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2016 Fiscal Year Final Research Report

development of a surgical robot to support pediatric minimally invasive surgery in narrow space usi ng an augmented reality image-guided technique

Research Project

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Project/Area Number 25293360
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypePartial Multi-year Fund
Section一般
Research Field Pediatric surgery
Research InstitutionKagoshima University (2016)
Kyushu University (2013-2015)

Principal Investigator

Ieiri Satoshi  鹿児島大学, 医歯学域医学系, 教授 (00363359)

Co-Investigator(Kenkyū-buntansha) 宗崎 良太  九州大学, 大学病院, 助教 (10403990)
神保 教広  九州大学, 大学病院, 医員 (10650559)
田口 智章  九州大学, 医学(系)研究科(研究院), 教授 (20197247)
小幡 聡  九州大学, 医学(系)研究科(研究院), 共同研究員 (30710975)
植村 宗則  九州大学, 学内共同利用施設等, 研究員 (50636157)
橋爪 誠  九州大学, 医学(系)研究科(研究院), 教授 (90198664)
加治 建  鹿児島大学, 医歯学域医学系, 准教授 (50315420)
向井 基  鹿児島大学, 医歯学域医学部・歯学部附属病院, 講師 (80468024)
中目 和彦  鹿児島大学, 医歯学域医学部・歯学部附属病院, 助教 (70448570)
川野 孝文  鹿児島大学, 医歯学域医学部・歯学部附属病院, 助教 (40457651)
山田 和歌  鹿児島大学, 医歯学域医学部・歯学部附属病院, 特任助教 (20457659)
山田 耕嗣  鹿児島大学, 医歯学域医学部・歯学部附属病院, 特任助教 (80528042)
大平 猛  九州大学, 学内共同利用施設等, 研究員 (00275695)
富川 盛雅  九州大学, 大学病院, その他 (60325454)
Project Period (FY) 2013-04-01 – 2017-03-31
Keywords小切開手術 / 内視鏡外科手術 / 手術ロボット / マスタ・スレーブ / 画像誘導手術 / シミュレータ / Augmented Reality / 小児内視鏡外科
Outline of Final Research Achievements

We developed a master-slave robot system allowing accurate and intuitive suturing manipulation within a restricted narrow space. We then tested movement accuracy of the surgical robot in suturing using a latex membrane as the suturing target. The experiment tested whether the surgical robot could successfully suture an esophagus phantom in narrow space. Finally, we performed suturing in a realistic in vivo surgical environment simulated using pig intestine. In terms of movement accuracy, average needle insertion error was 0.35 mm (standard deviation, 0.17 mm) and surgeons could adjust needle direction using the left and right tool manipulators. Suturing of the phantom was successfully performed by all 3 surgeons. Finally, surgeons were able to operate the robot to grasp and lift the pig intestine in vivo, perform displacement, grip and adjust the direction of the suture needle, and suture the intestine.
The master-slave robot allowed accurate and intuitive work in narrow spaces.

Free Research Field

小児外科

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Published: 2018-03-22  

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