STUDY ON ROBOTICS THAT SUPPORTS LAPAROSCOPIC SURGERY

支持腹腔镜手术的机器人研究

• 批准号: 07555399
• 负责人: NAKAMURA Yoshihiko
• 金额: $ 1.47万
• 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-07555399/
• 关键词: Laparoscopic surgery; Robots; Endoscopic Surgery; Shape memory alloy; Active Endoscope; Active forceps; Master-slave; Surgery; ヒューマン・インターフェイス

We studied and developed robotic technology that assists laparoscopic surgery. The main focus was to develop active mechanisms that provide extra degrees of freedom inside the patient's body for laparoscopic surgery where a surgeon suffers from lack of degrees of freedom of endoscopic equipments such as forceps.The team of University of Tokyo developed an active forceps using Ti-Ni shape memory alloy pipes, one of which memorized a circular shape at a higher temperature and another had straight shape memory at a lower temperature. Water circulation method was employed where hot water and cold water are controlled by motored pumps. The team attained approximately 45 degrees of bending angle with the response time of 9 seconds. In addition, a master-slave robot system was designed and prototyped including AESOP 1000, Polhemus Sensor, and so on. The team also developed the concept of Motion Cancellation where a surgeon can execute operations on moving organs as if they were stationary.The Kagoshima University team explored another heating method that uses the Joule effect. Namely, the electric current goes through the SMA pipes and their resistance heats them up. Faster response is the advantage of this approach. The developed forceps attained approximately 40 degrees of bending angle with the response time of 3-4 seconds.

我们研究并开发了辅助腹腔镜手术的机器人技术。在腹腔镜手术中，由于内窥镜器械（如镊子）的自由度不足，因此需要开发能够在患者体内提供额外自由度的主动机构。东京大学的研究小组开发了一种使用钛镍形状记忆合金管的主动镊子，其中一个在较高温度下记忆圆形形状，另一个在较低温度下具有直线形状记忆。采用水循环方式，热水和冷水由电动泵控制。该团队在9秒的响应时间内实现了大约45度的弯曲角度。此外，还设计了AESOP 1000、Polhemus Sensor等主从式机器人系统，并进行了原型制作。此外，还开发了Motion Cancellation（运动消除）的概念，使外科医生能够像静止的器官一样对运动的器官进行手术。鹿儿岛大学的研究小组探索了利用焦耳效应的另一种加热方法。也就是说，电流通过SMA管，它们的电阻使它们加热。快速响应是这种方法的优势。开发的镊子达到约40度的弯曲角度，响应时间为3-4秒。

项目成果

Y.Nakamura,A.Matsui,T.Saito,K.Yoshimoto: "Shape-Memory-Alloy Active Forceps for Laparoscopic Surgery" Proceedings of the IEEE International Conference on Robotics and Automation. 2320-2327 (1995)

Y.Nakamura、A.Matsui、T.Saito、K.Yoshimoto：“用于腹腔镜手术的形状记忆合金主动钳”IEEE 国际机器人与自动化会议论文集。

Y.Nakamura, A.Matsui: ""An Active Manipulation Device Actuated with Shape Memory Alloy Pipes for Endscopic Surgery, "" Proc. 2^<nd> Intern. Symp. on Computer Aided Surgery (ISCAS'95). 72-73 (1995)

Y.Nakamura、A.Matsui：“一种用于内窥镜手术的由形状记忆合金管驱动的主动操纵装置”，Proc。

K.Yamauchi and Y.Nakamura: ""Active Forceps Using Ti-Ni Shape Memory Alloy Tube, "" Proc. C.M/ Wayman Intern. Conf.96-99 (1996)

K.Yamauchi 和 Y.Nakamura：“使用钛镍形状记忆合金管的主动镊子”，Proc。

Y.Nakamura,A.Matsui: "An Active Manipulation Device Actuated with Shape Memory Alloy Pipes for Endscopic Surgery" Proceeding of Second International Symposium on Computer Aided Surgery. 72-73 (1995)

Y.Nakamura，A.Matsui：“用于内窥镜手术的形状记忆合金管驱动的主动操纵装置”第二届国际计算机辅助手术研讨会论文集。

松井啓,中村仁彦,斉藤豪: "腹腔鏡下外科手術用能動鉗子の制御" 日本機械学会ロボテックス・メカトロニクス'95講演会講演論文集. 420-423 (1995)

Kei Matsui、Hitoshiko Nakamura、Go Saito：“腹腔镜手术的主动钳的控制”日本机械工程师学会机器人和机电一体化 95 会议记录 420-423 (1995)。