|1.Research Institution||The University of Tokyo|
|2.Research Area||Integrated Fields|
|3.Research Field||Development of Surgical Robot|
|4.Term of Project||FY 1999 - FY 2003|
|6.Title of Project||Development of Surgical Robotic Systems|
|Name||Institution,Department||Title of Position|
|Ichiro ,Sakuma||The University of Tokyo, Graduate school of Frontier Science||Professor|
|Names||Institution,Department||Title of Position|
|Fumihiko ,Kimura||The University of Tokyo, Graduate school of Engineering||Professor|
|Kiyoshi ,Itao||The University of Tokyo ,Graduate school of Frontier Science||Professor|
|Takayuki ,Tsuji||The University of Tokyo ,Graduate school of Frontier Science||Professor|
9.Summary of Research Results
In this Project, aiming to develop the system which can use in clinical application, we have developed robots for minimally invasive abdominal surgery and orthopedic surgery and a navigation system with deformable liver simulation model.
In the research of deformable liver simulation model, we developed precise deformable model using a finite element method considering geometric non-linearity and material non-linearity and a real time simulator of liver deformation.
We developed a slave robot of a master-slave system assisting minimally invasive abdominal surgery. It realized a large working space and compact mechanism. In this slave robot, we integrate the sophisticated foceps such as bending forceps, bipolar, and semiconductor laser forceps which can create the next generation of surgery. We achieved scalability of the system using CORBA(Common Object Request Broker Architecture System) for the system integration.
In the research of the orthopedic surgery, we have developed a needle insertion manipulator for percutaneous veertebroplasty. In this study, we found safe and precise needle insertion method by in-vitro experiments.
Through this research project, aiming clinical application and commercialization we actively cooperated with industrial circles. Then we realized high-quality system and contributed industrialization of the field of surgical robot.