成果報告書詳細
管理番号20110000001526
タイトル*平成22年度中間年報 「がん超早期診断・治療機器の総合研究開発/超低侵襲治療機器システムの研究開発/内視鏡下手術支援システムの研究開発」(オリンパス株式会社)
公開日2011/11/10
報告書年度2010 - 2010
委託先名オリンパス株式会社
プロジェクト番号P08006
部署名バイオテクノロジー・医療技術部
和文要約和文要約等以下本編抜粋:1. 研究開発の内容及び成果等
(b~1)リアルタイムセンシング技術
(b~1~1)超音波計測技術
in-vivo 実験やin-vitro 実験を通して術中超音波計測システムの性能改善をおこなった。さらにマニピュレータが保持・操作しやすいように、マニピュレータ把持部インターフェースの形状最適化を行った。
(b~2)情報処理技術
(b~2~2)胸部外科用ロボットソフトウェア実装
胸部外科用リアルタイム情報統合・提示システムと連携可能な多節・半硬性機構を有するマニピュレータシステムの制御用ソフトウェアを開発した。具体的には、モデルベース開発(MBD)手法にのっとり、手術現場でのソフトウェア運用時のユースケースを抽出し、ユースケース仕様書にまとめ、物理モデル、論理モデルなどを構築し、概念設計を行った。これらを基に詳細設計を行い、基盤ソフトウェアを構築
した。
英文要約Title: Research and development on endoscopic surgical system (FY2008-FY2011) FY2010 Annual Report
Our final goal is to achieve further minimally invasive surgery in thoracic surgery.
As a means to achieve this goal, we have developed an intelligent robotic surgery system. The system consists of four categories; real-time sensing, information, manipulation and training technology. The follows are results of this year.
Real-time sensing technology;
Based on in-vitro and in-vivo experiments, we were improving the performance of intraoperative ultrasound measurement system for coronary artery in a beating heart.
We optimized the shape of the manipulator gripper interface, as manipulator holds an ultrasound probe easily.
Information technology;
We developed a control software of multi-arm manipulators with multi-joints.
In accordance with the model-based development (MBD) methodology, we extracted use cases during thoracic surgery, showed use case specifications, physical model diagram and logic model diagram, and designed a concept model. Based on the model, we built a common base software to control the manipulator system.
Manipulation technology;
We have examined the application of the manipulator was developed last year for lung cancer surgery. As a result, we found follows were necessary.
-A blunt dissection by pushing jaws of surgical tools.
-Flexural geometry for a blunt dissection at jaws of surgical tools.
-The length of the jaw is 10mm or more to grip a thread behind the blood vessels.
In order to achieve the above, we designed and fabricated a tool mechanism for outputting power even when pushing the jaw. We have confirmed that the dissection of fat around blood vessels by using this mechanism.
To realize the approach to the backside, we designed the additional joint for last year's prototype manipulators. We have fabricated new surgical tools with four degrees of freedom (open, roll, pitch, yaw). Combined with the positioning manipulator, these are redundant manipulator mechanisms. We have devised an algorithm that solves real-time inverse kinematics and have implemented it.
Training technology;
We have extended last year's pectoral models to simulate the lung area on both the simulators; training models and realistic models.
We developed the master-slave system using these technologies, and confirmed that we can operate the bypass anastomosis by in-vitro experiment.
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