コンパクト型手術ロボットと最小侵襲手術とを統合する医用CAD/CAMシステム

2010 Fiscal Year Annual Research Report

• Project/Area Number: 18106005
• Research Institution: The University of Tokyo
• Principal Investigator: 光石 衛 東京大学, 大学院・工学系研究科, 教授 (90183110)
• Co-Investigator(Kenkyū-buntansha): 中島 義和 東京大学, 大学院・工学系研究科, 准教授 (40343256) ; 杉田 直彦 東京大学, 大学院・工学系研究科, 准教授 (70372406) ; 小泉 憲裕 東京大学, 大学院・工学系研究科, 特任講師 (10396765)
• Keywords: ロボッティック・サージェリ / 最小侵襲手術 / 医用CAD/CAM / 人工関節置換術 / 脳神経外科手術 / 手の外科手術 / 腹腔鏡手術 / レジストレーション

Research Abstract

本年度は研究期間の最終年度に当たるため,これまでに構築したシステムの総合評価を行うとともに,臨床応用を目指した.本提案で開発するロボティック・サージェリ・システムによって,高度な技量と経験を有する医師の術前計画から術後評価システムを構築し手術結果までをデータベース化することによって,手術シミュレータの構築が可能になった.これにより,高度医療技術の教育システムの構築,ひいては高度医療技術を有する医師の増加により幅広く医療技術を提供できるものと考えている.具体的には下記のことを行った.
1.手術評価システム・手術シミュレータの実装
人工関節手術支援ロボットを対象に,手術評価システム・手術シミュレータを実装し,術前予測性について評価した.これによって,術前計画から術中支援システム,治療システム,術後評価システムのすべてがそろうことになり,トータルシステムの構築が可能となった.
2.システムの総合評価
これまでに構築してきた全ての機能を用いた実験を行い,システムの総合評価を実施する,これまでに,整形外科においては,人工関節置換術支援システムおよび手の外科支援システムを,脳神経外科および眼科においは超微細手術支援システムを構築した.これらの全システムにおいて総合評価実験を行うことで,成果を再評価するとともに臨床応用を目指して人体標本による実験をおこなった.特に臨床で必要となる安全性の確保,精度の向上を検討した.

Research Products

• [Journal Article] Visual servoing for a US-guided therapeutic HIFU system by coagulated lesion tracking:a phantom study (2011)
  • Author(s): Seo J., Koizumi N., Funamoto T., Sugita N., Yoshinaka K., Nomiya A., Ishikawa A., Homma Y.Matsumoto Y., Mitsuishi M.
  • Journal Title: The International Journal of Medical Robotics and Computer Assisted Surgery Volume: (In press)(掲載確定)
  • Peer Reviewed
• [Journal Article] Toolpath Strategy Based on Geometric Model for Multi-axis Medical Machine Tool (2011)
  • Author(s): Sugita, N., Nakano, T., Abe, N., Fujiwara, K., Ozaki, T., Suzuki, M., Mitsuishi, M.
  • Journal Title: CIRP Annals Volume: (In press)(掲載確定)
  • Peer Reviewed
• [Journal Article] Comparison of Robot-Assisted and Manual Retinal Vessel Microcannulation in an Animal Model (2011)
  • Author(s): Ueta, T., Nakano, T., Sugita, N., Mitsuishi, M., Tamaki, Y.
  • Journal Title: British Journal of Ophthalmology Volume: (In press)(掲載確定)
  • Peer Reviewed
• [Journal Article] Three-dimensional computer controlled acoustic pressure scanning and quantification of focused ultrasound, 2010, Accepted. (2011)
  • Author(s): Seo, J., Koizumi, N., Sugita, N., Matsumoto, Y., Mitsuishi, M.
  • Journal Title: IEEE Transactions on Ultrasonics, Ferroelectrics, and Frequency Volume: (In press)(掲載確定)
  • Peer Reviewed
• [Journal Article] Tool Path Generator for Bone Machining in Minimally Invasive Orthopedic Surgery (2010)
  • Author(s): Sugita, N., Nakano, T., Nakajima, Y., Fujiwara, K., Abe, N., Ozaki, T.Suzuki, M., Mitsuishi, M.
  • Journal Title: IEEE Transactions on Mechatronics Volume: 15/3 Pages: 471-479
  • Peer Reviewed
• [Journal Article] ロボティックサージェリー-の循環器疾患への応用(1)-非侵襲超音波診断・治療統合システムにおける超音波照射条件と治療性能- (2010)
  • Author(s): 光石衛
  • Journal Title: Analogy Frontier Volume: 9/2 Pages: 2-7
• [Journal Article] ロボティックサージェリー-の循環器疾患への応用(II)-非侵襲超音波診断・治療統合システムにおける患部追従制御- (2010)
  • Author(s): 光石衛
  • Journal Title: Analogy Frontier Volume: 9/3 Pages: 1-5
• [Presentation] 産学連携による手術ロボット研究と実用化に向けての課題(工学的な立場から) (2011)
  • Author(s): 光石衛, 杉田直彦, 原田佳奈子
  • Organizer: 第41会日本人口関節学会
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 2011-02-25
• [Presentation] 医療分野における加工技術 (2010)
  • Author(s): 光石衛
  • Organizer: 先端加工技術後援会
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 2010-12-10
• [Presentation] Trajectory Generation for Master-Slave System with Separation of Position and Velocity Profiles (2010)
  • Author(s): Baek, Y.M., Kozuka, Y., Sugita, N.Morita, A., Sora, S., Mochizuki, R., Mitsuishi, M.
  • Organizer: The 14th International Conference on Mechatronics Technology (ICMT2010 Osaka)
  • Place of Presentation: Osaka, Japan
  • Year and Date: 2010-11-24
• [Presentation] Angle Indication for a Master-slave Neurosurgical Robotic System (2010)
  • Author(s): Yonemura, T., Kozuka, Y, Baek, Y.M., Sugita, N., Morita, A., Sora, S., Mochizuki, R., Mitsuishi, M.
  • Organizer: The 14th International Conference on Mechatronics Technology (ICMT2010 Osaka)
  • Place of Presentation: Osaka, Japan
  • Year and Date: 2010-11-24
• [Presentation] Development of a Computer-lntegrated Microsurgery System (2010)
  • Author(s): Mitsuishi, M.
  • Organizer: 2010 International Symposium on Micro-NanoMec hatronics and Human Science
  • Place of Presentation: Nagoya, Japan
  • Year and Date: 2010-11-08
• [Presentation] 日本の強みを発揮する手術ロボット (2010)
  • Author(s): 光石衛
  • Organizer: 第2回神戸医療機器開発懇談会
  • Place of Presentation: Kobe, Japan
  • Year and Date: 2010-11-07
• [Presentation] Asynchronous Force and Visual Feedback in Teleoperative Laparoscopic Surgical System (2010)
  • Author(s): Onda, K., Osa, T., Sugita, N., Hashizume, M., Mitsuishi, M.
  • Organizer: 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems
  • Place of Presentation: Taipei, Taiwan
  • Year and Date: 2010-10-21
• [Presentation] Safety Enhancement for the Non-Invasive Ultrasound Theragnostic System (2010)
  • Author(s): Koizumi, N., Seo, J., Lee, D., Nomiya, A., Yoshinaka, K., Sugita, N., Homma, Y., Matsumoto, Y., Mitsuishi, M.
  • Organizer: The 5th International Conference on the Advanced Mechatronics(ICAM2010)
  • Place of Presentation: Osaka, Japan
  • Year and Date: 2010-10-04
• [Presentation] Optimal control of cutting feed rate in the robotic milling for total knee arthroplasty (2010)
  • Author(s): Inoue, T., Sugita, N., Mitsuishi, M., Saito, T., Nakajima, Y., Yokoyama, Y, Fujiwara, K., Abe, N., Ozaki, T., Suzuki, M., Kuramoto, K., Nakashima, Y, Tanimoto, K.
  • Organizer: 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 2010-09-26
• [Presentation] Highly Precise Master-Slave Robot System for Super Micro Surgery (2010)
  • Author(s): Baek, Y., M., Kozuka, Y., Sugita, N., Morita, A., Sora, S., Mochizuki, R., Mitsuishi, M.
  • Organizer: 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 2010-09-26
• [Presentation] Interference Free Surgical Tool-path Generation in Multi-axis Bone Milling Robot (2010)
  • Author(s): Sugita, N., Nakano, T., Nakajima, Y., Fujiwara, K., Abe, N., Ozaki, T.Suzuki, M., Mitsuishi, M.
  • Organizer: 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 2010-09-26
• [Presentation] 眼科手術支援ロボティック・サージェリー・システム (2010)
  • Author(s): 光石衛
  • Organizer: 第80回岡山大学眼科研究会第50回岡山角膜移植研究会
  • Place of Presentation: Okayama, Japan
  • Year and Date: 2010-07-22
• [Presentation] A Study on Processing Performance for Non-Invasive Ultrasound Therapy (2010)
  • Author(s): Suzuki, Y., Koizumi, N., Seo, J., Sugita, N., Yoshinaka, K., Nomiya, A., Homma, Y., Matsumoto, Y., Mitsuishi, M.
  • Organizer: International Symposium on Flexible Automation 2010 (ISFA2010)
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 2010-07-12
• [Presentation] Arthroscopic diagnostic probe to measure viscoelasticity of articular cartilage (2010)
  • Author(s): Sugita, N., Kizaki, T., Kanno, D., Abe, N., Yokoyama, Y., Ozaki, T., Mitsuishi, M.
  • Organizer: Comuper Assisted Radiology and Surgery 24^<th> International Congress and Exhibition
  • Place of Presentation: Geneve, Switzerland
  • Year and Date: 2010-06-26
• [Presentation] Ultrasound imaging-guided volumetric target recognition for non-invasive highintensity focused ultrasound therapy of renal tumors (2010)
  • Author(s): Seo, J., Koizumi, N., Sugita, N., Yoshinaka, K., Nomiya, A., Homma, Y., Matsumoto, Y., Mitsuishi, M.
  • Organizer: Comuper Assisted Radiology and Surgery 24^<th> International Congress and Exhibition
  • Place of Presentation: Geneve, Switzerland
  • Year and Date: 2010-06-26
• [Presentation] Deformable-model based registration and shape estimation for two-partfractures (2010)
  • Author(s): Nakajima, Y., Saito, T., Hashizume, H., Sugita, N., Inoue, T., Kuramoto, K., Nakashima, Y., Mitsuishi, M.
  • Organizer: Comuper Assisted Radiology and Surgery 24th International Congress and Exhibition
  • Place of Presentation: Geneve, Switzerland
  • Year and Date: 2010-06-26
• [Presentation] Microsurgical robot to assist vitreoretinal surgery (2010)
  • Author(s): Ida, Y, Nakano, T., Sugita, N., Ueta, T., Tamaki, Y., Mitsuishi, M.
  • Organizer: Comuper Assisted Radiology and Surgery 24^<th> International Congress and Exhibition
  • Place of Presentation: Geneve, Switzerland
  • Year and Date: 2010-06-26
• [Presentation] Multi-DOF forceps for robot-assisted pediatric laparoscopic surgery (2010)
  • Author(s): Fujii, M., Fukushima, K., Sugita, N., Ishimaru, T., Iwanaka, T., Mitsuishi, M.
  • Organizer: Comuper Assisted Radiology and Surgery 24^<th> International Congress and Exhibition
  • Place of Presentation: Geneve, Switzerland
  • Year and Date: 2010-06-26
• [Presentation] Volumetric target tracking for ultrasound-guided therapeutic HIFU system (2010)
  • Author(s): Seo, J., Koizumi, N., Sugita, N., Yoshinaka, K., Nomiya, A., Homma, Y., Matsumoto, Y., Mitsuishi, M.
  • Organizer: 10th International Symposium on Therapeutic Ultrasound 2010 (ISTU10)
  • Place of Presentation: Tokyo, Japan
  • Year and Date: 2010-06-09
• [Patent(Industrial Property Rights)] 手術支援システム (2010)
  • Inventor(s): 光石衛, 杉田直彦, 中島義和, 井上貴之, 藏本孝一, 中島義雄
  • Industrial Property Rights Holder: 光石衛, 杉田直彦, 中島義和, 井上貴之, 藏本孝一, 中島義雄
  • Industrial Property Number: 特願2010-131646
  • Filing Date: 2010-06-09
• [Patent(Industrial Property Rights)] 小児外科手術用多自由度細径鉗子 (2010)
  • Inventor(s): 光石衛, 杉田直彦, 福島清暁, 藤井雅浩, 岩中督, 石丸哲也
  • Industrial Property Rights Holder: 光石衛, 杉田直彦, 福島清暁, 藤井雅浩, 岩中督, 石丸哲也
  • Industrial Property Number: 61/348, 991, 米国
  • Filing Date: 2010-05-27
  • Overseas