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Development and evaluation of a novel microwave energy-based flexible surgical device that integrates a flexible elastic loop mechanism and a coaxial half-split mechanism

Research Project

Project/Area Number 18H01408
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionShiga University of Medical Science

Principal Investigator

Yamada Atsushi  滋賀医科大学, 医学部, 特任准教授 (40534334)

Co-Investigator(Kenkyū-buntansha) 仲 成幸  滋賀医科大学, 医学部, 非常勤講師 (10359771)
谷 徹  滋賀医科大学, 医学部, 特任教授 (20179823)
望山 洋  筑波大学, システム情報系, 教授 (40303333)
新田 哲久  滋賀医科大学, 医学部, 非常勤講師 (40324587)
森川 茂廣  滋賀医科大学, 神経難病研究センター, 客員教授 (60220042)
Project Period (FY) 2018-04-01 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥17,810,000 (Direct Cost: ¥13,700,000、Indirect Cost: ¥4,110,000)
Fiscal Year 2020: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2019: ¥3,380,000 (Direct Cost: ¥2,600,000、Indirect Cost: ¥780,000)
Fiscal Year 2018: ¥12,350,000 (Direct Cost: ¥9,500,000、Indirect Cost: ¥2,850,000)
Keywords屈曲機構 / 弾性ループ機構 / フレキシブルメカニズム / マイクロ波治療機器 / 操舵機構 / Active Sheath機構 / 医療機器 / 弾性機構 / マイクロ波機器 / ロボット機構 / MRI
Outline of Final Research Achievements

We proposed flexible loop-based simple bending mechanisms for implementing continuum-type medical instruments, enabling physicians to manipulate easily and dexterously. Furthermore, we measured the system impedances of microwave energy-based surgical instruments to identify their ablation and sealing characteristics. Then, we tried to integrate the proposed flexible loop mechanisms and the microwave ablation system.

Academic Significance and Societal Importance of the Research Achievements

近年,カテーテルなどの先端部の可動・屈曲性能に対して,従来のような簡易機能ではなく,高い性能要求がなされている.本研究で提案した屈曲機構・マニピュレーション機構は,保守的なワイヤ牽引機構をベースにしているため実現性が高いだけでなく,簡易な構造ながら,屈曲方向・角度・屈曲半径,屈曲特性などの性能は部品点数の多い高価な機器に匹敵するため,従来は性能が不十分であった単回使用機器の性能向上が期待できる.また,焼灼性能のメリットは多いが,治療機器のラインナップとしては経皮的な針型とハサミ型等の外科手術機器にとどまっていたマイクロ波手術機器を,その他の治療分野に拡大するための第一歩となりうる.

Report

(4 results)
  • 2020 Annual Research Report   Final Research Report ( PDF )
  • 2019 Annual Research Report
  • 2018 Annual Research Report
  • Research Products

    (40 results)

All 2021 2020 2019 2018

All Journal Article (6 results) (of which Int'l Joint Research: 2 results,  Peer Reviewed: 5 results,  Open Access: 1 results) Presentation (29 results) (of which Int'l Joint Research: 6 results,  Invited: 2 results) Patent(Industrial Property Rights) (5 results) (of which Overseas: 3 results)

  • [Journal Article] Steering Mechanisms for Continuum Devices using Flexible Loops2021

    • Author(s)
      山田篤史
    • Journal Title

      Journal of Japan Society of Computer Aided Surgery

      Volume: 23 Issue: 2 Pages: 65-72

    • DOI

      10.5759/jscas.23.65

    • NAID

      130008031053

    • ISSN
      1344-9486, 1884-5770
    • Related Report
      2020 Annual Research Report
  • [Journal Article] Vessel-Sealing Capability of Novel Microwave Sealer: Experimental Study in Animal Models2020

    • Author(s)
      Dang Khiem Tran、Naka Shigeyuki、Yamada Atsushi、Mukaisho Ken-ichi、Tani Tohru
    • Journal Title

      Surgical Innovation

      Volume: 27 Issue: 6 Pages: 633-643

    • DOI

      10.1177/1553350620937860

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Lightweight Carbon-Reinforced Resin Surgical Instruments2020

    • Author(s)
      Mekata Eiji、Yamada Atsushi、Shimagaki Masaaki、Kajiyama Takahiro、Tani Tohru
    • Journal Title

      Takenoshita S., Yasuhara H. (eds) Surgery and Operating Room Innovation. Springer, Singapore

      Volume: - Pages: 3-16

    • DOI

      10.1007/978-981-15-8979-9_1

    • ISBN
      9789811589782, 9789811589799
    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Functional Evaluation of a Novel Microwave Surgical Device in a Canine Splenectomy Model2019

    • Author(s)
      K. T. Dang, S. Naka, V. Q. Nguyen, A. Yamada , T. Tani
    • Journal Title

      Journal of Investigative Surgery

      Volume: - Issue: 2 Pages: 1-8

    • DOI

      10.1080/08941939.2019.1619884

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Magnetic resonance and ultrasound image‐guided navigation system using a needle manipulator2019

    • Author(s)
      A. Yamada, J. Tokuda, S. Naka, K. Murakami, T. Tani, S. Morikawa
    • Journal Title

      Medical Physics

      Volume: 47(3) Issue: 3 Pages: 850-858

    • DOI

      10.1002/mp.13958

    • NAID

      120006797553

    • Related Report
      2019 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Invention of microwave surgical scissors for seamless coagulation and cutting2018

    • Author(s)
      T. Tani, S. Naka, S. Tani, H. Shiomi, K. Murakami, A. Yamada, D. T. Khiem
    • Journal Title

      Surgery Today

      Volume: 48(9) Issue: 9 Pages: 856-864

    • DOI

      10.1007/s00595-018-1662-7

    • Related Report
      2018 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Presentation] 腹腔鏡下肝切除における新規エネルギーデバイス (Acrosurg Revo S) の使用経験2021

    • Author(s)
      飯田洋也,前平博充,森治樹,徳田彩,村本圭史,山田篤史,仲成幸,谷徹,谷眞至
    • Organizer
      第39回Microwave Surgery研究会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 動物腸管膜リンパ節摘出術のエネルギーデバイス比較2021

    • Author(s)
      谷徹,山田篤史,D. T. Khiem,谷眞至,仲成幸,村田聡,谷総一郎
    • Organizer
      第39回Microwave Surgery研究会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 本邦外科医が実践可能で社会貢献となる製品化を目指す医学研究開発2020

    • Author(s)
      谷徹,山田篤史,仲成幸,谷総一郎,中瀬雄三
    • Organizer
      第120回日本外科学会定期学術集会
    • Related Report
      2020 Annual Research Report
  • [Presentation] 頬部・口腔モデル内に設置した下顎左右の歯牙に力学センサを有する口腔ケアシミュレータの作製2020

    • Author(s)
      山下敬,山田篤史,王忠奎,平井慎一,森川茂廣
    • Organizer
      第8回看護理工学会学術集会
    • Related Report
      2020 Annual Research Report
  • [Presentation] フレキシブルメカニズムの医療応用に関する研究開発2020

    • Author(s)
      山田篤史
    • Organizer
      第29回日本コンピュータ外科学会大会 2019年度 CAS Young Investigator Award(日立賞)シルバー賞受賞講演
    • Related Report
      2020 Annual Research Report
  • [Presentation] 先端部の安定した多方向屈曲を実現する人工血管用素材を用いた可動型カニューレの開発2020

    • Author(s)
      山田篤史,米道渉,嶋辰也,谷徹
    • Organizer
      第29回日本コンピュータ外科学会大会
    • Related Report
      2020 Annual Research Report
  • [Presentation] Capturing-performance Assessment of an Endovascular Snare System Based on a Loop-Formed Torque Wire2019

    • Author(s)
      N. Nitta, A. Yamada, A. Sonoda, S. Otha, S. Watanabe, Y. Tomozawa, Y. Imai, A. Inoue, S. Naka, T. Tani
    • Organizer
      第78回日本医学放射線学会総会
    • Related Report
      2019 Annual Research Report
  • [Presentation] 神経変性疾患のリハビリテーションにおけるfunctional connectivity networkの検討2019

    • Author(s)
      金一暁,山田篤史,園田悠馬,山本寛,矢端博行,塚本剛士,和田英貴,玉木良高,小川暢弘,北村彰浩,山川勇,川合寛道,漆谷真
    • Organizer
      第60回日本神経学会学術大会
    • Related Report
      2019 Annual Research Report
  • [Presentation] 人工血管用素材を用いたアクティブカニューレのマニピュレーション2019

    • Author(s)
      山田篤史,谷徹
    • Organizer
      第37回日本ロボット学会学術講演会
    • Related Report
      2019 Annual Research Report
  • [Presentation] 弾性アームに基づく屈曲・伸展機構2019

    • Author(s)
      山田篤史
    • Organizer
      DAFULセミナー2019 ユーザ講演
    • Related Report
      2019 Annual Research Report
    • Invited
  • [Presentation] 脊髄小脳変性症に対する集中リハビリテーションが脳コネクトームに及ぼす影響2019

    • Author(s)
      金一暁,山田篤史,園田悠馬,漆谷真
    • Organizer
      2019年度 第5回 SUMSグランド・ラウンド
    • Related Report
      2019 Annual Research Report
  • [Presentation] 人工血管用素材を用いたアクティブカニューレの開発2019

    • Author(s)
      山田篤史,米道渉,嶋辰也,谷徹
    • Organizer
      第28回日本コンピュータ外科学会大会
    • Related Report
      2019 Annual Research Report
  • [Presentation] マイクロ波手術機器と術中MRIが実現する究極の手術システム2019

    • Author(s)
      仲成幸,山田篤史,谷徹
    • Organizer
      Microwave Workshops & Exhibition (MWE2019)
    • Related Report
      2019 Annual Research Report
  • [Presentation] マイクロ波の医療への導入 -マイクロ波手術機器の開発-2019

    • Author(s)
      谷徹,仲成幸,山田篤史,Tran Dan Khiem,谷総一郎
    • Organizer
      Microwave Workshops & Exhibition (MWE2019)
    • Related Report
      2019 Annual Research Report
  • [Presentation] 革新的医療機器・システム研究開発講座における弾性機構の研究2019

    • Author(s)
      山田篤史
    • Organizer
      日本ロボット学会ソフトロボティクス研究専門委員会第5回研究会
    • Related Report
      2018 Annual Research Report
    • Invited
  • [Presentation] 通常のポートセッティングが困難と思われる胆嚢炎症例に対し3Dシミュレーションを用いて腹腔鏡下手術を遂行した症例2018

    • Author(s)
      村上耕一郎,山田篤史,仲成幸,飯田洋也,龍田健,小玉正智,谷徹,谷眞至
    • Organizer
      第118回日本外科学会定期学術集会
    • Related Report
      2018 Annual Research Report
  • [Presentation] 樹脂製手術器具の開発 続報2018

    • Author(s)
      目片英治,谷徹,山田篤史,太田裕之,赤堀浩也,小島正継,田畑貴久,清水智治,梶山隆啓,武重英之,島垣昌明
    • Organizer
      第118回日本外科学会定期学術集会
    • Related Report
      2018 Annual Research Report
  • [Presentation] Development of a Steerable Transjugular Intrahepatic Portosystemic Shunt (TIPS) Needle Based on a Loop-Shaped Flexible Mechanism2018

    • Author(s)
      N. Nitta, A. Yamada, S. Watanabe, A. Sonoda, A. Inoue, K. Takaki, S. Otha, S. Naka, S. Morikawa, T. Tani, K. Murata
    • Organizer
      第77回日本医学放射線学会総会
    • Related Report
      2018 Annual Research Report
  • [Presentation] 樹脂製手術器具の開発 続報2018

    • Author(s)
      目片英治,谷徹,山田篤史,太田裕之,赤堀浩也,小島正継,田畑貴久,清水智治,梶山隆啓,島垣昌明
    • Organizer
      第73回日本消化器外科学会総会
    • Related Report
      2018 Annual Research Report
  • [Presentation] 腹腔鏡手術時のポート位置をエミュレートできるVRソフトウェアの開発 -胆嚢炎症例と移動性盲腸症例-2018

    • Author(s)
      村上耕一郎,山田篤史,田中久富,仲成幸,龍田健,小玉正智,谷徹,谷眞至
    • Organizer
      第73回日本消化器外科学会総会
    • Related Report
      2018 Annual Research Report
  • [Presentation] Comparative Study of Novel Microwave Coagulation Surgical Instruments and Currently Commercialized Energy Devices in an Animal Model2018

    • Author(s)
      K. T. Dang, T. Tani, S. Naka, A. Yamada, S. Tani
    • Organizer
      7th International Conference on the Development of Biomedical Engineering in Vietnam (BME7)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Overview of Our less Invasive Operation System: - Development of Three Dimensional Real-time MR Image Guided Operation System Using Microwave Devices and Relating Technologies2018

    • Author(s)
      T. Tani, A. Yamada, D. Khiem, S. Naka, S. Tani and N. Vinh
    • Organizer
      7th International Conference on the Development of Biomedical Engineering in Vietnam (BME7)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] “Acrosurg.” is a Next Generation Technology of Microwave Surgical Device -Development and Initial Clinical Evaluation-2018

    • Author(s)
      S. Naka, T. Tani, D. Khiem, S. Tani, A. Yamada, M. Tani
    • Organizer
      7th International Conference on the Development of Biomedical Engineering in Vietnam (BME7)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Design and Implementation of Loop Shaped Steering Mechanisms for Flexible Needles2018

    • Author(s)
      A. Yamada, N. Nitta, S. Naka, K. T. Dang, S. Morikawa, T. Tani
    • Organizer
      7th International Conference on the Development of Biomedical Engineering in Vietnam (BME7)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Development of a MR-Compatible High Definition Flexible Endoscope for Real-Time MR Image-Guided Microwave Ablation2018

    • Author(s)
      A. Yamada, S. Naka, K. T. Dang, S. Morikawa, T. Tani
    • Organizer
      7th International Conference on the Development of Biomedical Engineering in Vietnam (BME7)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Dexterity assessment of a novel endovascular snare system based on a loop-formed torque-command wire2018

    • Author(s)
      N. Nitta, A. Yamada, A. Sonoda, S. Ota, S. Naka, S. Morikawa, T. Tani, K. Murata
    • Organizer
      Annual Conference of Cardiovascular and Interventional Radiological Society of Europe (CIRSE 2018)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] ループ型トルクワイヤを用いた血管内異物除去用スネアシステムの操作性能評価2018

    • Author(s)
      山田篤史,新田哲久,仲成幸,谷徹
    • Organizer
      第27回日本コンピュータ外科学会大会
    • Related Report
      2018 Annual Research Report
  • [Presentation] 予後改善を目指す鏡視下,ロボット手術法のコンセプト ―がん手術におけるリンパ網シーリングとエネルギーデバイス選択―2018

    • Author(s)
      谷徹,村田聡,竹林克士,山田篤史,khiem Dang Tran,仲成幸,谷眞至
    • Organizer
      第56回日本人工臓器学会大会
    • Related Report
      2018 Annual Research Report
  • [Presentation] デジタル胸部X線写真情報を利用した肺血流や心肺機能の可視化2018

    • Author(s)
      谷徹,田中利恵,真田茂,田畑貴久,新田哲久,島田二郎,山田篤史,谷総一郎,Dang Tran Kheim,米山努,村岡慎太郎
    • Organizer
      第80回日本臨床外科学会総会
    • Related Report
      2018 Annual Research Report
  • [Patent(Industrial Property Rights)] フランジハブ,細長体,器具2020

    • Inventor(s)
      山田ら
    • Industrial Property Rights Holder
      山田ら
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2020-060885
    • Filing Date
      2020
    • Related Report
      2019 Annual Research Report
  • [Patent(Industrial Property Rights)] 可動型カテーテル2019

    • Inventor(s)
      山田ら
    • Industrial Property Rights Holder
      山田ら
    • Industrial Property Rights Type
      特許
    • Filing Date
      2019
    • Related Report
      2019 Annual Research Report
    • Overseas
  • [Patent(Industrial Property Rights)] 可動型カテーテル2019

    • Inventor(s)
      山田ら
    • Industrial Property Rights Holder
      山田ら
    • Industrial Property Rights Type
      特許
    • Filing Date
      2019
    • Related Report
      2019 Annual Research Report
    • Overseas
  • [Patent(Industrial Property Rights)] 可動型カテーテル2018

    • Inventor(s)
      山田ら
    • Industrial Property Rights Holder
      山田ら
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2018-078540
    • Filing Date
      2018
    • Related Report
      2018 Annual Research Report
  • [Patent(Industrial Property Rights)] 屈曲・伸展装置及び屈曲・伸展方法2018

    • Inventor(s)
      山田ら
    • Industrial Property Rights Holder
      山田ら
    • Industrial Property Rights Type
      特許
    • Filing Date
      2018
    • Related Report
      2018 Annual Research Report
    • Overseas

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Published: 2018-04-23   Modified: 2022-01-27  

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