成果報告書詳細
管理番号20110000001530
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」(国立大学法人名古屋工業大学)
公開日2011/11/23
報告書年度2010 - 2010
委託先名国立大学法人名古屋工業大学
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
A.脳神経外科手術用インテリジェント手術機器研究開発
(1)リアルタイムセンシング技術
(1~1)FBG力覚センサ (国立大学法人名古屋工業大学)
より安定な測定,またセンサの耐久性を高めるため,内視鏡統合処置具へ装着可能なチューブ状のFBG力覚センサを開発した.試作機は小型であり,内部にFBGを複数本埋設可能である.また,構造の大きさは装着する対象物に応じて変更可能である.今回のセンサは,FBGは内部に埋設されたいったい構造であり,より手術環境に適したセンサ構造である.本センサは3本のFBGを埋設することにより,2方向のチューブに対する曲げ,また長軸方向への圧力が測定可能である.評価実験の一部(曲げと出力の関係)を下図に示す.これらの実験結果より開発したセンサは想定する3軸について出力の直線性を有し,また温度変化についてはハイパスフィルタを用いることで外乱成分としてキャンセル可能であることを確認した.以上のことより,目標を達成した.
英文要約Title: Research and Development Project on Intelligent Surgical Instruments (Nagoya Institute of Technology, Keio University, Tokyo University of Agriculture and Technology) (FY2008-FY2011) FY2010 Annual Report
(1-1) FBG force sensor: A tube shape force sensor using optical fiber, that can be implemented on the surgical robot is developed. The sensor realizes a precise 3-DOF force measurement using multiple optical fibers.
(2-1-1) Robot console: To remove the remained tumor, the image-guided surgery system with the high positional precision is important. For the robot operator who is the surgeon, as the module of 3D Slicer, the robot console was developed which can display sensor data overlaid on the endoscopic image obtained from the prototype of neurosurgical robot.
(2-1-3) Mixer: The main purpose of the mixer is to mix each tool position and sensor data and send the data by using OpenIGTLink to the robot console developed. As a result of it, these data were displayed on the robot console as image-guided objects. The program was developed and the delay of the network communication was evaluated.
(2-2-2) Core control software for surgical robots: As the outcome of this research topic, a design of the open core control software for surgical robots was developed and tested on several operating systems. In this year, a design review on the data transaction was conducted and the software library was improved. We also improved the real-time algorithm for data transfer.
(3-1) Surgical cockpit: A surgical cockpit for brain tumor removal robot system that is specialized for medical needs was developed. This system is composed of a dual arm type manipulator, a monitor for image based navigation, 3D viewer for endoscopic image, a foot switch, a control box, a computer.
(3-1-1) Master device actuator: We have developed a force feedback joystick that powered by a spherical ultrasonic motor (SUSM) and translational and rotational piezoelectric actuator (TR motor) for a surgical assist robot.
(3-2-3) Intelligent suction tool: An intelligent suction tube which consists of an electronically controlled regulator, a pressure sensor, and a bipolar cautery knife was developed to remove the tumor precisely. This suction tube had two functions: a sensing function by using the regulator and the pressure sensor, and a removal function by using the regulator and the bipolar cautery knife.
(3-2-5) Force feedback forceps: In this academic year, two kinds of 1-DOF haptic forcipes, which have the function of position/posture control of end-effectors, were developed. Then, the performance evaluation on these devices was conducted. From the experimental results, it was confirmed that the developed devices have high spatial resolution (1.0 μm) and high force resolution (0.01N). In addition, the transform theory for haptic data was applied to above devices. This theory makes it possible to process haptic data in real-time.
(4-1) Training manual/(4-2) Training system
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