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外科医の意志通りに動くマイクロサージェリーハンドの開発

开发出可根据外科医生意愿移动的显微外科手术手

基本信息

批准号：
07555400
负责人：
HATAMURA Yotaro
金额：
$ 2.82万
依托单位：
The University of Tokyo
依托单位国家：
日本
项目类别：
Grant-in-Aid for Scientific Research (A)
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-07555400/
关键词：
Sugery Bone Cutting Force Sensor Image Tracking 骨掘削

项目摘要

To assist a surgeon who can't control his hands in micro-force operation, a new "micro surgery hand" was designed, fabricated and evaluated. It is composed of four elements : force control mechanism, microtool, multi-jointed arm and image driven system. It measures a large operting force using a strain gauge typed force sensor, e.g. 1N,which an operator wants to bring into the micro tool. Next ot treats a micro working force, e.g. 10mN,using a piezo typed force sensor and a piezo actuator, which is smaller, proportional to the operating force. Practically, it works the task with less than 40 msec in delay time. As a micro tool, a diamond cutting tool with 45 degrees of blade angle newly fabricated. Conventional stainless steel tools were so dull that they were used for tapping or scraping, but not cutting. The diamond tool could cut a bone like a planer cutting. However, it was difficult to cut the bone like a chisel cutting because the bone looks wetter, more deformable than metals or wood. The motion of the tool was real-timely measured with a 1mm resolution by image driven system. But the tool totally has a low rigidity because the multi-jointed arm has a low rigidity, e.g. 1N/mm : the piezo actuator can't make the force because it expands only 50 microns in maximum. The micro surgery tool can works as designed, but requires some new elements in future : an actuator which has a larger expansion, e.g. 10mm, or a micro tool for a chisel cutting.

为了帮助不能控制双手的外科医生进行微力手术，设计、制作并评估了一种新型的“微手术手”。它由力控制机构、微工具、多关节臂和图像驱动系统四部分组成。它使用应变计式力传感器测量大的工作力，例如1N，操作人员希望将其带入微型工具。接下来，使用压电式力传感器和压电致动器处理微工作力，例如10mN，压电致动器更小，与操作力成正比。实际上，它可以在不到40毫秒的延迟时间内完成任务。作为一种微型刀具，新制造了一种45度刃角金刚石刀具。传统的不锈钢工具太钝了，只能用于敲打或刮擦，而不能用于切割。金刚石工具可以像刨床一样切割骨头。然而，很难像凿子一样切割骨头，因为骨头看起来更湿，比金属或木头更容易变形。通过图像驱动系统实时测量刀具运动，分辨率为1mm。但由于多关节臂的刚度较低，例如1N/mm，因此该工具整体刚度较低；压电致动器最大只能膨胀50微米，无法产生力。微型手术工具可以按照设计工作，但未来需要一些新的元素：具有更大扩展的执行器，例如10mm，或者用于凿子切割的微型工具。