| Co-Investigator(Kenkyū-buntansha) |
MITSUISHI Mamoru The University of Tokyo, Engineering, Professor (90183110)
ONOGI Yuzaou The Universityof Tokyo, Hospital, Assistant Professor (90233593)
SUGITA Naohiko The University of Tokyo, Engineering, Associate Prof. (70372406)
MASUTANI Yoshitaka The University of Tokyo, Hospital, Assistant Professor (20345193)
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| Research Abstract |
In this research, we developed and advanced microsurgical Robotic System and produced scientific analysis method of Microsurgical Skill by digitalized microsurgical techniques.
First we created new offset type robotic manipulator, which would not interfere with visual system such as microscope or endoscope. Then this system was equipped with intermediate working part, which will make our system sterilizable. After sterilization of the system and continuous 2hour manipulation, the tip of the manipulator was proved to be sterile. Also, we created new master manipulator system, which involves Ginbaru System, and with this master manipulator robot, surgeon could control the robot by moving fingers and wrist. This is similar to the condition of microsurgical procedures.
After creating such advanced robotic system, we now proceeding with various experiments.
Using such system, surgical procedures were analyzed in scientific manner.
First robotic procedure was analyzed. Ideal reduction rate for r
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obotic surgery was believed to be around 20:1 or 40:1 in laparoscopic procedures, but in the field of microsurgery, this was 5:1 to 10:1. The difference is possibly due to difference of scale of routine surgery. Microsurgeons are not used to do massive movements in performing delicate procedures. Second, learning curve of micro procedures by robotic system by the beginners was assessed. Micro artificial vessel was sutured together using our robotic system by three engineer students, who never perform microsurgery. Their procedure time stabilized after several practice within one hour, and procedure was accurate. This proved robotic system allows rapid leering of microsurgical procedures.
Next step was digitalization of microsurgical skills. The computer control signals were stored in 100Hz batches during robotic anastomosis of the micro vessels. By this method, we could display X, Y, Z movement distance in time log, velocity of the hand, accelerations, angle acceleration during each procedure. By this method we could analyze coordination of each hand, speed and acceleration during specific procedures and range of motion. Using this technique, we can analyze surgical technique in scientific way By storing master surgeons procedures and reproducing it in the force feedback master system, surgeons will be able to learn master surgeons hand speed and L-R coordination.
Putting strain gauge on the forceps, we analyzed strength used during vessel anastomosis. Senior surgeon could control left hand very smoothly and strength in l was almost equal to R hand. But by the less experienced surgeons, strength on L was very high and continuously applied. This trend could be improved by practice. The strength applied to the tip of forceps was around 2N at most by experienced senior surgeons.
This research proved microsurgical robotic sys tern improve surgical procedure in the future, and involving such medico- engineering method in analyzing microsurgical skill, will improved our future surgical education. Less
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