2017 Fiscal Year Final Research Report
Development of the robot supporting endovascular therapy
| Project/Area Number |
15K10320
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Neurosurgery
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| Research Institution | Aichi Medical University (2017)
Osaka Medical College (2015-2016) |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
永野 佳孝 愛知工科大学, 工学部, 教授(移行) (40610142)
大西 宏之 大阪医科大学, 医学部, 非常勤講師 (10641657)
平松 亮 大阪医科大学, 医学部, 講師 (40609707)
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| Project Period (FY) |
2015-04-01 – 2018-03-31
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| Keywords | 血管内治療 / ロボティクス / 遠隔医療 / 挿入力 / カテーテル / ガイドワイヤー / センサー / フィードバック |
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| Outline of Final Research Achievements |
We developed a prototype of support robot for neuroendovascular therapy. Our robot has two independent slaves manipulating catheter and guidewire connected with the remote master driver with two joysticks. Slave manipulator has the sufficient output power more than 1 newton to reproduce the exact master intervention without slip and delay. This machine has a unique function to indicate the reaction force of the resistance on wire stuck using the sensor system. It is useful to prevent over-action of the machine. We checked the controllability, safety and reproducibility of our machine on the in-vivo silicone vascular model. Although the operator’s motion could be well reproduced in the simple model, it was difficult to realize the exact correspondence against the rapid action or in the acutely curved vessel. Neuroendovascular intervention requires the delicate power adjustment with fine finger control. Our robot may realize neurointerventions without human operators in the angiosuite.
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| Free Research Field |
脳神経外科、神経放射線科、ロボット医学
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