Construction and Control of high-precision human robot simulator for evaluating endovascular surgery strategy

2008 Fiscal Year Final Research Report

• Project/Area Number: 18206027
• 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: Nagoya University
• Principal Investigator: TOSHIO Fukuda Nagoya University, 大学院・工学研究科, 教授 (70156785)
• Co-Investigator(Kenkyū-buntansha): FUMIHITO Arai 東北大学, 大学院・工学研究科, 教授 (90221051) ; MAKOTO Negoro 藤田保健衛生大学, 医学部, 教授 (90115618)
• Project Period (FY): 2006 – 2008
• Keywords: メディカルロボットシステム / 血管内手術 / 手術シミュレータ / テーラーメイド医療 / ラピッドプロトタイピング / マイクロ3次元加工 / 光弾性計測 / 拡張現実感技術

Research Abstract

本研究では, (1)血管内治療に係る医療技術, 知見および医療機器の高度な評価を可能にする手術シミュレータを構築し, (2)得られたシミュレータを用いて, 上記の評価を行なった. 本研究により, 動静脈・毛細血管に至る全身の血管領域と拍動血流および術中に使用されるX 線透視映像を再現し, かつ医療行為が身体に及ぼす影響(血管に加わった応力等)の定量的を評価とする手術シミュレータを実現した. また技術の応用により, テーラーメイドの人工血管足場を実現し, 本シミュレータを用いた評価を実施した.

Research Products

• [Journal Article] 脳血管内手術シミュレーションのための個別型脳血管立体モデル : 第3報, 光弾性法による血管壁面応力の模擬術中計測 (2008)
  • Author(s): 池田誠一, 岡田雄太, 福田敏男, 新井史人, 根来眞, 高橋郁夫
  • Journal Title: 日本機械学会論文集(C編) 74(743) Pages: 1914-1919
• [Journal Article] Motoharu Hayakawa, and Ikuo Takahashi. Patient-Specific IVR Endovascular Simulator with Augmented Reality for Medical Training and Robot Evaluation (2008)
  • Author(s): Seiichi Ikeda, Carlos Tercero, Toshio Fukuda, Yuta Okada, Fumihito Arai, Makoto Negoro
  • Journal Title: Journal of Robotics and Mechatronics Vol. 20 No. 3(Peer Reviewed) Pages: 441-448
• [Journal Article] Robot Manipulation and Guidance using Magnetic Motion Capture Sensor and Software Maps (2008)
  • Author(s): Carlos Tercero, Seiichi Ikeda, Toshio Fukuda, Kosuke Sekiyama, Yuta Okada, Tomomi Uchiyama, Makoto Negoro, Ikuo Takahashi
  • Journal Title: Journal of Robotics and Mechatronics Vol.20 no.1(Peer Reviewed) Pages: 151-158
• [Journal Article] Development biodegradable scaffolds based on patient-specific arterial configuration (2007)
  • Author(s): Tomoyuki Uchida, Seiichi Ikeda, Hiroyuki Oura, Mika Tada, Takuma Nakano, Toshio Fukuda, Takehisa Matsuda, Fumihito Arai
  • Journal Title: Journal of Biotechnology Issue 2, 20(Peer Reviewed) Pages: 213-218
• [Journal Article] Numerical evaluation method for catheter prototypes using photo-elastic stress analysis on patient-specific vascular model (2007)
  • Author(s): Carlos Tercero, Yuta Okada, Seiichi Ikeda, Toshio Fukuda, Kosuke Sekiyama, Makota Negoro, Ikuo Takahashi
  • Journal Title: International Journal of Medical Robotics and Computer Assisted Surgery Vol.3 : 4(Peer Reviewed) Pages: 349-354
• [Journal Article] Autonomous catheter insertion system using magnetic motion capture sensor for endovascular surgery (2007)
  • Author(s): Carlos Tercero, Seiichi Ikeda, Tomomi Uchiyama, Toshio Fukuda, Fumihito Arai, Yuta Okada, Y Ono, R Hattori, T Yamamoto, Makoto Negoro, Ikuo Takahashi
  • Journal Title: International Journal of Medical Robotics and Computer Assisted Surgery Vol. 3 No. 1(Peer Reviewed) Pages: 52-58
• [Journal Article] Fabrication of Cell-Adhesion Surface and Arteriole Model by Photolithography (2007)
  • Author(s): F. Arai, T. Nakano, M. Tada, Yu-Ching Lin, S. Ikeda, T. Uchida, H. Oura, T. Fukuda, T. Matsuda, M. Negoro
  • Journal Title: Journal of Robotics and Mechatronics 17-5(Peer Reviewed) Pages: 535-543
• [Journal Article] Ikuo Takahashi. Patient-Tailored Cerebral Arterial Model for Simulating Neurovascular Intervention (2nd Report, In Vitro Reproduction of Membranous Vascular Structure Accompanied with Elastic Deformation) (2006)
  • Author(s): Seiichi Ikeda, Fumihito Arai, Toshio Fukuda, Makoto Negoro, Keiko Irie
  • Journal Title: Transactions of the Japanese Society of Mechanical Engineers, Series C Vol.72, No.720(Peer Reviewed) Pages: 261-267
• [Presentation] Fabrication of Transparent Arteriole Membrane Models.Proc. Of the Int'l Symp (2008)
  • Author(s): Takuma Nakano, Keisuke Yoshida, Seiichi Ikeda**, Hiroyuki Oura, Toshio Fukuda, Takehisa Matsuda, Makoto Negoro and Fumihito Arai
  • Organizer: on Micro-NanoMechatronics and Human Science
  • Place of Presentation: Nagoya, Japan
  • Year and Date: 20081106-09
• [Presentation] Ikuo Takahashi. Photoelastic Stress Analysis on Patient-Specific Anatomical Model of Cerebral Artery by Reflection Method (2008)
  • Author(s): Motoki Matsushima, Yuta Okada, Seiichi Ikeda,Toshio Fukuda, Fumihito Arai, Makoto Negoro
  • Organizer: Proc. Of the Int'l Symp. On Micro-NanoMechatronics and Human Science
  • Place of Presentation: Nagoya, Japan
  • Year and Date: 20081106-09
• [Presentation] 生体血管の力学的特性を有する人工血管足場の開発 (2008)
  • Author(s): 大浦裕就, 池田誠一, カルロステルセロ, 中野琢磨, 新井史人, 根来真, 松田武久, 福田敏男
  • Organizer: 第26回日本ロボット学会学術講演会
  • Place of Presentation: 神戸市
  • Year and Date: 2008-09-09
• [Presentation] カルロステルセロ.患者個人情報に基づく脳血管立体モデルを用いた反射法による光弾性応力解析 (2008)
  • Author(s): 岡田雄太, 池田誠一, 松島幹, 福田敏男, 新井史人, 根来真, 高橋郁夫
  • Organizer: 第26回日本ロボット学会学術講演会
  • Place of Presentation: 神戸市
  • Year and Date: 2008-09-09
• [Presentation] 磁性果糖ビーズの自己組織化を利用した多孔質生分解性足場の造形 (2008)
  • Author(s): 内田智之, 大浦裕就, 池田誠一, 中野琢磨, 新井史人, 根来真, 松田武久, 福田敏男
  • Organizer: ロボティクス・メカトロニクス講演会
  • Place of Presentation: 長野市
  • Year and Date: 2008-06-06
• [Presentation] カルロステルセロ.反射法による患者個人対応型立体血管モデルの光弾性応力解析 (2008)
  • Author(s): 岡田雄太, 池田誠一, 福田敏男, 新井史人, 根来真, 高橋郁夫
  • Organizer: ロボティクス・メカトロニクス講演会
  • Place of Presentation: 長野市
  • Year and Date: 2008-06-06
• [Presentation] 孔密度の傾斜を有する多層構造の人工血管足場開発 (2008)
  • Author(s): 大浦裕就, 内田智之, 池田誠一, 中野琢磨, 新井史人, 根来真, 松田武久, 福田敏男
  • Organizer: ロボティクス・メカトロニクス講演会
  • Place of Presentation: 長野市
  • Year and Date: 2008-06-06
• [Presentation] Photoelastic Stress Analysis on Patient-Specific Anatomical Model of Cerebral Artery (2007)
  • Author(s): Yuta Okada, Seiichi Ikeda, Toshio Fukuda, Fumihito Arai, Makoto Negoro Ikuo Takahashi, Carlos Tercero
  • Organizer: Proc. of the International Symp. On Micro-Nano Mechatronics and Human Science
  • Place of Presentation: Nagoya, Japan
  • Year and Date: 20071111-14
• [Presentation] Patient-Specific Blood Vessel Scaffold for Regenerative Medicine. Proc (2007)
  • Author(s): Seiichi Ikeda, Fumihito Arai, Toshio Fukuda, Hiroyuki Oura, Makoto Negoro
  • Organizer: IEEE International Conference on Robotics and Automation
  • Place of Presentation: Roma, Italy
  • Year and Date: 20070410-14
• [Presentation] Development of biodegradable scaffolds by leaching self-assembled magnetic sugar particles (2007)
  • Author(s): Tomoyuki Uchida, Hiroyuki Oura, Seiichi Ikeda, Takuma Nakano, Fumihito Arai, Makoto Negoro, Takehisa Matsuda, Toshio Fukuda
  • Organizer: IEEE International Conference on Robotics and Automation
  • Place of Presentation: Roma, Italy
  • Year and Date: 20070410-14
• [Remarks]
  • URL: http://www.robo.mein.nagoya-u.ac.jp
• [Remarks]
  • URL: http://www.imech.mech.tohoku.ac.jp/index.html
• [Remarks]
  • URL: http://www.fujita-hu.ac.jp/index.html
• [Remarks]
  • URL: http://www.fain-biomedical.com2
• [Patent(Industrial Property Rights)] 多層多孔足場及びその製造方法 (2007)
  • Inventor(s): 内田智之, 福田敏男, 大浦裕就, 池田誠一
  • Industrial Property Rights Holder: 内田智之, 福田敏男, 大浦裕就, 池田誠一, 名古屋大学
  • Industrial Property Number: 特許 特願2007-318906
  • Filing Date: 2007-11-11
• [Patent(Industrial Property Rights)] 多孔質足場 (2007)
  • Inventor(s): 大浦裕就, 福田敏男, 内田智之, 池田誠一
  • Industrial Property Rights Holder: 大浦裕就, 福田敏男, 内田智之, 池田誠一, 名古屋大学
  • Industrial Property Number: 特許 特願2007-318907
  • Filing Date: 2007-11-11