Grant-in-Aid for Scientific Research (B).
Biomedical engineering/Biological material science
|Research Institution||Kobe University|
MASAI Eiichi Kobe University. School of Medicine, Associate professor, 医学部, 助教授 (10238892)
山下 長司郎 神戸大学, 医学部, 助教授 (00144569)
村上 昌雄 天理よろず相談所病院, 放射線部, 副部長
片山 修 神戸市看護大学, 看護学部, 助手 (20295778)
井上 雄紀 大阪工業大学, 情報科学部, 講師 (70243334)
北村 新三 神戸大学, 工学部, 教授 (80029131)
KATAYAMA Osamu Kobe City College of Nursing. Faculty of Nursing, Assistant professor
INOUE Yuuki Osaka Institute of Technology. Faculty of Information Science, Assistant professor
KITAMURA Shinzou Kobe University. School of Technology, Professor
|Project Fiscal Year
1998 – 2000
Completed(Fiscal Year 2000)
|Budget Amount *help
¥7,900,000 (Direct Cost : ¥7,900,000)
Fiscal Year 2000 : ¥1,000,000 (Direct Cost : ¥1,000,000)
Fiscal Year 1999 : ¥1,900,000 (Direct Cost : ¥1,900,000)
Fiscal Year 1998 : ¥5,000,000 (Direct Cost : ¥5,000,000)
|Keywords||low invasion operation / operation robot / three-dimensional display / helical scan computed tomograph / minute radiation source / PEI / radio scalpel / 低侵襲手術 / 手術ロボット / 3D表示 / ヘリカルスキャンCT / 微小放射線源 / ラジオメス / CT / CT内視鏡 / ロボット / 3D|
1) The outline of this study.
The purpose of this study is to develop the equipment which accurately punctures the needle at the optional position of the human organ. By stabbing the needle at the tip of which minute radiation source, radio scalpels and others are installed, or by guiding scaple and devices for anastomosis to the inside of human body through the bore of the pipe which is stabbed instead of the needle, the machine enables the smallest invasive operation.
2) The result of making in this study.
Manipulator control program and navigator program were made.
3) Manipulator control program
Manipulator PA-10 (made by Mitsubishi Heavy Industries) carries out actual centesis and operation. The control was based on the inverse kinematics which became a standard of the control method of the manipulator. For the safety, the control was made so that the elbow part of the manipulator may become always a convex for the object. By this, the elbow does not approach the object in advance than the tip.
4) Navigator program
The navigator contains the program which displays the computed tomograph image three-dimensional and the man-machine interface program which the operation person uses in order to instruct the manipulator on the centesis direction. 3D image is constructed and is displayed from image datum of DICOM type output from the helical scan computed tomograph equipment. Operation person can freely rotate and move the displayed 3D image. By choosing a CT value, and carrying out the filter processing, it is possible to selectively display only the organ of the purpose. Even if separated from the whole program, this program is sufficiently useful as three-dimensional display program of the computed tomograph image.