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2022 Fiscal Year Final Research Report

Development of a palpation system using the laparoscopic surgical robot

Research Project

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Project/Area Number 19K12087
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 61020:Human interface and interaction-related
Research InstitutionHosei University

Principal Investigator

Ishii Chiharu  法政大学, 理工学部, 教授 (80296079)

Project Period (FY) 2019-04-01 – 2023-03-31
Keywords触診システム / 手術支援ロボット / 腹腔鏡下手術 / 力覚提示 / 触覚提示
Outline of Final Research Achievements

In this study, a robotic palpation system, in which palpation in not only longitudinal and lateral directions but also diagonal direction is possible, was developed. In the palpation system, the deep neural network (DNN) was trained to output the contact forces which the trocar exerts on the forceps, and by subtracting the output of the DNN from the measured value by the force sensor, the influence of the trocar on the forceps is suppressed. Palpation experiments to specify the location of the imitation tumor were carried out using the palpation system under the following 3 conditions; (a) Only force feedback was conducted, (b) Only tactile feedback was conducted, and (c) Both force and tactile feedbacks were conducted. From experimental results, it was verified that the most exact position of the tumor was specified in shortest time in the condition (c), and it was demonstrated that the identification of location of the imitation tumor within 1 mm error is possible.

Free Research Field

ロボティクス

Academic Significance and Societal Importance of the Research Achievements

本研究成果の学術的意義として、三点が挙げられる。1つ目は、ディープニューラルネットワークの学習により、トロカールが鉗子に与える負荷を抑制して触診が可能であることを示した点である。2つ目は、①力覚のみの提示、②触覚のみの提示、③力覚と触覚(力触覚)の提示の比較において、力触覚提示が最も効果的であることを示した点である。3つ目は、開発した触診システムを用いた実験により、がん細胞を模した腫瘍の位置を1 mm以内という精度で特定できることを実証した点である。これにより、開発した触診システムが、次世代の力触覚フィードバック可能な腹腔鏡下手術支援ロボットに対する技術革新を発信できるという社会的意義を持つ。

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Published: 2024-01-30  

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