Joint study on the masterslave robot for prostate operations

前列腺手术主从机器人联合研究

• 批准号: 07045056
• 负责人: FUNAKUBO Hiroyasu
• 金额: $ 2.82万
• 依托单位: Shibaura Institute of Technology
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for international Scientific Research
• 财政年份: 1995
• 资助国家: 日本
• 起止时间: 1995 至 1996
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/grant/KAKENHI-PROJECT-07045056/
• 关键词: Prostate; TUR-P; Masterslave robot; Master robot; Slave robot; Endscope; Cutting tool; Micro force sensor; Optical sensor; 粘弾性測定

Shibaura Institute of Technology and Royal Institute of Technology went with "Joint study on the masterslave robot for prostate operations" of this study by a joint study. We discribe concrete study result to the following.This robot consists of master robot doing remote control and slave robot operated on.1. Master robot did it with a joystick by can operate a doctor easily. Master robot established the trajectory control of slave robot with master arm of 1 dgree of freedom.2. Slave robot did an operating table with the multijoint manupulators which had 7 dgrees of freedom by establishing in near. We installed torque sensor to robot arm point in order to detect force and established fundamental technology to control force feedback to master robot.3. We produced a cutting tool of 2 degrees of freedom that combined endscope with a cutting tool experimentally in order to cut the insidie of a prostate. We were possible by search of force to be added to a cutting tool.4. We established fundamental technology to measure distance from size of agenda changing to operation of three dimensions of coordinates we changed endscope in front and back.5. We established fundamental technology of method to control slave robot of 7 degrees of freedom with masterslave of 1 degree of freedom.6. We established fundamental technology of search method of force that used optical fiber sensor.The fundamental development of this study was finished. We are to promote development by a further international joint study in future.

芝浦工业大学和皇家工业大学通过联合研究与本研究的“前列腺手术主从机器人联合研究”一起进行。具体研究结果如下：该机器人由遥控的主机器人和操作的从机器人组成.主机器人做了它与操纵杆可以操作医生很容易。主机器人建立了主臂为1自由度的从机器人的轨迹控制.从机器人通过在近端建立具有7个自由度的多关节操作器，构成了一个手术台。在机器人手臂末端安装力矩传感器，实现力的检测，并建立了力反馈到主机器人控制的基础技术.我们制作了一个2自由度的切割工具，将内窥镜与切割工具结合起来，实验性地切割前列腺内部。我们有可能通过搜索的力量被添加到一个切割工具。4.建立了测量距离的基本技术，从议程变化的大小到三维坐标的操作，前后变换了内窥镜.建立了以1自由度主从控制7自由度从机方法的基本技术.建立了利用光纤传感器进行力的搜索方法的基础技术，完成了本研究的基础性开发。我们将在未来通过进一步的国际联合研究促进发展。

项目成果

米田隆志他: "前立腺肥大症手術のためのマスタースレーブシステムの開発" 第14回日本ロボット学会学術講演会予稿集. 2. 683-684 (1996)

Takashi Yoneda 等：“良性前列腺增生手术的主从系统的开发”日本机器人学会第 14 届年会论文集 2. 683-684 (1996)。

米田隆志、船久保煕康他: "前立腺肥大症手術のためのマスタースレーブシステムの開発" ロボッティクス・メカトロニクス講演会97論文集. (1997)

Takashi Yoneda、Hiroyasu Funakubo 等人：“良性前列腺增生手术的主从系统的开发”机器人和机电一体化会议 97 论文集（1997 年）。

T.Komeda, H.Funakubo et al.: "Development of masterslave system for TUR-P" JSME Annual conference on robotics and mechatronics 96. 683-684 (1996)

T.Komeda、H.Funakubo 等人：“TUR-P 主从系统的开发” JSME 机器人和机电一体化年会 96. 683-684 (1996)

米田隆志、船久保煕康他: "前立腺肥大症手術のためのマスタースレーブシステムの開発" 第14回日本ロボット学会学術講演会予稿集. 2. 683-684 (1996)

Takashi Yoneda、Hiroyasu Funakubo 等：“良性前列腺增生手术的主从系统的开发”日本机器人学会第 14 届年会论文集 2. 683-684 (1996)。

C.During, T.Komeda, H.Funakubo et al.: "An inexpensive light source and detector module for fiber-optic measurements" Measurement of science technology. 8. 209-212 (1997)

C.During、T.Komeda、H.Funakubo 等人：“用于光纤测量的廉价光源和探测器模块”科学技术测量。