Grant-in-Aid for Scientific Research (A)
|Allocation Type||Single-year Grants|
Intelligent mechanics/Mechanical systems
|Research Institution||The University of Tokyo|
MITSUISHI Mamoru The University of Tokyo, Faculty of Engineering, Professor, 大学院・工学系研究科, 教授 (90183110)
WARISAWA Shin'ichi The University of Tokyo, Faculty of Engineering, Associate Professor, 大学院・工学系研究科, 助教授 (20262321)
NAKAJIMA Nobuyuki The University of Tokyo, Faculty of Engineering, Assistant Professor, 大学院・工学系研究科, 助手 (60011178)
SUGITA Naohiko The University of Tokyo, Faculty of Engineering, Assistant Professor, 大学院・工学系研究科, 助手 (70372406)
MORIYA Hideshige Chiba University, Graduate of School of Medicine, Professor, 大学院・医学研究院, 教授 (30092109)
SUZUKI Masahiko Chiba University, Graduate of School of Medicine, Assistant Professor, 大学院・医学研究院, 助手 (10312951)
橋詰 博行 岡山大学, 大学院・医歯学総合研究科, 助教授 (60237922)
藏本 孝一 ナカヤマプロペラ株式会社, メディカル事業部, 部長(研究職)
|Project Period (FY)
2003 – 2005
Completed(Fiscal Year 2005)
|Budget Amount *help
¥46,930,000 (Direct Cost : ¥36,100,000、Indirect Cost : ¥10,830,000)
Fiscal Year 2005 : ¥5,200,000 (Direct Cost : ¥4,000,000、Indirect Cost : ¥1,200,000)
Fiscal Year 2004 : ¥15,730,000 (Direct Cost : ¥12,100,000、Indirect Cost : ¥3,630,000)
Fiscal Year 2003 : ¥26,000,000 (Direct Cost : ¥20,000,000、Indirect Cost : ¥6,000,000)
|Keywords||Robotic Surgery / Medical CAD / CAM / Total Knee Arthroplasty / Registration / Minimally Invasive Surgery / Low X-Ray Radiation Exposure / 3D Position Measurement / Tool Path Generation / CAMシステム / 人工膝関節置換術支援システム / 骨の切削機構 / 形状特徴 / 人口膝関節置換術支援システム / CT画像 / 通信プロトコル|
The acquired results are as follows :
(1)Specification determination of a computer-integrated knee arthroplasty system
Fail-safe mechanism was adopted based on the knowledge from previous studies concerning safety. Methods of information presentation and mechanical designs were introduced to improve the maneuverability
(2)Determination of communication protocol
A communication protocol among modules was determined. In particular, standardization of communication protocol in a networked medical system was also included as a target.
(3)Design and production of a bone cutting robot
The mechanism of the bone cutting robot was determined by considering the space layout of this system, assistants, bed, astral lamp, X-ray equipment in operation room. The structure was determined by considering the rigidity, and d.o.f. The middle part was placed between clean and dirty parts.
A mechanical jig to fix the leg rigidly is required in the system to realize the high precision cutting. In the design, sterilizability and influence to radiography were taken into account.
(5)Development of a preplanning system
A software system to determine the position, size and model of an implant was developed.
(6)Intra-operational interface software for surgeon
The intra-operational interface software was implemented. A surgeon can intervene at any phase of operation and operate it with high flexibility.
(7)Registration and a CAM system
Correlation of preplanning 3D model of bone and intraoperational X-ray image was calculated. The tool path information was sent to robot controller in the system.
(8)Integration of the system and the evaluation
Components mentioned above were integrated as a total system. Evaluation experiments using a cadaver were performed.