Our research interests are tactile sensors, surgical simulation systems, artificial muscle, and shape memory material.

Tactile sensor for minimally invasive surgery

　Minimally invasive surgery is replacing the traditional open surgery because this kind of therapy can produce less pain and faster return to the normal activities. However, such procedure is very difficult because the surgeon's visual and tactile perception is severely reduced during manipulation of medical tools. Therefore, we are doing the research about tactile sensor for minimally invasive surgery (Fig. 1, Example of sesnor output).

Fig. 1　Application of tactile sensor for intravascular minimally invasive surgery

Computer-based surgical simulation system for guidewire navigation in blood vessels

Fig. 2　An example of visualization after catheter simulation

We have developed a system for simulation of a catheter in blood vessels for surgical planning and intra-operative assistance (Fig. 2). This system was developed to predict the course of approach to a lesion and to present numerical results and animation. Consequently, a physician can easily judge for each patient whether intravascular operation is more suitable than open surgery, and determine the type of guidewire to be used in preoperative surgical planning. In addition, this system can aid quick approach to lesions by comparing the course of passage of a real catheter on X-ray and that in this simulation system for intra-operative assistance.

（Examples）

• Torus-shaped vessel model (push)
• Torus-shaped vessel model (twist)
• Aneurysm model acquired from patient

Application of smart material to position keeping of robot

　Robot technologies have received a large amount of attention because of their potential to overcome the physical degradations that come about through the natural aging process. Unlike the conventional industrial robots, these robots and humans work together in the coexistent space. Therefore, we are doing the research on smart material such as artificial muscle because they are soft and flexible, thus assuring the safety of the device itself by minimizing injury to living tissue (Figs. 3 - 5).

Fig. 3 Schematic of a position-keeping module that uses shape-memory polymer and principle of motion for robotic arm application

Fig. 4 Schematic representation of McKibben artificial muscle that uses SMP (PH: high pressure, PL: low pressure).

Fig. 5 Schematic of the curved type artificial rubber muscle that uses SMP (PH: high pressure, PL: low pressure).

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