Development of Variable Stiffness Colonoscope Consisting of Pneumatic Drive Devices

• Project/Area Number: 20700408
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Medical systems
• Research Institution: Okayama University
• Principal Investigator: WAKIMOTO Shuichi Okayama University, 異分野融合先端研究コア, 助教 (40452560)
• Project Period (FY): 2008 – 2010
• Project Status: Completed (Fiscal Year 2010)
• Budget Amount: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000); Fiscal Year 2010: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000); Fiscal Year 2009: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000); Fiscal Year 2008: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
• Keywords: ソフトメカニズム / 大腸内視鏡 / 可変剛性 / ソフトアクチュエータ / 剛性変化 / 大腸内視鏡検査 / 空気圧アクチュエータ / 医療デバイス / ソフトセンサ / 内視鏡 / 医用工学

Research Abstract

A colonoscope which can be inserted reliably and safely is required. In this study, variable stiffness device whose stiffness can be controlled was developed, and also a prototype colonoscope consisting of multi variable stiffness devices was manufactured. Using the colonoscope, insertion experiments into the colon phantom were conducted, and it can be inserted into the deepest part of the colon without special techniques.

Research Products

• [Journal Article] Development of Variable Stiffness Colonoscope Consisting of Pneumatic Drive Devices (2011)
  • Author(s): Shuichi Wakimoto, Issei Kumagai, Koichi Suzumori
  • Journal Title: International Journal of Automation Technology
  • Peer Reviewed
• [Presentation] Development of Large Intestine Endoscope Changing Its Stiffness-2nd report : Improvement of Stiffness Change Device and Insertion Experiment- (2010)
  • Author(s): Issei Kumagai
  • Organizer: IEEE International Conference on Robotics and Biomimetics (ROBIO2010)
  • Place of Presentation: Nikko Hotel Tianjin (China)
  • Year and Date: 2010-12-15
• [Presentation] 空圧駆動柔軟デバイスを用いた剛性変化型大腸内視鏡の開発-第2報剛性変化デバイスの改良と挿入基礎実験- (2010)
  • Author(s): 熊谷一星
  • Organizer: 日本機械学会2010年度年次大会
  • Place of Presentation: 名古屋工業大学(愛知県)
  • Year and Date: 2010-09-06
• [Presentation] Development of Large Intestine Endoscope Changing Its Stiffness -2nd report : Improvement of Stiffness Change Device and Insertion Experiment- (2010)
  • Author(s): Issei Kumagai, Shuichi Wakimoto, Koichi Suzumori
  • Organizer: 2010 IEEE International Conference on Robotics and Biomimetics(pp.241-246)
  • Place of Presentation: China
• [Presentation] 空圧駆動柔軟デバイスを用いた剛性変化型大腸内視鏡の開発 -第2報 剛性変化デバイスの改良と挿入基礎実験- (2010)
  • Author(s): 熊谷一星, 脇元修一, 鈴森康一
  • Organizer: 日本機械学会2010年度年次大会(pp.349-350)
  • Place of Presentation: 愛知
• [Presentation] Development of large Intestine Endoscope Changing Its Stiffness (2009)
  • Author(s): Issei Kumagai
  • Organizer: 2009 IEEE International Conference on Robotics and Biomimetics
  • Place of Presentation: Guilin, China
  • Year and Date: 2009-12-22
• [Presentation] 空圧駆動柔軟デバイスを用いた剛性変化型大腸内視鏡の開発-剛性変化デバイスの開発と基礎特性の確認- (2009)
  • Author(s): 熊谷一星
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2009
  • Place of Presentation: 福岡国際会議場(福岡)
  • Year and Date: 2009-05-26
• [Presentation] Development of Large Intestine Endoscope Changing Its Stiffness (2009)
  • Author(s): Shuichi Wakimoto, Issei Kumagai, Koichi Suzumori
  • Organizer: 2009 IEEE International Conference on Robotics and Biomimetics(pp.2320-2325)
  • Place of Presentation: China
• [Presentation] 空圧駆動柔軟デバイスを用いた剛性変化型大腸内視鏡の開発 (2009)
  • Author(s): 脇元修一, 熊谷一星, 鈴森康一
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2009(2A1-K11)
  • Place of Presentation: 福岡