成果報告書詳細
管理番号20100000002419
タイトル*平成21年度中間年報 インテリジェント手術機器研究開発プロジェクト 主要部位対象機器開発
公開日2011/1/8
報告書年度2009 - 2009
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・医療技術開発部
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
脳神経外科手術用インテリジェント手術機器研究開発 (A)
1 リアルタイムセンシング技術
1-1 力触覚計測技術 (国立大学法人名古屋工業大学)
背骨型形状を有する光ファイバを用いた力センサを構築し、複数の軸力を測定可能な、3-2 多関節内視鏡統合処置具にて開発する先端手術ツールと同等の形状を有するセンサプローブを試作し、特性評価実験を行った。実験結果より、FBG光ファイバの試験実装において、直径10mmの内視鏡へ複数個埋設可能であり、最小計測量は1mN (0.001N)の性能を有していることが明らかになった。また、硬さや表面性状を計測する力触覚センサとして、先端にバルーンと安定荷重機構を有するセンサプローブ、およびシリンジを用いた計測システムを構築・コンパクト化した。豚や猿の脳、培養脳腫瘍細胞塊について実験を行った結果、異なる組織の判別や正常組織と脳腫瘍組織の判別にセンサ出力が有効であることが確認された。さらに、多関節内視鏡統合処置具に実装可能な小型のセンサプローブを試作し、センシング能力を確認した。
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) FY2009 Annual Report
(1-1) Force/tactile sensing technology: In the development of force sensor using FBG, a prototype, which can be implemented on a surgical robot was built. The prototype showed effectiveness on the evaluation tests. In the development of a tactile sensor using fluid, a prototype with a balloon was assembled. The prototype can perform real-time sensing on stiffness and surface condition. It showed a potential for brain tumor diagnosis through the measurements on the porcine ex-vivo brain. Furthermore, a sensor probe which can be implemented on a surgical robot was developed.
(2-1) Real-time information integration and display technology: To create the endoscopic video image overlaid on the virtual image based on the pre/intra operated images with the high positional precision, we verified that the overlaid error was less than 2mm using 3D Slicer based video overlay module.
(2-2-2) Core control software for surgical robots: A design of the open core control software for surgical robots with high connectivity was developed and tested in several operating systems.
(3-1) Surgical cockpit: The prototype evaluation was conducted and its effectiveness was shown in a quantitative manner. The 2nd prototype built with a compact multi-DOF structure also showed the effectiveness of its mechanism..
(3-2) Multi-DOF endoscopic surgical instrument: The prototypes of the integrated neurosurgical robots were developed. The evaluation test on the phantom revealed a feasibility of the concept of the system.
(3-3-1) We developed some intelligent integrated sensor-device with one degree of freedom. We confirmed that it had spatial resolution higher than 1.0 μm, and force resolution higher than 0.01 N. A thrust-rotary-integrated flexible actuator was also developed. The performance evaluation turned out that a single steel wire type was superior to a stranded wire type in the force transmission characteristics.
(3-3-2) We developed the piezoelectric actuator with rotational and translational motions (TR motor) and a force feedback joystick by spherical ultrasonic motor: The TR motor is a simple and compact actuator with a single stator. A force feedback joystick powered by a spherical ultrasonic motor (SUSM) is developed for surgical assist robots. The device controls the force within the accuracy of 4.3 mN and the rotational direction within the accuracy of 1 deg.
(4) Training technology: A real-time brain surgery simulator was developed and tested with the PHANTOM haptic device. A virtual brain model was built using segmentation result of medical images(MRI) and CAD data of the slave robot used to construct a virtual slave robot. Finally, a prototype training system which two haptic devices were involved with was proposed.
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