| Project/Area Number |
11357011
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| Research Category |
Grant-in-Aid for Scientific Research (A).
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| Allocation Type | Single-year Grants |
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| Section | 展開研究 |
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| Research Field |
General surgery
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| Research Institution | Keio University |
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Principal Investigator |
KITAJIMA Masaki Keio University School of Medicine, Professor, 医学部, 教授 (90112672)
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| Co-Investigator(Kenkyū-buntansha) |
OGAMI Magahiro Keio Universtiy School of Medicine, Assistant Professor, 医学部, 講師 (50146619)
KITAGAWA Yuko Keio University School of Medicine, Instructor, 医学部, 助手 (20204878)
FURUKAWA Toshihara Keio University School of Medicine, Instructor, 医学部, 助手 (60219102)
MORIKAWA Yasuhide Keio University School of Medicine, Assistant Professor, 医学部, 講師 (90124958)
WATANABE Masahiko Keio University School of Medicine, Assistant Professor, 医学部, 講師 (80146604)
徳山 丞 慶應義塾大学, 医学部, 助手 (80296607)
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| Project Period (FY) |
1999 – 2000
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| Project Status |
Completed (Fiscal Year 2000)
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| Budget Amount *help |
¥32,700,000 (Direct Cost: ¥32,700,000)
Fiscal Year 2000: ¥11,500,000 (Direct Cost: ¥11,500,000)
Fiscal Year 1999: ¥21,200,000 (Direct Cost: ¥21,200,000)
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| Keywords | endoscopic surgery / tele-mentoring / tele-surgery / annotation / robotics / master-slave manipulator / PHAN ToM |
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| Research Abstract |
Today advanced tele-communication technology provides us excellent motion images using only 3-ISDN telephone lines. Endoscopic surgery is performed under video image, so it is essentially suitable for tele-communication. We have developed tele-mentoring system of endoscopic surgery collaborated with some institutes of engineering, which consists of video monitor, CODEC for visual communication, remotely controllable camera, specialized mike and AV signal converters. Prices of these tele-communication devices have been reduced year by year.
We developed a technique to illustrate on video image. Just touching on such a panel, both of remote advisory specialists and operating surgeons can freely point out on video image using various types of color lines. Quitting lines is also very easy. This system would much enhance usefulness of surgical tele-mentoring. Using this kind of tele-mentoring system, experienced laparoscopic surgeons at primary operating sites can successfully perform complex procedures by consulting specialists of laparoscopic surgery at the remote sites.
We have also developed a master-slave manipulator. The prototype of our manipulator, has 6 degrees of freedom, and can be controlled very easily. Even by tele-presence fashion, very precise maneuver can be achieved by using this system.
In robotics, tactile sensation transmission is most important and difficult problem to be dissolved. We have succeeded to develop a master-slave manipulator with complete tactile sensation by application of PHANToM system. We can feel surface and elasticity of the object by both fingers. Even a delicate maneuver such as turning the pages, we can do them easily with complete tactile sensation. We can feel by both fingers as if we really touch and turn the papers.
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