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Measurement of Mechanical Characteristics Using Micro Devices with Force Sensing

Research Project

Project/Area Number 19K04308
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionUniversity of Toyama

Principal Investigator

Sasaki Tohru  富山大学, 学術研究部工学系, 教授 (00262501)

Project Period (FY) 2019-04-01 – 2022-03-31
Project Status Completed (Fiscal Year 2021)
Budget Amount *help
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2021: ¥650,000 (Direct Cost: ¥500,000、Indirect Cost: ¥150,000)
Fiscal Year 2020: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2019: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
Keywords手術支援ロボット / 微細作業 / マイクロハンドリング / 精密機械システム / マイクロ鉗子 / 生体計測
Outline of Research at the Start

微細作業において生体を扱うマイクロ鉗子機構を用いて,液圧駆動を利用することで把持力および変位を推定し,生体の機械的特性を計測できるマイクロ鉗子の開発を目的とする.本機構の実現により,取得したデータの解析により機械的特性から病理的因子を抽出することで,機械的特性の変化と病理的変化の因果関係の解明にも繋がり,生体の病理的変化を捉える“触診が可能なマニピュレータシステム”の実用化が望める.

Outline of Final Research Achievements

The medical and bio-engineering fields have been increasingly using information and communication technology.To introduce robots into surgical procedures, data on surgical operations are required.Several studies have tried the creation of data on living tissues for mechanical actions, which makes determining the mechanical characteristics of living tissues vital.Micro force sensors are necessary for various manipulations requiring careful operation. Unfortunately, the measurement accuracy of sensors tends to reduce with the reduction in sensor size.
However, a micro force sensor using a hydraulic-driven micro mechanism can obtain a large output even when it is small. Our system uses Pascal’s principle to measure small forces acting on the end effector. A hydraulic-driven micro device pushes an object and measures the reaction force and its displacement.

Academic Significance and Societal Importance of the Research Achievements

本機構の実現により,鉗子を操作するオペレータへ把持対象の状態や病理的変化を伝えることが可能となり,また取得したデータの解析により機械的特性から病理的因子を抽出することで,機械的特性の変化と病理的変化の因果関係の解明にも繋がる.将来的にはDaVinci等の手術支援用マニピュレータに力覚機能を付加することや,マニピュレータが生体の病理的変化を捉える“触診が可能なマニピュレータシステム”の実用化が望める.

Report

(4 results)
  • 2021 Annual Research Report   Final Research Report ( PDF )
  • 2020 Research-status Report
  • 2019 Research-status Report
  • Research Products

    (20 results)

All 2021 2020 2019 Other

All Int'l Joint Research (7 results) Journal Article (5 results) (of which Int'l Joint Research: 5 results,  Peer Reviewed: 5 results,  Open Access: 2 results) Presentation (6 results) (of which Int'l Joint Research: 1 results,  Invited: 1 results) Remarks (2 results)

  • [Int'l Joint Research] Northwestern University(米国)

    • Related Report
      2021 Annual Research Report
  • [Int'l Joint Research] Indian Institute of Technology Madras(インド)

    • Related Report
      2021 Annual Research Report
  • [Int'l Joint Research] 金属工業研究発展中心,台湾(その他の国・地域)

    • Related Report
      2021 Annual Research Report
  • [Int'l Joint Research] Northwestern University(米国)

    • Related Report
      2020 Research-status Report
  • [Int'l Joint Research] Indian Institute of Technology Madras(インド)

    • Related Report
      2020 Research-status Report
  • [Int'l Joint Research] 金属工業研究発展中心,台湾(その他の国・地域)

    • Related Report
      2020 Research-status Report
  • [Int'l Joint Research] Northwestern University(米国)

    • Related Report
      2019 Research-status Report
  • [Journal Article] Position Sensing for Surgical Robot Using Time-of-Flight Sensor2021

    • Author(s)
      Tohru Sasaki, Kaoru Tachikawa, Atsushi Murakami, Akane Muranaka, Bilal Ahmed Mir, Kenji Terabayashi and Kuniaki Dohda
    • Journal Title

      Proceeding of euspen’s 21st International Conference & Exhibition

      Volume: 無

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Hydraulic Micro Device with Force Sensing for Measurement of Mechanical Characteristics2020

    • Author(s)
      Sasaki Tohru、Fujiwara Yudai、Tachikawa Kaoru、Terabayashi Kenji、Dohda Kuniaki
    • Journal Title

      International Journal of Automation Technology

      Volume: 14 Issue: 4 Pages: 625-632

    • DOI

      10.20965/ijat.2020.p0625

    • NAID

      130007869744

    • ISSN
      1881-7629, 1883-8022
    • Year and Date
      2020-07-05
    • Related Report
      2020 Research-status Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Micro Device with Force Sensing for Manipulate System of Palpation2020

    • Author(s)
      Tohru Sasaki, Kaoru Tachikawa, Atsushi Murakami, Bilal Ahmed Mir, Yudai Fujiwara, Kenji Terabayashi Mitsuru JiIndai and Kuniaki Dohda
    • Journal Title

      Proceeding of euspen’s 20th International Conference & Exhibition

      Volume: 無

    • Related Report
      2020 Research-status Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Measurement of Mechanical Characteristics Using Micro Devices with Force Sensing2019

    • Author(s)
      Tohru Sasaki, Yudai Fujiwara, Kaoru Tachikawa. Takuya Wakashima, Kenji Terabayashi, Mitsuru Jindai, Kuniaki Dohda
    • Journal Title

      Proceeding of EUSPEN 19th International Conference & Exhibition

      Volume: 無

    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] A Proposal of Mechanical Characteristic Measurement Method Using Micro Forceps with Force Sensing - Evaluation Using Simulation -2019

    • Author(s)
      Yudai Fujiwara, Tohru Sasaki, Kaoru Tachikawa, Atsushi Murakami, Hiromu Niwa, Kenji Terabayashi and Kuniaki Dohda
    • Journal Title

      Proceeding of 3rd World Congress on Micro and Nano Manufacturing

      Volume: 無

    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Int'l Joint Research
  • [Presentation] Metal Bellows Structure for Micro Device Sensing2021

    • Author(s)
      Bilal Ahmed Mir, Tohru Sasaki, Atsushi Murakami, Akane Muranaka, Shinichiro Sugawara, Kenji Terabayashi and Kuniaki Dohda
    • Organizer
      4th World Congress on Micro and Nano Manufacturing
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 手術支援ロボットのための触診可能なマイクロ鉗子の開発-把持対象物の変位計測方法の検討-2021

    • Author(s)
      村中 茜,笹木 亮,舘川 郁,村上 敦, 寺林 賢司,桐 昭弘
    • Organizer
      日本機械学会ロボティクス・メカトロニクス講演会2021
    • Related Report
      2021 Annual Research Report
  • [Presentation] 液圧駆動型デバイスによる生体の機械的特性測定-粘弾性モデル化に関する検討-2021

    • Author(s)
      村上敦,笹木亮,舘川郁,村中茜,寺林賢司,堂田邦明
    • Organizer
      2021年精密工学会春季大会講演会
    • Related Report
      2020 Research-status Report
  • [Presentation] 手術支援ロボットのための生体検知システムの開発2019

    • Author(s)
      舘川郁,藤原裕大,笹木亮,寺林賢司
    • Organizer
      日本設計工学会北陸支部2019年度北陸支部研究発表講演会
    • Related Report
      2019 Research-status Report
  • [Presentation] センシング機能を有する手術支援用マイクロ鉗子の開発2019

    • Author(s)
      笹木亮
    • Organizer
      富山大学PME養成プログラム第6回(2019年度)公開シンポジウム
    • Related Report
      2019 Research-status Report
    • Invited
  • [Presentation] センシング機能を有するマイクロ鉗子による生体の機械的特性計測2019

    • Author(s)
      藤原裕大,舘川郁,丹羽浩武,村上敦
    • Organizer
      富山大学PME養成プログラム・生命融合教育部共催シンポジウム ポスター展示
    • Related Report
      2019 Research-status Report
  • [Remarks] 富山大学 機械情報計測講座HP MIRDC訪問 2019.12.2

    • URL

      http://enghp.eng.u-toyama.ac.jp/labs/me08/2019/12/23/389/

    • Related Report
      2021 Annual Research Report 2020 Research-status Report
  • [Remarks] 富山大学工学部工学科機械工学コース機械情報計測講座

    • URL

      http://enghp.eng.u-toyama.ac.jp/labs/me08/

    • Related Report
      2019 Research-status Report

URL: 

Published: 2019-04-18   Modified: 2023-01-30  

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