Study of holding mechanism and control methodology of endoscopic surgery tools using artificial muscle actuators

2009 Fiscal Year Final Research Report

• Project/Area Number: 19206047
• Research Category: Grant-in-Aid for Scientific Research (A)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Control engineering
• Research Institution: Osaka University
• Principal Investigator: NISHIKAWA Atsushi Osaka University, 大学院・基礎工学研究科, 准教授 (20283731)
• Co-Investigator(Kenkyū-buntansha): MIYAZAKI Fumio 大阪大学, 大学院・基礎工学研究科, 教授 (20133142) ; HIRAI Hiroaki 大阪大学, 大学院・基礎工学研究科, 助教 (60388147) ; SHIMADA Junichi 京都府立医科大学, 医学系研究科, 講師 (60315942)
• Project Period (FY): 2007 – 2009
• Keywords: 内視鏡手術 / 医療ロボット / 人工筋肉アクチュエータ / パラレルメカニズム / タッチパネルインタフェース / ビジュアルサーボ / ゆらぎ / シングルポート(単孔)

Research Abstract

Endoscopic surgery has grown rapidly in popularity in recent years, not only because it is less invasive and produces less visible scarring, but also because of its benefits in terms of healthcare economy. However, there are many unsolved problems such as difficult hand-eye coordination and limited field of view. We developed new hardware (endoscopic tool holding mechanism) and software (endoscopic tool control methodologies) for human-robot cooperation surgery based on the use of artificial muscle actuators.

Research Products

• [Journal Article] Development of a compact laparoscope manipulator (P-arm). (2009)
  • Author(s): Mitsugu Sekimoto, Atsushi Nishikawa, Kazuhiro Taniguchi, Shuji Takiguchi, Fumio Miyazaki, Yuichiro Doki, Masaki Mori
  • Journal Title: Surgical Endoscopy Vol.23,No.11 Pages: 2596-2604
• [Journal Article] 水圧駆動型内視鏡マニピュレータのin-vivo評価. (2008)
  • Author(s): 谷口和弘, 西川敦, 小林武治, 数原幸平, 市原貴晴, 倉下直人, 関本貢嗣, 瀧口修司, 三吉範克, 土岐祐一郎, 森正樹, 宮崎文夫
  • Journal Title: 生体医工学 Vol.46,No.6 Pages: 606-620
• [Journal Article] ビジュアルサーボを用いたタッチ式内視鏡手術器具インタフェース. (2008)
  • Author(s): 難波俊介, 西川敦, 今岡健悟, 島田順一, 加藤大志朗, 寺内邦彦, 下村雅律, 常塚啓彰, 宮崎文夫
  • Journal Title: 生体医工学 Vol.46,No.6 Pages: 595-605
• [Journal Article] ディスポーザブル型内視鏡把持位置決めロボット. (2008)
  • Author(s): 谷口和弘, 西川敦, 中越宏明, 小林武治, 数原幸平, 市原貴晴, 倉下直人, 青柳さやか, 杉野友啓, 関本貢嗣, 瀧口修司, 門田守人, 宮崎文夫
  • Journal Title: 日本ロボット学会誌 Vol.26,No.6 Pages: 502-513
• [Presentation] Analysis of Decisions by Camera Assistants on the Field of View for Laparoscopic Surgery and Its Application to Automatic Positioning of a Laparoscope. (2009)
  • Author(s): A. Nishikawa, Y. Yamada, S. Toda, M. Sekimoto, N. Miyoshi, S. Takiguchi, Y. Doki, M. Mori, F. Miyazaki
  • Organizer: 21st International Conference of the Society for Medical Innovation and Technology (SMIT2009), Sinaia, Romania
  • Place of Presentation: SMIT2009 2nd Poster Prizeを受賞
  • Year and Date: 2009-10-08
• [Presentation] Automatic Endoscope Positioning Algorithm Based on Biological Fluctuation. (2009)
  • Author(s): A. Nishikawa, Y. Yamada, K. Taniguchi, F. Miyazaki
  • Organizer: 5th Asian Conference on Computer Aided Surgery (ACCAS2009)
  • Place of Presentation: Changhua, Taiwan
  • Year and Date: 2009-07-04
• [Presentation] Accurate trajectory tracking using visual servoing for robotic endoscopic surgery. (2009)
  • Author(s): S. Namba, A. Nishikawa, K. Imaoka, J. Shimada, D. Kato, K. Terauchi, M. Shimomura, H. Tsunezuka, F. Miyazaki
  • Organizer: 23rd International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS2009)
  • Place of Presentation: Berlin, Germany
  • Year and Date: 2009-06-24
• [Presentation] Endoscopic robotic surgery with intuitive touch panel navigation. (2009)
  • Author(s): J. Shimada, A. Nishikawa, S. Namba, K. Imaoka, D. Kato, K. Terauchi, M. Shimomura, H. Tsunezuka, F. Miyazaki
  • Organizer: 23rd International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS2009)
  • Place of Presentation: Berlin, Germany
  • Year and Date: 2009-06-24
• [Presentation] How does the camera assistant decide the zooming ratio of laparoscopic images?-Analysis and implementation-. (2008)
  • Author(s): A. Nishikawa, H. Nakagoe, K. Taniguchi, Y. Yamada, M. Sekimoto, S. Takiguchi, M. Monden, F. Miyazaki
  • Organizer: 11th International Conference on Medical Image Computing and Computer-Assisted Intervention (MICCAI2008)
  • Place of Presentation: New York, USA
  • Year and Date: 2008-09-09
• [Presentation] Development of a disposable laparoscope manipulator using hydraulic actuators (second prototype). (2008)
  • Author(s): K. Taniguchi, A. Nishikawa, T. Kobayashi, K. Kazuhara, T. Ichihara, N. Kurashita, M. Sekimoto, S. Takiguchi, M. Monden, F. Miyazaki
  • Organizer: 20th International Conference of the Society for Medical Innovation and Technology (SMIT2008)
  • Place of Presentation: Vienna, Austria
  • Year and Date: 2008-08-28
• [Presentation] A disposable laparoscope manipulator using hydraulic actuators with air spring. (2008)
  • Author(s): K. Taniguchi, A. Nishikawa, T. Kobayashi, K. Kazuhara, T. Ichihara, N. Kurashita, M. Sekimoto, S. Takiguchi, M. Monden, F. Miyazaki
  • Organizer: 22nd International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS2008)
  • Place of Presentation: Barcelona, Spain
  • Year and Date: 2008-06-27
• [Presentation] A disposable laparoscope manipulator using hydraulic actuators. (2008)
  • Author(s): K. Taniguchi, A. Nishikawa, T. Kobayashi, K. Kazuhara, T. Ichihara, N. Kurashita, M. Sekimoto, S. Takiguchi, M. Monden, F. Miyazaki
  • Organizer: 2008 Emerging Technology Session of the Society of American Gastrointestinal and Endoscopic Surgeons (SAGES2008)
  • Place of Presentation: Philadelphia, Pennsylvania, USA
  • Year and Date: 2008-04-12
• [Presentation] The application of adaptive filters for motion prediction in visually tracked laparoscopic surgery. (2007)
  • Author(s): H. Blasinski, A. Nishikawa, F. Miyazaki
  • Organizer: 2007 IEEE International Conference on Robotics and Biomimetics (ROBIO2007)
  • Place of Presentation: Sanya, China
  • Year and Date: 2007-12-16
• [Presentation] Development of a safe disposable laparoscope manipulator using hydraulic actuators. (2007)
  • Author(s): K. Taniguchi, A. Nishikawa, F. Miyazaki, T. Kobayashi, K. Kazuhara, T. Ichihara, M. Sekimoto, S. Takiguchi, M. Monden
  • Organizer: 2007 IEEE International Conference on Robotics and Biomimetics (ROBIO2007)
  • Place of Presentation: Sanya, China
  • Year and Date: 2007-12-16
• [Presentation] Development of a novel disposable laparoscope manipulator. (2007)
  • Author(s): K. Taniguchi, A. Nishikawa, H. Nakagoe, K. Kazuhara, T. Kobayashi, T. Ichihara, M. Sekimoto, K. Okada, S. Takiguchi, M. Monden, F. Miyazaki
  • Organizer: 19th International Conference of the Society for Medical Innovation and Technology (SMIT2007)
  • Place of Presentation: Sendai, Japan
  • Year and Date: 2007-11-21
• [Presentation] Evaluating the surgeon's stress when using surgical assistant robots. (2007)
  • Author(s): K. Taniguchi, A. Nishikawa, H. Nakagoe, T. Sugino, M. Sekimoto, K. Okada, S. Takiguchi, M. Monden, F. Miyazaki
  • Organizer: 16th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2007)
  • Place of Presentation: Jeju, Korea
  • Year and Date: 2007-08-29
• [Presentation] Study of evaluation of surgical assistant systems: Surgeon's stress evaluation using saliva and acceleration plethysmogram. (2007)
  • Author(s): K. Taniguchi, A. Nishikawa, H. Nakagoe, T. Sugino, M. Sekimoto, K. Okada, S. Takiguchi, M. Monden, F. Miyazaki
  • Organizer: 21th International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS2007)
  • Place of Presentation: Berlin, Germany
  • Year and Date: 2007-06-28
• [Book] Design and Control of a Compact Laparoscope Manipulator: A Biologically Inspired Approach. In Robot Manipulators (2010)
  • Author(s): A. Nishikawa, M. Sekimoto, K. Taniguchi, Y. Yamada, N. Miyoshi, S. Takiguchi, Y. Doki, M. Mori, F. Miyazaki
  • Publisher: Sciyo Publishing(in press)
• [Book] Classification, design and evaluation of endoscope robots. In Seung Hyuk Baik, editor, Robot Surgery (2010)
  • Author(s): K. Taniguchi, A. Nishikawa, M. Sekimoto, T. Kobayashi, K. Kazuhara, T. Ichihara, N. Kurashita, S. Takiguchi, Y. Doki, M. Mori, F. Miyazaki
  • Total Pages: 1-24
  • Publisher: TIN-TECH Education and Publishing
• [Book] Method for objectively evaluating psychological stress resulting when humans interact with robots. In Vladimir A. Kulyukin, editor, Advances in Human-Robot Interaction (2009)
  • Author(s): K. Taniguchi, A. Nishikawa, T. Sugino, S. Aoyagi, M. Sekimoto, S. Takiguchi, K. Okada, M. Monden, F. Miyazaki
  • Total Pages: 141-164
  • Publisher: IN-TECH Education and Publishing
• [Remarks] 2010.01.26.「国産の医療機器を作る!」,関西テレビ「スーパーニュースアンカー」
• [Remarks] 2009.11.16.「内視鏡手術支援システム腫瘍、画面なぞり切除肺・肝臓向けレーザー位置、正確に把握」日本経済新聞朝刊科学面
• [Remarks] 2009.10.04.「内視鏡ロボットP-arm」, BSジャパン「世の中進歩堂」
• [Remarks] 2009.09.17.「How to better join forces. The endoscope robot developed by Osaka University and Daiken Medical」, Nature, Vol.461, No. 7262
• [Remarks] 2009.08.28.「産学医連携動きはじめた医療機器ビジネス」,テレビ大阪「ニュースBIZ」
• [Remarks] 2009.08.19.「次世代医療は関西が推進役産学タッグ機器開発」,産経新聞夕刊1面
• [Remarks] 2008.12.01.「腹腔鏡手術安全性高く-阪大,操作自動の内視鏡」,日本経済新聞朝刊科学面
• [Remarks] 2007.11.22.「関西創造得区医療技術産学連携に成果:ロボット手術助手」,読売新聞朝刊11面
• [Remarks] 2007.5.8-5.14.「内視鏡手術に使い捨てロボ」(共同通信記事ならびに47NEWS動画配信),秋田魁新報,東京新聞,山梨日日新聞,岐阜新聞,北國新聞,神戸新聞,四国新聞,高知新聞,山口新聞,南日本新聞,大阪日日新聞などに掲載.
• [Remarks] 2007.4.10.「最新機器ずらり医療のいま、未来.大阪で企画展示:実用化へ研究が続く小型の内視鏡手術支援ロボット」京都新聞朝刊18面
• [Patent(Industrial Property Rights)] 医療用マニピュレータ装置 (2011)
  • Inventor(s): 西川敦、宮崎文夫、谷口和弘、門田守人、関本貢嗣
  • Industrial Property Rights Holder: 国立大学法人大阪大学、財団法人大阪産業振興機構
  • Industrial Property Number: 特許・特許第4446055号
  • Acquisition Date: 2011-01-29