In the field of the rapid prototyping, in an industrial technology, use from the technical improvement of 3D CAD/CAM to the concrete commodity design becomes the one of the reality. Moreover, a market of recent C business etc. and economic trend is undertaken, and providing with more personal product service is requested earlier. And, the progress that should be paid attention very much is seen as for the diversification of the forming resin material though the price cutting of hardware from about 2000 and the improvement of a precise technology are still saucers especially though constant development was accomplished in the optical forming technology that is one of the technologies that the possibility corresponding to it is the highest after the principle is invented in 1980. It has started from making of the CT image three dimensions up to now, and plan trap support etc. have developed the skill of 3D CAD/CAM and design forming with the medical treatment support before the three-dimensional simulation, the medical treatment material design support, and the art. To divide these from the viewpoint of “Medical information” as a result of such a research as a further problem of the present stage, and to restructure, the technique and the concept construction are set. This is because it is necessary to show the computer-aided to the medicine and engineering from the design to all parties concerned who are related to the medical treatment or the medical information by the technique and the edit of the information design. It is moreover because of the idea that it becomes the method of the technique's originally finding the target new important parties concerned oppositely, the objective recognition leads to the following development of a computer-aided design, a computer-aided technology or the element technology from the design by the Icou cooperation is made industrial in addition, and intrinsical value to the medical information is found. It is an extremely important relational concept because it devises Varchal, a reality or an abstraction, concreteness, essence, real and the medical information design, especially the design method. It is though that Varchal is an abstraction that extracts a basic element or the composition factor from an essence part of not not virtual and the virtual image but the reality or a concrete thing. It is though that it was faced to relate reliability high and the medical treatment to knowledge to study by needing for the modern society in citizens society against the background of an Industrial Revolution, etc. advanced by the systematization of the technology. In addition, because the technology is valued in the contemporary society, connection with the technology has been valued as for the medical treatment. It is thought that it relates to monopoly with responsibility society of study and the medical service though this is valuing to the end, and it doesn't exist of course in the technological equal sign medical treatment. It is interpreted that this relates greatly to the relation among essence, a reality, a study outline, and a previous site. I want to think the design to be some genealogy design case from virtual and real by pushing the technique of an optical forming and the design these viewpoints of the design technique.

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We performed real-time navigation guided retroperitoneal laparoscopic nephrectomy for seven cases with using kidney displacement simulation program that we had originally developed. A subscreen placed next to surgical monitor provided virtual laparoscopic views to surgeon. The virtual laparoscopic images was created by a navigator who operated computer software and duplicated the surgical monitor imeges. The operator performed surgery referring to virtual images at each step of operative procedures. The group of navigated surgery was compared with that of conventional operation. Especially real-time navigation was useful for the treatment of renal vessels. The mean estimated blood loss and mean surgical time were 24 ml and 5.7 hours, respectively. Navigated surgery could significantly reduce estimated blood loss and shorten operative time in comparison with those without navigation. Furthermore surgeon could get relief from stress and assure the safety and reliability of operation.

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Virtual reality (VR) based surgical simulators have been developed in order to fulfill the demands for improving quality of medical education and training. VR simulators enable to record information about expert's procedures in real time, and therefore may allow trainees to learn the skill though haptic device. However, sharing haptic information between skilled surgeons and trainees on surgical procedure is technically a difficult problem. This study proposes methods for sharing haptic information between two persons in manipulating virtual elastic objects which physically simulate organ behavior. Our methods visualize depth information of recorded 3D position of manipulators and allow adjusting replay speed. The experiments were done to confirm the performance of the proposed methods in mimicking basic manipulation tasks. We conclude that our framework allows the user to trace 3D recorded position more accurately, which contributes to haptic information sharing in manipulating elastic objects.

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Rehabilitation for upper limbs is very important for aged people or patients of stroke. In the past, we developed several systems for rehabilitation using ER actuators and brakes. They had many advantages but were not suitable for practical use. Then, we decide to develop compact quasi 3-DOF rehabilitation systems named PLEMO for upper limbs only using ER brake. Because of only using brake, the system ensures safety at hardware-level and it is possible to make this system compact and low-cost. This paper presents concepts of the PLEMO and its analyses.

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This paper presents a hand rehabilitation support system for self-performing rehabilitation therapies. The developed system consists of hand exoskeleton device, which provides individual finger joint motion of disabled persons, and a self-motion control system joined with virtual reality (VR) technology. Most of disability caused by CVA (Cerebral Vascular Accident) or bone fracture are hemiplegia and impaired hand is only in one side. Based on the peculiarity of this disability, a self-motion control in which the impaired hand is driven by the healthy hand in the opposite side is adopted. In order to provide a pleasant and motivating training environment, VR environment displaying an enjoyable exercise is introduced. To verify the effectiveness of this system, the clinical trial was executed to one subject. Evaluation result of subject's functional recovery is also presented.

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In this paper, we firstly push or pull real and virtual rheology objects by the same sequence of displacements or forces. Then by minimizing the sum of differences between shape or force sequences of real and virtual objects, we calibrate many parameters of rheology MSD (Mass-Spring-Damper) model, pull-off force model and friction force model between a rigid object and its pushed or pulled rheology object. The calibration is processed by a near-optimal probabilistic search (genetic algorithm). In this paper, we firstly consider eight combinations which rheology objects are pushed, calibrated, evaluated by shape sequence, and pushed, calibrated, evaluated by force sequence, After completely comparing all the possibilities, we get the best visual reality under push and calibration by shape sequence, and also the wonderful tactile reality under push and calibration by force sequence. Moreover, we ascertain reappearance of force or shape sequence even though sensing data (pushing operation) in calibration differs from sensing data (pushing operation) in evaluation.

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In occupational therapy for the developmental disordered children, our aim is developing promotion of upper limb and cognitive functions. But the present evaluations of functions are almost based on observations of therapists, therefore objective evaluation is poor. We have developed a rehabilitation system using a haptic device (HD) for upper limb and cognitive functions of developmental disordered children. HD can give haptic sensations when we touched a virtual object on a computer display. So the use of a computer system may be effective tool for objective evaluations. In addition, it is thought that the sensation of HD promotes child's motivation. By investigation of healthy children, we analyzed the correlation between the duration and error distance of the wave tasks. As a result, it was found that the difference of sensations of HD influences the tasks performance. Moreover, children reactions toward HD system ware good, in addition HD was immediately accepted and deeply attracted the interests of children. It was suggested that doing the wave tasks that using HD, evaluation and training of shoulder and elbow joints movements are possible. Our next step is to use HD to investigate and analyze the development of disordered children, and to evaluate the effectiveness of HD system.

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