Development of the new medical devices using the micro-machine and robot technology in the oral surgery

在口腔外科手术中，掌握骨、血管、神经的三维位置关系是非常重要的。本研究将增强现实技术、图像处理技术、手术机器人与真实的时间图像引导手术支援系统相结合，开发了能够进行安全控制的手术机器人控制系统的基础技术。本研究提出的通过图像匹配的三维图像的自动测量方法能够提高定位的准确性和简化定位，并且证实了在口腔外科中的有效性。此外，开发了一种具有采用微机械技术的非接触驱动系统的骨延伸微型机器人的基本技术。采用外置磁铁作为驱动源，通过控制外置磁铁的位置，实现了骨延长系统的非接触驱动。

In the oral surgery, it is important to grasp the three-dimension positional relationship of bones, vessels and nerves. In this study, the basic technology of surgical robot control system to enable safe control was developed by integrating the augmented reality technology, image processing technology, and surgical robots with the real time image-guided surgery support system. The automatic measurement method of a three-dimensional image by image matching proposed in this study enables the accuracy improvement and simplification in positioning, and the validity in oral surgery was confirmed. Moreover, the basic technology of a bone extension micro robot with a non-contact driving system employing micro-machine technology was developed. The noncontact driving of a bone lengthening system was realized by employing an external magnet for the driving source and controlling the position of the external magnet.