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Robotic Endoscope system to achieve the precise therapy on minimally invasive surgery

Research Project

Project/Area Number 18680041
Research Category

Grant-in-Aid for Young Scientists (A)

Allocation TypeSingle-year Grants
Research Field Medical systems
Research InstitutionThe University of Tokyo

Principal Investigator

MASAMUNE Etsuko  The University of Tokyo, 大学院・工学系研究科, 准教授 (20345268)

Project Period (FY) 2006 – 2008
Project Status Completed (Fiscal Year 2008)
Budget Amount *help
¥20,930,000 (Direct Cost: ¥16,100,000、Indirect Cost: ¥4,830,000)
Fiscal Year 2008: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2007: ¥5,590,000 (Direct Cost: ¥4,300,000、Indirect Cost: ¥1,290,000)
Fiscal Year 2006: ¥11,180,000 (Direct Cost: ¥8,600,000、Indirect Cost: ¥2,580,000)
Keywordsコンピュータ外科 / 医用ロボット / 手術支援ロボット / 低侵襲手術 / 内視鏡
Research Abstract

本研究では,機能的な腫瘍情報を元に,治療具を精密に誘導し治療するためのロボットシステムを実現した.具体的には,ウェッジプリズムを用いた可変視野内視鏡を開発し,ウエッジプリズム内視鏡独自の歪みを補正し,術前MRI画像との統合を行った.また,体内深部での治療を可能とするための細径屈曲鉗子の開発,および軟性内視鏡下での鉗子駆動法の提案および実装を行った.

Report

(4 results)
  • 2008 Annual Research Report   Final Research Report ( PDF )
  • 2007 Annual Research Report
  • 2006 Annual Research Report
  • Research Products

    (26 results)

All 2009 2008 2007 2006 Other

All Journal Article (9 results) (of which Peer Reviewed: 4 results) Presentation (13 results) Remarks (4 results)

  • [Journal Article] A high-resolution, three-dimensional thin endoscope for fetal surgery2009

    • Author(s)
      E. Kobayashi, T. Ando, H. Yamashita, I. Sakuma, T. Fukuyo, K. Ando, T. Chiba
    • Journal Title

      Surgical Endoscopy (in press)

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] A high-resolution, three-dimensional thin endoscope for fetal surgery2009

    • Author(s)
      E. Kobayashi , T. Ando , H. Yamashita , I. Sakuma
    • Journal Title

      Surgical Endoscopy in press(掲載確定)

    • Related Report
      2008 Annual Research Report
    • Peer Reviewed
  • [Journal Article] 外科領域におけるナビゲーション医療の現状と医療機器開発の動向2008

    • Author(s)
      小林英津子, 佐久間一郎
    • Journal Title

      WEBJournal 93

      Pages: 12-15

    • Related Report
      2008 Final Research Report
  • [Journal Article] Mechanical error analysis of compact forceps manipulator for laparoscopic surgery2008

    • Author(s)
      Takashi Suzuki, Yoichi Katayama, Etsuko Kobayashi, Ichiro Sakuma
    • Journal Title

      Medical Robotics

      Pages: 433-442

    • Related Report
      2008 Annual Research Report 2008 Final Research Report
  • [Journal Article] 外科領域におけるナビゲーション医療の現状と医療機器開発の動向2008

    • Author(s)
      小林英津子, 佐久間一郎
    • Journal Title

      WEB. Journal 93

      Pages: 12-15

    • Related Report
      2008 Annual Research Report
  • [Journal Article] Development of wide-sngle view 3D endoscope using wedge prisms2007

    • Author(s)
      Etsuko Kobayashi, Yuhei Takata, Kenji Ikebe, Teruko Sakurai, Ichiro Sakuma
    • Journal Title

      International journal of Computer assisted radiology and surgery volume2 supplement1

      Pages: 505-505

    • Related Report
      2007 Annual Research Report
    • Peer Reviewed
  • [Journal Article] ウエッジプリズムを用いた視野可変腹腔鏡の改良および画像評価2006

    • Author(s)
      高田祐平, 小林英津子, 青木英祐, 橋本健正, 佐久間一郎, 土肥健純
    • Journal Title

      日本コンピュータ外科学会誌 8巻2号

      Pages: 97-102

    • Related Report
      2008 Final Research Report
    • Peer Reviewed
  • [Journal Article] ウエッジプリズムを用いた視野可変腹腔鏡の改良および画像評価2006

    • Author(s)
      高田祐平, 小林英津子, 青木英祐, 橋本健正, 佐久間一郎, 土肥健純
    • Journal Title

      日本コンピュータ外科学会誌 8・2

      Pages: 97-102

    • Related Report
      2006 Annual Research Report
  • [Journal Article] ウエッジプリズムを用いた視野可変腹腔鏡の開発2006

    • Author(s)
      小林英津子, 高田祐平, 佐久間一郎, 土肥健純
    • Journal Title

      東京大学臨床展開研究シンポジウム

      Pages: 79-79

    • Related Report
      2006 Annual Research Report
  • [Presentation] 低侵襲手術支援ロボットシステム2008

    • Author(s)
      小林英津子
    • Organizer
      第17回日本コンピュータ外科学会
    • Place of Presentation
      東京
    • Year and Date
      2008-11-01
    • Related Report
      2008 Final Research Report
  • [Presentation] 超弾性合金を用いた2自由度屈曲鉗子の開発(第2報)2008

    • Author(s)
      吉村雄祐, 芦田秀一, 小林英津子, 佐久間一郎
    • Organizer
      第17回日本コンピュータ外科学会
    • Place of Presentation
      東京
    • Year and Date
      2008-10-31
    • Related Report
      2008 Final Research Report
  • [Presentation] 超弾性合金を用いた2自由度屈曲鉗子の開発(第2報)2008

    • Author(s)
      吉村雄祐、芦田秀一、小林英津子、佐久間一郎
    • Organizer
      第17回日本コンピュータ外科学会大会
    • Place of Presentation
      Tokyo, Japan
    • Year and Date
      2008-10-31
    • Related Report
      2008 Annual Research Report
  • [Presentation] View following image registration between preoperative MRI data and wedge prism 3D endoscopic images2008

    • Author(s)
      Yuhei Takata, Takeshi Torigoe, Hongen Liao, Etsuko Kobayashi, Ichiro Sakuma
    • Organizer
      The 4th International Workshop on Medical Imaging and Augmented Reality, MIAR 2008
    • Place of Presentation
      Tokyo, Japan
    • Year and Date
      2008-08-01
    • Related Report
      2008 Final Research Report
  • [Presentation] Distortion Correction of Wedge Prism 3D Endoscopic Images2008

    • Author(s)
      Y.takata, T.Torigoe, E.Kobayashi, I. Sakuma
    • Organizer
      APCMBE2008
    • Place of Presentation
      Tokyo, Japan
    • Year and Date
      2008-04-24
    • Related Report
      2008 Final Research Report
  • [Presentation] Distortion Correction of Wedge Prism 3D Endoscopic Images2008

    • Author(s)
      Y. takata, T. Torigoe, E. Kobayashi, I. Sakuma
    • Organizer
      APCMBE2008
    • Place of Presentation
      Beijing, China
    • Year and Date
      2008-04-24
    • Related Report
      2008 Annual Research Report
  • [Presentation] Distortion Correction of Wedge Prism 3D Endoscopic Images2008

    • Author(s)
      Y. takata, T. Torigoe, E. Kobayashi, I. Sakuma
    • Organizer
      APCMBE2008
    • Place of Presentation
      北京
    • Year and Date
      2008-04-24
    • Related Report
      2007 Annual Research Report
  • [Presentation] View following image registration between preoperative MRI data and wedge prisn2008

    • Author(s)
      Yuhei Takata, Takeshi Torigoe, Hongen Liao, Etsuko Kobayashi, Ichiro Sakuma
    • Organizer
      The 4th Asian International Conference on Computer Aided Surgery
    • Place of Presentation
      Beijing, China
    • Related Report
      2008 Annual Research Report
  • [Presentation] Depth perception Evaluation of the wide-sngle view 3D endoscope2007

    • Author(s)
      Etsuko Kobayashi, Yuhei Takata, Kenji Ikebe, Teruko Sakurai, Yasuyoshi Kita, Ichiro Sakuma
    • Organizer
      3rd Asia conference on computer aided surgery
    • Place of Presentation
      Shingapore
    • Year and Date
      2007-12-01
    • Related Report
      2008 Final Research Report
  • [Presentation] 画像処理を用いた軟性鉗子マニピュレータの制御に関する研究2007

    • Author(s)
      安河内孝則, 小林英津子, 廖洪恩, 佐久間一郎
    • Organizer
      第16回日本コンピュータ外科学会大会
    • Place of Presentation
      広島
    • Year and Date
      2007-11-02
    • Related Report
      2008 Final Research Report 2007 Annual Research Report
  • [Presentation] Development of wide-sngle view 3D endoscope using wedge prisms2007

    • Author(s)
      Etsuko Kobayashi, Yuhei Takata, Kenji Ikebe, Teruko Sakurai, Ichiro Sakuma
    • Organizer
      Computer Assisted Radiology and Surgery 2007
    • Place of Presentation
      Berlin, Germany
    • Year and Date
      2007-06-27
    • Related Report
      2008 Final Research Report
  • [Presentation] Development of wide-sngle view 3D endoscope using wedge prisms2007

    • Author(s)
      Etsuko Kobayashi, Yuhei Takata, Kenji Ikebe, Teruko Sakurai, Ichiro Sakuma
    • Organizer
      International journal of Computer assisted radiology and surgery
    • Place of Presentation
      Berlin
    • Year and Date
      2007-06-27
    • Related Report
      2007 Annual Research Report
  • [Presentation] ウェッジプリズムを用いた視野可変腹腔鏡の開発2007

    • Author(s)
      小林英津子, 高田祐平, 佐久間一郎, 土肥健純
    • Organizer
      東京大学臨床展開研究シンポジウム
    • Place of Presentation
      東京
    • Year and Date
      2007-03-02
    • Related Report
      2008 Final Research Report
  • [Remarks] German Innovation Award (Gottfried Wagner Prize 2008), 3rd Prize, Wedge-Angle View Endoswcope Using Wedge Prisms, ドイツ商工会議所, 2009年3月6日

    • Related Report
      2008 Final Research Report
  • [Remarks] 東京大学工学部 2008-2009 年版, 日経BPムック「変革する大学」シリーズ, 未知の領域を拓く研究者・研究プロジェクト掲載

    • Related Report
      2008 Final Research Report
  • [Remarks] 東京大学工学部 2007-2008 年版, 日経BPムック「変革する大学」シリーズ, 未知の領域を拓く研究者・研究プロジェクト掲載

    • Related Report
      2008 Final Research Report
  • [Remarks] 東京大学テクノロジー&サイエンス, October2007, 日経BPムック, 未来を担う若手研究者特集掲載

    • Related Report
      2008 Final Research Report

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Published: 2006-04-01   Modified: 2016-04-21  

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