Application of Flexible Micro-Actuator to Medical Precision-Work

柔性微执行器在医疗精密加工中的应用

• 批准号: 05805025
• 负责人: TANAKA Hirohisa
• 金额: $ 0.96万
• 依托单位: Yokohama National University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for General Scientific Research (C)
• 财政年份: 1993
• 资助国家: 日本
• 起止时间: 1993 至 1994
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-05805025/
• 关键词: Micro-machine,; Medical operation,; Manipulator,; Fiberreinforced rubber,; Endoscope,; Anesthesia,; Insertion,; Optical fiber

Applying a robotic manipulator to a medical operation, it is important for an actuator to have adaptability to organism and to be disposal for being free from infection. As general anesthesia, inhalation method is appropriate for a patient to stop the consciousness, pain and mobility by the gas-control of absorption and excretion through lung. The issue for this work is how to insert the gas-pipe into the bronchus without injuring the mucous membrane. Usually the operator manages to insert the hard endoscope to the lung through the epiglottis and glottis receiving the feeling of reaction force from the soft membrane. The endoscope is sometimes difficult to be applied to fat adults and children. The research started to study the instrument, gas, tubes and operation-work in the hospital, which presents an idea to make a new flexible actuator, called FMA,with hollow-sensing mechanism.Firstly a small size FMA of 5mm in diameter and 50mm in length with three internal chambers for 3 degrees of freedom is made. It has also two optical fibers of 0.2mm in diameter in the middle of FMA for sensing the hollow of the bronchus. The working principle is to control the attitude angle of the FMA by pneumatic pressure which is controlled by a combination of 3-port switching-valve demanded by the optical sensing on/off signal. The FMA bends 90 degrees at 0.4MPa pressure within 0.4s. The performance is evaluated from the operating time by using a newly designed plastic-model of two-dimensional trachea and pharynx with glottis. The working time is shorten from 110s to 34s compared to conventional operation by stylus.

将机器人操作器应用于医疗手术中，重要的是致动器具有对生物体的适应性并被处理以免于感染。吸入法与全身麻醉一样，通过控制气体经肺的吸收和排泄，使病人停止意识、疼痛和活动。如何将气管插入支气管而不损伤粘膜是这项工作的问题。通常，操作者设法通过会厌和声门将硬内窥镜插入肺部，从软膜接收反作用力的感觉。内窥镜有时难以应用于肥胖的成人和儿童。本研究从医院的仪器、气体、管道和手术操作等方面入手，提出了一种新型的柔性驱动器--中空传感机构柔性驱动器的设计思路：首先，设计了一个直径5 mm、长度50 mm、具有三个内腔、三个自由度的柔性驱动器。在FMA的中间还有两根直径为0.2mm的光纤，用于感测支气管的中空。其工作原理是通过气动压力控制FMA的姿态角，该气动压力由光学传感开/关信号所需的三端口开关阀组合控制。FMA在0.4MPa的压力下在0.4s内弯曲90度。通过使用新设计的二维气管和咽喉与声门的塑料模型，从操作时间来评价性能。与传统的触针操作相比，工作时间从110 s缩短到34 s。

项目成果

Tanaka, H.: "Applying Flexible Microactuator to Quadruped Walking Robot" JSME,Robotics Mechatronics. No.930-40. 328-331 (1993)

Tanaka, H.：“将柔性微执行器应用于四足行走机器人”JSME，机器人机电一体化。

Tanaka, H.: "Applying Flexible Microactuator to Anesthesia Operation" Japan Hydraulics and Pneumatics, Autumn Issue. (in Japanese). 113-116 (1994)

Tanaka, H.：“将柔性微执行器应用于麻醉手术”日本液压与气动，秋季号。

Suzumori,K: "Applying Flexible Microactuator to Pipeline Inspection Robots" Trans. of the IMACS/SICE Symposium, North‐Holland. 515-520 (1993)

Suzumori, K：“将柔性微执行器应用于管道检查机器人”，IMACS/SICE 研讨会，北荷兰，515-520（1993 年）。

鈴森康一,田中裕久: "フレキシブル・マイクロアクチュエータを用いた歩行ロボット" 日本機械学会 ロボティクス・メカトロニクス講演論文集. No,930-40. 328-331 (1993)

Koichi Suzumori、Hirohisa Tanaka：“使用柔性微执行器的行走机器人”日本机械工程师机器人与机电一体化协会会议记录第 930-40 号（1993 年）。

田中裕久,鈴森康一: "フレキシブルマイクロアクチュエータを用いた歩行ロボット" 日本機械学会ロボティクス・メカトロニクス講演論文集. No.930-40. 328-331 (1993)

Hirohisa Tanaka、Koichi Suzumori：“使用柔性微执行器的行走机器人”日本机械工程师学会机器人和机电一体化会议论文集第 930-40 号（1993 年）。