2011 Fiscal Year Final Research Report
High functionality assemblable hand for laparoscopic surgery with sensor integration
| Project/Area Number |
21300186
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Medical systems
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| Research Institution | Tokyo Institute of Technology |
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Principal Investigator |
OMATA Toru 東京工業大学, 大学院・総合理工学研究科, 教授 (10262312)
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| Co-Investigator(Kenkyū-buntansha) |
TAKAYAMA Toshio 東京工業大学, 大学院・総合理工学研究科, 講師 (80376954)
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| Co-Investigator(Renkei-kenkyūsha) |
KOJIMA Kazuyuki 東京医科歯科大学, 医学部・附属病院, 特任教授 (60313243)
TANAKA Naofumi 東京医科歯科大学, 医学部・附属病院, 講師 (90280982)
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| Project Period (FY) |
2009 – 2011
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| Keywords | 医用ロボット / ロボットハンド |
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| Research Abstract |
We had proposed mechanical hand that can be assembled inside the abdominal cavity. The purpose of this project is to enhance the functionality of the hand with sensor integration. We have developed an assemblable hand with an ultrasound probe that enables observation of the inside of an internal organ while grasping it. The ultrasound sensing also enables the measurement of the position and orientation of the opposite finger. We have also proposed sensing methods using air flow and water pressure for simple and inexpensive contact force sensing.
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