腫瘍判別に向けたセンサ付把持鉗子による軟材料中の硬質物の厚さ推定法

カテゴリ: 論文誌(論文単位)

グループ名: 【E】センサ・マイクロマシン部門

発行日: 2016/09/01

タイトル(英語): Thickness Estimation Method of a Hard Object Located in a Soft Material using a Grasping Forceps with Sensors for Tumor Detection

著者名: 齊藤　開(東京電機大学大学院 工学研究科),中井　亮仁(東京大学 IRT研究機構／タッチエンス(株)),正宗　賢(東京女子医科大学 先端生命医科学研究所),土肥　健純(東京電機大学 工学部),桑名　健太(東京電機大学 工学部)

著者名(英語): Kai Saito (Graduate School of Engineering, Tokyo Denki University), Akihito Nakai (Information and Robot Technology Research Initiative, The University of Tokyo/Touchence Inc.), Ken Masamune (Institute of Advanced BioMedical Engineering and Science, Tokyo Women's Medical University), Takeyoshi Dohi (School of Engineering, Tokyo Denki University), Kenta Kuwana (School of Engineering, Tokyo Denki University)

キーワード: センサ付把持鉗子,腫瘍の厚さ推定,胸腔鏡下手術　　Grasping forceps with sensors,Tumor thickness estimation,Thoracoscopic surgery

要約(英語): In this study, we proposed a thickness estimation method of tumor using a grasping forceps with sensors and evaluated the method by estimating the thickness of tumor models located in tissue models. Though palpation is an important technique for distinguishing a tumor, the palpation during thoracoscopic surgery is difficult because of the lack of tactile sense. In order to compensate the surgeon's tactile sense, we developed a forceps with two MEMS (Micro Electro Mechanical Systems) triaxial tactile sensors. By using this forceps, we proposed a tumor thickness estimation method focusing on the detected force difference according to the hardness of the grasping area. Then, we evaluated the thickness of tumor models located in the soft tissue models to prove the feasibility of our estimation method. The 5 mm and 10 mm diameter spherical tumor models located in the tissue models were estimated 3.3 mm and 10.7 mm, respectively. This result indicates the possibility that the proposed method enables to estimate the thickness of a tumor within an organ.

本誌: 電気学会論文誌E（センサ・マイクロマシン部門誌） Vol.136 No.9 （2016） 特集：マイクロ・ナノ医療デバイス

本誌掲載ページ: 377-383 p

原稿種別: 論文／日本語

電子版へのリンク: https://www.jstage.jst.go.jp/article/ieejsmas/136/9/136_377/_article/-char/ja/