Summary of Research Project Results under JSPS FY2003
"Research for the Future Program"

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
5.Project Number 99I00904
6.Title of Project Development of Surgical Robotic Systems

7.Project Leader
Name Institution,Department Title of Position
Ichiro ,Sakuma The University of Tokyo, Graduate school of Frontier Science Professor

8.Core Members

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.

10.Key Words
(1)Deformable liver simulation   (2)finite element method   (3)Deformable volume rendering
(4)Master-slave system   (5)Surgical robot   (6)Minimally invasive abdominal surgery
(7)System integration   (8)CORBA   (9)Veertebroplasty