Development of Microsurgery Support System with Micro-manipulator

显微手术支持系统的研制

• 批准号: 63890007
• 负责人: DOHI Takeyoshi
• 金额: $ 8.96万
• 依托单位: Faculty of Engineering, University of Tokyo
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Developmental Scientific Research (B).
• 财政年份: 1988
• 资助国家: 日本
• 起止时间: 1988 至 1990
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-63890007/
• 关键词: Micro Surgery; Surgical Operation; Manipulator; Excimer laser; Puncture; Laser Scanning; 角膜屈析矯正術; 術野計測; 角膜屈折矯正術; マイクロサージェリ; ロボット; マニプレータ; レーザスキャナ; 体表面計測

In this research, corneal surgery and brain surgery are emphasized to develop microsurgery support system which are less invasive, less contact, more accurate and with higher repeatability in positioning than hand skills. Any damage to the peripheral tissues are more crucial than the other surgery.Non-contact incision using excimer laser is more suitable for the corneal surgery to obtain a clear-cut profile. Excimer laser is currently tested for corneal surgery on clinical basis, but problems of positioning of the cornea and its three dimensional surface measurement for curvature still remain unsolved. Thus, we have developed a prototype of laser scanning system which enables us to get arbitrary incision lines or ellipses and high accuracy of positioning of the beam (less than 100 micron) after three dimensional surface measurement of the cornea. Designation of an incision is easily doneon a monitor screen which superposes the measured surface on the video image of the cornea. Irradiation conditions of excimer laser for incision were obtained through a number of experiments with enucleated fresh porcine corneas. As for brain surgery, we have developed a prototype of manipulator system for active navigation of a cannula. The system is hooked up to a system for 3 dimensional reconstruction of CT images, which was developed in the University of Tokyo. The manipulator features 6 degrees of freedom ; two of which compose a gimbal mechanism, three of which are three orthogonal axes, the last one for cannulation. Targets such as tumor and edema are located with the three dimensional reconstruction system and the coordinates are fed into a PC which controls the manipulator. To correspond CT model coordinates to the coordinates on the patient, at least three markers are imaged in CT slices, which are pointed by the manipulator for the calibration.

本研究以角膜手术和脑外科手术为重点，开发一种微创、接触少、定位准确、重复性高的显微手术支撑系统。角膜周边组织的损伤比其他手术更为严重，准分子激光非接触切口更适合于角膜手术，可获得轮廓清晰的角膜。目前，准分子激光在临床基础上被测试用于角膜手术，但是角膜的定位及其曲率的三维表面测量的问题仍然没有解决。因此，我们已经开发了一个原型的激光扫描系统，使我们能够得到任意的切口线或椭圆和高精度的定位光束（小于100微米）后，三维表面测量的角膜。切口的指定很容易在监视器屏幕上完成，监视器屏幕将测量表面叠加在角膜的视频图像上。本文通过对新鲜猪角膜的实验，获得了准分子激光切割角膜的照射条件。对于脑外科手术，我们已经开发了一个原型的机械手系统的主动导航套管。该系统连接到一个系统的CT图像的三维重建，这是在东京大学开发的。该操纵器具有6个自由度;其中两个自由度构成万向节机构，其中三个自由度是三个正交轴，最后一个自由度用于插管。利用三维重建系统定位肿瘤和水肿等目标，并将坐标送入控制操纵器的PC。为了使CT模型坐标与患者上的坐标相对应，在CT切片中成像至少三个标记，其由操纵器指向以用于校准。

项目成果

坂本 映,土肥健純他: "マイクロサ-ジェリ支援用レ-ザスキャナシステムの開発" LST学会誌. 3. 8-13 (1990)

Akira Sakamoto、Kensumi Doi 等人：“支持显微外科手术的激光扫描仪系统的开发”LST 协会杂志 3. 8-13 (1990)。

垣本映、土肥健純、堀内孝、太田裕治、都築正和: "「マイクロサ-ジェリ支援システム(第1報)」" 第28回日本ME学会大会論文集. 176 (1989)

Akira Kakimoto、Kenzumi Doi、Takashi Horiuchi、Yuji Ota、Masakazu Tsuzuki：“显微外科支持系统（第一份报告）”第 28 届日本 ME 学会会议记录 176（1989）。

垣本映、土肥健純、堀内孝、太田裕治、都築正和: "「マイクロサ-ジェリ支援レ-ザスキャニングシステムの開発」" 1990年度精密工学会春季大会学術講演会予稿集. (1990)

Akira Kakimoto、Kenzumi Doi、Takashi Horiuchi、Yuji Ota、Masakazu Tsuzuki：“显微外科手术支持的激光扫描系统的开发”日本精密工程学会 1990 年春季会议论文集（1990 年）。

坂本 映,土肥健純他: "マイクロサ-ジェリ支援レ-ザスキャニングシステムの開発" ME学会誌. 28. 31-39 (1990)

Akira Sakamoto、Kensumi Doi 等人：“显微外科辅助激光扫描系统的开发”ME 学会杂志 28. 31-39 (1990)。

宮田和典、石田耕一、沢充、増田寛次郎、垣本映、堀井章弘、土肥健純、伊藤弘、刑部安弘: "「レ-ザスキャニングシステムを用いたエキシマレ-ザによる角膜切開ーDiamond knife vs Arf vs KrFー」" 第14回角膜カンファレンス、第6回日本角膜移植学会抄録集. 2 (1990)

Kazunori Miyata、Koichi Ishida、Mitsuru Sawa、Kanjiro Masuda、Akira Kakimoto、Akihiro Horii、Kenzumi Doi、Hiroshi Ito、Yasuhiro Gyobe：“使用激光扫描系统进行准分子激光角膜切口 - 钻石刀 vs Arf vs “KrF-”第 14 届角膜会议，第 6 届日本角膜移植学会摘要 2（1990 年）。