplasty (2005)
  • Author(s): Sugita, N., Onodera, H., Hirama, Y., Abe, N., Fujiwara, K., Hashizume, H., Warisawa, S., Mitsuishi, M.
  • Journal Title: JSME Robotics and Mechatronics Conference'05, Kobe Pages: 2A1-N-035
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Minimally Invasive Robot Assisted Surrery for Unicondylar Knee Arthroplasty (2005)
  • Author(s): Abe, N., Fujiwara, K., Yoshitaka, T., Ozaki, T., Mitsuishi, M., Warisawa, S., Sugita, N., Moriya, H., Suzuki, M., Kuramoto, K., Inoue, T., Hashizume, H.
  • Journal Title: 32nd Annual Meeting of the Japanese Society for Clinical Biomechanics Conference, Hokkaido Pages: 168
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Accuracy of Computer Assisted Surgery for Total Knee Arthroplasty (2005)
  • Author(s): Fujiwara, K., Abe, N., Yoshitaka, T., Ozaki, T., Mitsuishi, M., Warisawa, S., Sugita, N., Moriya, H., Suzuki, M., Kuramoto, K., Inoue, T., Hashizume, H.
  • Journal Title: 32nd Annual Meeting of the Japanese Society for Clinical Biomechanics Conference, Hokkaido Pages: 169
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Development of a Bone Cutting Robot for Minimally Invasive Arthroplasty (2005)
  • Author(s): Mitsuishi, M., Warisawa, S., Sugita, N., Matsuda, N., Inoue, H.Hashizume, H., Abe, N., Fujiwara, K., Moriya, H., Suzuki, M., Nakashima, Y., Kuramoto, K., Inoue, T., Tanimoto, K., Nakazawa, T.
  • Journal Title: 14th Annual Meeting of Japan Society of Computer Aided Surgery, Chiba Pages: 121-122
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Evaluation of a Minimally Invasive Arthroplasty Sureerv System (2005)
  • Author(s): Sugita, N., Matsuda, N., Warisawa, S., Mitsuishi, M., Abe, N., Fujiwara, K., Hashizume, H., Inoue, H., Suzuki, M., Moriya, H., Inoue, T., Kuramoto, K., Nakashima, Y., Tanimoto, K., Nakazawa, T.
  • Journal Title: 14th Annual Meeting of Japan Society of Computer Aided Surgery, Chiba Pages: 241-242
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] 人工膝関節全置換術骨切りロボットの開発 (2004)
  • Author(s): 藤原 一夫, 橋詰 博行, 割澤 伸一, 光石 衛, 他
  • Journal Title: 第34回日本人工関節学会プログラム抄録集 Pages: 256
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] Determination of the Machining characteristics of a Biomaterial using a Machine Tool Designed for Total Knee Arthroplasty (2004)
  • Author(s): Mitsuishi, M., Warisawa, S., Sugita, N.
  • Journal Title: Annals of the International Institution for Production Engineering Research (CIRP Annals.) 53/1 Pages: 107-112
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] Development a Novel Robot-Assisted Orthopaedic System Designed for Total Knee Arthroplasty (2004)
  • Author(s): Sugita, N., Warisawa, S., Mitsuishi, M., Suzuki, M., Moriya, H., Kuramoto,K.
  • Journal Title: 7th International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI2004) LNCS3217 Pages: 153-160
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] Development of a Bone Cutting Robot for Total Knee Arthroplasty (2004)
  • Author(s): Mitsuishi, M., Warisawa, S., Sugita, N.
  • Journal Title: Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'04) Pages: 3302-3308
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] ロボット支援人工膝関節置換術システムの開発 (2004)
  • Author(s): 杉田直彦, 加藤孝宏, 割澤伸一, 光石衛, 鈴木昌彦, 守屋秀繁, 谷本圭司, 中島義雄, 藏本孝一, 井上貴之
  • Journal Title: 日本機械学会ロボティクス・メカトロニクス講演会'04講演論文集 Pages: 22-H-66
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] ロボット支援人工膝関節置換術レジストレーションシステムの開発 (2004)
  • Author(s): 神吉葉子, 杉田直彦, 割澤伸一, 光石衛, 鈴木昌彦, 守屋秀繁, 藤原一夫, 橋詰博行
  • Journal Title: 日本機械学会ロボティクス・メカトロニクス講演会'04講演論文集 Pages: 22-H-67
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] ロボット支援人工関節置換術のための自由下肢骨の加工特性(第1報)--骨の材質的特異性と切削特性の関係-- (2004)
  • Author(s): 杉田直彦, 割澤伸一, 光石衛, 鈴木昌彦, 守屋秀繁, 藤原一夫, 橋詰博行, 中島義雄, 藏本孝一, 井上貴之
  • Journal Title: 2004年度精密工学会春季大会学術講演会講演論文集 Pages: 1195-1196
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] ロボット支援人工関節置換術のための自由下肢骨の加工特性(第2報)-電子顕微鏡下の2次元微小切削による皮質骨の材質的特異性の検討- (2004)
  • Author(s): 杉田直彦, 割澤伸一, 光石衛
  • Journal Title: 2004年度精密工学会秋季大会学術講演会講演論文集 Pages: 1027-1028
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] Development of a Bone Cutting Robot for Total Knee Arthroplasty (2004)
  • Author(s): Fujiwara, K., Hashizume, H., Warisawa, S., Mitsuishi, M., et al.
  • Journal Title: 34th Annual Meeting of the Japanese Society for Replacement Arthroplasty Pages: 256
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Determination of the Machining characteristics of a Biomaterial using a Machine Tool Designed for Total Knee Arthroplasty (2004)
  • Author(s): Mitsuishi, M., Warisawa, S., Sugita, N.
  • Journal Title: Annals of the International Institution for Production Engineering Research(CIRP Annals.) vol.53 Pages: 107-112
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Development a Novel Robot-Assisted Orthopaedic System Designed for Total Knee Arthroplasty (2004)
  • Author(s): Sugita, N., Warisawa, S., Mitsuishi, M., Suzuki, M., Moriya, H., Kuramoto, K.
  • Journal Title: 7th International Conference on Medical Image Computing and Computer Assisted Intervention(MICCAI2004) LNCS3217 Pages: 153-160
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Development of a Bone Cutting Robot for Total Knee Arthroplasty (2004)
  • Author(s): Mitsuishi, M., Warisawa, S., Sugita, N., et al.
  • Journal Title: Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'04) Pages: 3302-3308
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Development of a Robot Assisted System Designed for Total Knee Arthroplasty (2004)
  • Author(s): Sugita, N., Kato, T., Warisawa, S., Mitsuishi, M., Suzuki, M., Moriya, H., Tanimoto, K., Nakashima, Y., Kuramoto, K., Inoue, T.
  • Journal Title: JSME Robotics and Mechatronics Conference'04, Nagoya Pages: 2P2-H-66
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Development of a Registration System for Robot Aided Total Knee Arthroplasty (2004)
  • Author(s): Kanki, Y., Sugita, N., Warisawa, S., Mitsuishi, M., Suzuki, M., Moriya, H., Fujiwara, K., Hashizume, H.
  • Journal Title: JSME Robotics and Mechatronics Conference'04, Nagoya Pages: 2P2-H-67
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Machining Characteristics of a Free Part of Lower Limb for Total Joint Arthroplasty with a Robot (2004)
  • Author(s): Sugita, N., Warisawa, S., Mitsuishi, M., Suzuki, M., Moriya, H., Fujiwara, K., Hashizume, H., Nakshima, Y., Kuramoto, K., Inoue, T.
  • Journal Title: 2004 JSPE Spring Conference, Tokyo Pages: 1195-1196
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Investigation of Machining Characteristics of a Free Part of Lower Limb for Total Joint Arthroplasty with a Robot (2004)
  • Author(s): Sugita, N., Wariswa, S., Mitsuishi, M.
  • Journal Title: 2004 JSPE Autumn Conference, Matsue Pages: 1027-1028
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Development of a 9 Axes Machine Tool for Bone Cutting (2003)
  • Author(s): Mamoru MITSUISHI, et al.
  • Journal Title: Annals of the International Institution for Production Engineering Research (CIRP Annals.) 52/1 Pages: 323-328
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] 人工膝関節置換術を支援するロボティック・サージェリ・システムの開発 (2003)
  • Author(s): 光石衛, 割澤伸一, 田島史和, 加藤孝宏, 鈴木昌彦, 谷本圭司, 藏本孝一, 井上貴之
  • Journal Title: 日本機械学会ロボティクス・メカトロニクス講演会'03講演論文集 Pages: 22-2F-D5
  • Description: 「研究成果報告書概要(和文)」より
• [Journal Article] Development of a 9 Axes Machine Tool for Bone Cutting (2003)
  • Author(s): Mitsuishi, M., Warisawa, S., Tajima, F., Suzuki, M., Tanimoto, K., Kuramoto, K.
  • Journal Title: Annals of the International Institution for Production Engineering Research (CIRP Annals.) vol.52, no.1 Pages: 323-328
  • Description: 「研究成果報告書概要(欧文)」より
• [Journal Article] Development of a Robotic Surgery System to Assist Total Knee Arthroplasty (2003)
  • Author(s): Mitsuishi, M., Warisawa, S., Tajima, F., Kato, T., Suzuki, M., Tanimoto, K., Kuramoto, K., Inoue, T.
  • Journal Title: JSME Robotics and Mechatronics Conference'03, Hakodate Pages: 2P2-2F-D5
  • Description: 「研究成果報告書概要(欧文)」より