A Medical CAD/CAM System for Minimally Invasive Surgery Using a Compact Surgical Robot

2010 Fiscal Year Final Research Report

• Project/Area Number: 18106005
• Research Category: Grant-in-Aid for Scientific Research (S)
• Allocation Type: Single-year Grants
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: The University of Tokyo
• Principal Investigator: MITSUISHI Mamoru The University of Tokyo, 大学院・工学系研究科, 教授 (90183110)
• Co-Investigator(Kenkyū-buntansha): NAKAJIMA Yoshikazu 東京大学, 大学院・工学系研究科, 准教授 (40343256) ; SUGITA Naohiko 東京大学, 大学院・工学系研究科, 准教授 (70372406) ; KOIZUMI Norihiro 東京大学, 大学院・工学系研究科, 講師 (10396765)
• Project Period (FY): 2006 – 2010
• Keywords: ロボット・サージェリ / 医用CAD / CAMシステム / 低侵襲手術

Research Abstract

In the study, the following themes were conducted : (1) Medical CAD/CAM system to plan the operation based on the patient model,(2)Navigation system for medical use to assist the surgeon during operation, and(3)Development of medical robotics for minimally invasive surgery.

Research Products

• [Journal Article] A microsurigcal robot to assist vitreoretinal surgery (2011)
  • Author(s): Ida Y., Sugita N., Ueta T., Tamaki Y., Tanimoto K., Mitsuishi M.
  • Journal Title: International Journal of Computer Assisted Radiology and Surgery in press.
• [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 In press.
• [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 Vol.15, No.3 Pages: 471-479
• [Journal Article] Robot-Assisted Vitreoretinal Surgery : Development of a Prototype and Feasibility Studies in Animal Model (2009)
  • Author(s): Ueta, T., Yamaguchi, Y., Shirakawa, Y., Nakano, T., Ideta, R., Noda, Y., Morita, A., Mochizuki, R., Sugita, N., Mitsuishi, M., Tamaki, Y.
  • Journal Title: Ophthalmology Vol.116 Pages: 1538-1543
• [Journal Article] A parallel robot to assist vitreoretinal surgery (2009)
  • Author(s): Nakano, T., Sugita, N., Ueta, T., Tamaki, Y., Mitsuishi, M.
  • Journal Title: International Journal of Computer Assisted Radiology and Surgery Vol.4, No.6 Pages: 517-526
• [Journal Article] Impact of network time-delay and force feedback on tele-surgery (2008)
  • Author(s): Arata, J., Takahashi, H., Yasunaka, S., Onda, K., Tanaka, K., Sugita, N., Tanoue, K., Konishi, K., Ieiri, S., Fujino, Y., Ueda, Y., Fujimoto, H., Mitsuishi, M., Hashizume, M.
  • Journal Title: International Journal of Computer Assisted Radiology and Surgery Vol.3 Pages: 371-378
• [Journal Article] Force Feedback Augmentation Modes in the Laparoscopic Minimally Invasive Telesurgical System (2007)
  • Author(s): Mitsuishi, M., Sugita, N., Pitakwatchara, P.
  • Journal Title: IEEE/ASME Transactions on Mechatronics Vol.12, No.4 Pages: 447-455
• [Journal Article] Development of a Medical CAD/CAM System for Orthopedic Surgery (2007)
  • Author(s): Mitsuishi, M., Sugita, N., Fujiwara, K., Abe, N., Ozaki, T., Suzuki, M., Moriya, H., Inoue, T., Kuramoto, K., Nakashima, Y., Tanimoto, K.
  • Journal Title: Annals of the International Institution for Production Engineering Research(CIRP Annals.) vol.56/1 Pages: 405-410
• [Journal Article] Comparison of Robot-Assisted and Manual Retinal Vessel Microcannulation in an Animal Model
  • Author(s): Ueta, T., Nakano, T., Sugita, N., Mitsuishi, M., Tamaki, Y.
  • Journal Title: British Journal of Ophthalmology in press.
• [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: Proceedings of the 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.740-745
  • Place of Presentation: The University of Tokyo, Tokyo, Japan
  • Year and Date: 20100926-20100929
• [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: Proceedings of the 2010 3rd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.790-795
  • Place of Presentation: The University of Tokyo, Tokyo, Japan
  • Year and Date: 20100926-20100929
• [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, pp.844-849
  • Year and Date: 20100000
• [Presentation] Development of a Computer-Integrated Microsurgery System (2010)
  • Author(s): Mitsuishi, M.
  • Organizer: 2010 International Symposium on Micro-NanoMechatronics and Human Science
  • Place of Presentation: Nagoya, Japan.
  • Year and Date: 2010-11-08
• [Presentation] A Telesurgery Experiment between Japan and Thailand (2009)
  • Author(s): Mitsuishi, M., Hashizume, M., Navicharern, P., Fujino, Y., Onda, K., Yasunaka, S., Sugita, N., Arata, J., Fujimoto, H., Tanimoto, K., Tanoue, K., Ieiri, S., Konishi, K., Ueda, Y.
  • Organizer: The 6th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2009), pp.336-339
  • Year and Date: 20090000
• [Presentation] Innovations in Computer-integrated Surgical System (2009)
  • Author(s): Mitsuishi, M.
  • Organizer: The 2009 International Symposium on Early Detection and Rehabilitation Technology of Dementia
  • Place of Presentation: Okayama.
  • Year and Date: 2009-12-11
• [Presentation] Computer-Integrated Surgical System (2009)
  • Author(s): Mitsuishi, M.
  • Organizer: VR@P2009
  • Place of Presentation: Leiria, Portugal.
  • Year and Date: 2009-10-09
• [Presentation] Computer-integrated surgery system (2009)
  • Author(s): Mitsuishi, M.
  • Organizer: The 2nd International Workshop on Human-Oriented Product Innovation
  • Place of Presentation: Seoul, Korea.
  • Year and Date: 2009-08-21
• [Presentation] Computer-Integrated Surgical System (2009)
  • Author(s): Mitsuishi, M.
  • Organizer: International Conference on Intelligent Robotic Technology and Business
  • Place of Presentation: Taipei, Taiwan.
  • Year and Date: 2009-08-05
• [Remarks] ホームページ等
  • URL: http://www.nml.t.u-tokyo.ac.jp
• [Patent(Industrial Property Rights)] 手術支援システム (2010)
  • Inventor(s): 杉田直彦, 光石衛, 中島義和, 井上貴之, 藏本孝一, 中島義雄
  • Industrial Property Rights Holder: 杉田直彦, 光石衛, 中島義和, 井上貴之, 藏本孝一, 中島義雄
  • Industrial Property Number: 特許・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): 杉田直彦, 光石衛, 福島清暁. 藤井雅浩, 岩中督, 石丸哲也
  • Industrial Property Rights Holder: 杉田直彦, 光石衛, 福島清暁. 藤井雅浩, 岩中督, 石丸哲也
  • Industrial Property Number: 特許・61/348,991
  • Filing Date: 2010-05-27
• [Patent(Industrial Property Rights)] 手術支援装置術 (2009)
  • Inventor(s): 光石衛, 中島義和, 杉田直彦, 齋藤季
  • Industrial Property Rights Holder: 光石衛, 中島義和, 杉田直彦, 齋藤季
  • Industrial Property Number: 特許・特開,2009-291342
  • Filing Date: 2009-12-17
• [Patent(Industrial Property Rights)] 眼科手術支援装置及びこれを用いた眼科手術支援システム (2008)
  • Inventor(s): 光石衛, 玉置泰裕
  • Industrial Property Rights Holder: 光石衛, 玉置泰裕
  • Industrial Property Number: 特許・PCT/JP2008/072004
  • Filing Date: 2008-12-04
• [Patent(Industrial Property Rights)] 手術支援システムにおいて用いられるマスタ・マニピュレータ (2008)
  • Inventor(s): 光石衛, 森田明夫
  • Industrial Property Rights Holder: 光石衛, 森田明夫
  • Industrial Property Number: 特許・PCT/JP2008/060155
  • Filing Date: 2008-06-02
• [Patent(Industrial Property Rights)] REPOSITIONING APPARATUS (2007)
  • Inventor(s): 光石衛, 中澤東治
  • Industrial Property Rights Holder: Mamoru Mitsuishi, THK Co.Ltd.
  • Industrial Property Number: 特許・US 7,246,390 B2
  • Filing Date: 2007-07-24
• [Patent(Industrial Property Rights)] 手術用具 (2007)
  • Inventor(s): 光石衛, 割澤伸一, 中澤東治
  • Industrial Property Rights Holder: 光石衛, 割澤伸一, THK(株)
  • Industrial Property Number: 特許・3980926
  • Filing Date: 2007-07-08