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Development of a novel endoscopic manipulation system: The Endoscopic Operation Robot

Research Project

Project/Area Number 23500573
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Research Field Medical systems
Research InstitutionUniversity of Occupational and Environmental Health, Japan

Principal Investigator

KUME Keiichiro  産業医科大学, 医学部, 准教授 (20320351)

Project Period (FY) 2011 – 2013
Project Status Completed (Fiscal Year 2013)
Budget Amount *help
¥5,070,000 (Direct Cost: ¥3,900,000、Indirect Cost: ¥1,170,000)
Fiscal Year 2013: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2012: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000)
Fiscal Year 2011: ¥2,340,000 (Direct Cost: ¥1,800,000、Indirect Cost: ¥540,000)
Keywords内視鏡ロボット / 軟性鏡 / 手技の容易化 / 操作支援ロボット / 内視鏡治療 / 軟性内視鏡操作支援ロボッ ト / 遠隔操作 / 軟性内視鏡操作支援ロボット / 軟性内視鏡ロボット / オートメーション化
Research Abstract

I developed a second generation of The Endoscopic Operation Robot (EOR), a master-slave robot that uses two joysticks for 4-axis manipulation of current flexible endoscopes, including up-down angulation, left-right angulation, rotation, and endoscope insertion-retraction. However, manipulation of a flexible endoscope in the GI tract, particularly in the colon with its complex curvature, requires force sensation that combines the reaction force from the GI tract where the endoscope is inserted and the flexibility of the endoscope itself. Therefore, I developed an EOR ver.3 with a master unit that senses force, has built-in bidirectional haptic feedback that transmits a force equal to that applied to the master unit by the endoscopist to the endoscope tip, and that enables 4-axis manipulation with one hand.

Report

(4 results)
  • 2013 Annual Research Report   Final Research Report ( PDF )
  • 2012 Research-status Report
  • 2011 Research-status Report
  • Research Products

    (43 results)

All 2014 2013 2012 2011 Other

All Journal Article (21 results) (of which Peer Reviewed: 18 results) Presentation (13 results) (of which Invited: 1 results) Book (1 results) Patent(Industrial Property Rights) (8 results)

  • [Journal Article] Rectal perforation caused by mesalazine enema in a patient with ulcerative colitis2014

    • Author(s)
      Kume K., Watanabe T., Oshima J., Yoshikawa I., Harada M
    • Journal Title

      Endoscopy

      Volume: 46(S2)

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Development of a novel endoscopic manipulation system: The Endoscopic Operation Robot Ver. 22014

    • Author(s)
      Kume K., Kuroki T, Shingai M.
    • Journal Title

      Hepato-Gastroenterology

      Volume: 61

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Rectal perforation caused by mesalazine enema in a patient with ulcerative colitis2014

    • Author(s)
      Kume K, Watanabe T, Oshima J, Yoshikawa I, Harada M.
    • Journal Title

      Endoscopy

      Volume: 46

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Endoscopic resection of a giant pedunculated polyp using scissor-type forceps2014

    • Author(s)
      Kume K, Takahashi S, Kumamoto K, Watanabe T,Yoshikawa I, Harada M.
    • Journal Title

      Endoscopy

      Volume: 46

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Endoscopic therapy for early gastric cancer: Standard techniques and recent advances in ESD2014

    • Author(s)
      Kume K
    • Journal Title

      World J Gastoroenterol

      Volume: 20

    • Related Report
      2013 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Endoscopic resection with cap-assisted EMR : the expert's approach2013

    • Author(s)
      Kume K
    • Journal Title

      Video Journal & Encyclopedia of GI endoscopy

      Volume: 1(1) Pages: 130-132

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] 消化器内視鏡操作支援ロボットの開発と課題2013

    • Author(s)
      久米恵一郎
    • Journal Title

      検査技術

      Volume: 18(10) Pages: 17-23

    • NAID

      40019810180

    • Related Report
      2013 Final Research Report
  • [Journal Article] 消化器内視鏡治療における新しいデバイスの開発2013

    • Author(s)
      久米恵一郎
    • Journal Title

      化学工業

      Volume: 64(1) Pages: 20-28

    • Related Report
      2013 Final Research Report
  • [Journal Article] Eedoscopic resection with cap-assisted EMR: the expert’s approach2013

    • Author(s)
      Kume K
    • Journal Title

      V J GI Endoscopy

      Volume: 1 Issue: 1 Pages: 130-132

    • DOI

      10.1016/s2212-0971(13)70056-6

    • Related Report
      2013 Annual Research Report 2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] 消化器内視鏡治療における新しいデバイスの開発2013

    • Author(s)
      久米 恵一郎
    • Journal Title

      化学工業

      Volume: 64 Pages: 20-28

    • Related Report
      2012 Research-status Report
  • [Journal Article] Endoscopic submucosal dissection using the endoscopic operation robot2012

    • Author(s)
      Kume K., Kuroki K., Shingai M
    • Journal Title

      Endoscopy

      Volume: 44(S2)

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Endoscopic submucosal dissection using the endoscopic operation robot2012

    • Author(s)
      Kume K., Kuroki T, Shingai M., Harada M.
    • Journal Title

      Endoscopy

      Volume: 44 Pages: 399-400

    • Related Report
      2012 Research-status Report
    • Peer Reviewed
  • [Journal Article] Development of a novel endoscopic manipulation system : The Endoscopic Operation Robot (EOR)2011

    • Author(s)
      Kume K., Kuroki K., Sugihara T., Shingai M
    • Journal Title

      World J Gastrointest Endosc

      Volume: 3(7) Pages: 145-150

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Mild collateral varices and a fundic plexus without perforating veins on EUS predict endoscopic non-recurrence of esophageal varices after EVL2011

    • Author(s)
      Kume K
    • Journal Title

      Hepato-Gastroenterol

      Volume: 58(107-108) Pages: 798-801

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Infliximab treatment in a patient with Crohn's disease on haemodialysis2011

    • Author(s)
      Kume K., Yamasaki M, Yoshikawa I
    • Journal Title

      Colorectal Dis

      Volume: 13(3) Pages: 341-341

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] The Endoscopic Operation Robot (EOR)2011

    • Author(s)
      Kume K.
    • Journal Title

      World J Gastrointest Endosc.

      Volume: 3 Pages: 145-150

    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Journal Article] EUS study for esophageal varices after EVL.2011

    • Author(s)
      Kume K, Yamasaki M, Watanabe T, et al.
    • Journal Title

      Hepato-Gastroenterol.

      Volume: 58 Pages: 798-801

    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Journal Article] Crohn’s disease on haemodialysis.2011

    • Author(s)
      Kume K, Yamasaki M, Yoshikawa I.
    • Journal Title

      Colorectal Dis.

      Volume: 13 Pages: 341-341

    • Related Report
      2011 Research-status Report
    • Peer Reviewed
  • [Journal Article] Endoscopic therapy for early gastric cancer : Standard techniques and recent advances in ESD

    • Author(s)
      Kume K
    • Journal Title

      World J Gastrointest

      Volume: (in press)

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Development of a novel endoscopic manipulation system : The Endoscopic Operation Robot Ver

    • Author(s)
      Kume K., Kuroki T., Shingai M
    • Journal Title

      Hepato-Gastroenterol

      Volume: (in press)

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Journal Article] Endoscopic resection of a giant pedunculated polyp using scissor-type forceps

    • Author(s)
      Kume K., Takahashi S., Kumamoto K., Watanabe T., Yoshikawa I., Harada M
    • Journal Title

      Endoscopy

      Volume: (in press)

    • Related Report
      2013 Final Research Report
    • Peer Reviewed
  • [Presentation] ワークショップ;目盛り付大腸内視鏡フードの開発2013

    • Author(s)
      久米恵一郎, 渡邊龍之, 原田大
    • Organizer
      第85回日本消化器内視鏡学会総会
    • Place of Presentation
      京都(国立京都国際会館)
    • Related Report
      2013 Final Research Report
  • [Presentation] 目盛り付大腸内視鏡フードの開発2013

    • Author(s)
      久米恵一郎、渡邊龍之、原田大
    • Organizer
      第85回日本消化器内視鏡学会総会
    • Place of Presentation
      京都(国立京都国際会館)
    • Related Report
      2013 Annual Research Report
  • [Presentation] 消化器内視鏡関連デバイスの開発2013

    • Author(s)
      久米恵一郎
    • Organizer
      九州工業大学:第96回三木会
    • Place of Presentation
      北九州(九州工業大学産学連携推進センター)
    • Related Report
      2013 Annual Research Report
    • Invited
  • [Presentation] 手技の容易化・安全化を目指した消化器内視鏡デバイスの開発2012

    • Author(s)
      久米恵一郎
    • Organizer
      第3回次世代医療システム産業かフォーラム2012
    • Place of Presentation
      大阪(大阪商工会議所)
    • Year and Date
      2012-10-23
    • Related Report
      2013 Final Research Report
  • [Presentation] 被検者の苦痛の軽減を目指した大腸内視鏡挿入操作支援ロボットの開発2011

    • Author(s)
      久米恵一郎
    • Organizer
      科学技術振興機構医学部合同新技術説明会
    • Place of Presentation
      東京(科学技術振興機構JST ホール)
    • Year and Date
      2011-11-18
    • Related Report
      2013 Final Research Report
  • [Presentation] ワークショップ;軟性内視鏡完全遠隔操作ロボットの開発2011

    • Author(s)
      久米恵一郎, 原田大
    • Organizer
      第83回日本消化器内視鏡学会総会
    • Place of Presentation
      福岡(マリンメッセ福岡)
    • Related Report
      2013 Final Research Report
  • [Presentation] 軟性内視鏡完全遠隔操作ロボットの開発2011

    • Author(s)
      久米恵一郎、原田大
    • Organizer
      第93回日本消化器内視鏡学会総会
    • Place of Presentation
      マリンメッセ福岡( 福岡市)
    • Related Report
      2011 Research-status Report
  • [Presentation] 挿入技術の平準化を目指した大腸内視鏡ロボットの開発2011

    • Author(s)
      久米恵一郎、黒木猛、新貝雅文、杉原崇洋、稲川直裕
    • Organizer
      ロボット産業マッチングフェア北九州
    • Place of Presentation
      西日本総合展示場( 北九州市)
    • Related Report
      2011 Research-status Report
  • [Presentation] 挿入技術の平準化を目指した大腸内視鏡ロボットの開発2011

    • Author(s)
      久米恵一郎、黒木猛、新貝雅文、杉原崇洋、稲川直裕
    • Organizer
      2011国際ロボット展
    • Place of Presentation
      東京ビックサイト( 東京)
    • Related Report
      2011 Research-status Report
  • [Presentation] 被検者の苦痛の軽減を目指した大腸内視鏡挿入操作支援ロボットの開発2011

    • Author(s)
      久米恵一郎
    • Organizer
      科学技術振興機構医学部合同新技術説明会
    • Place of Presentation
      科学技術振興機構JSTホール( 東京)
    • Related Report
      2011 Research-status Report
  • [Presentation] 力覚フィードバック機能を有する軟性内視鏡操作支援ロボットの開

    • Author(s)
      久米恵一郎、坂井伸朗
    • Organizer
      平成24年度ロボット産業振興会定期総会
    • Place of Presentation
      リーガロイヤルホテル(北九州)
    • Related Report
      2012 Research-status Report
  • [Presentation] 手技の容易化・安全化を目指した消化器内視鏡デバイスの開発

    • Author(s)
      久米恵一郎
    • Organizer
      第3回次世代医療システム産業化フォーラム2012
    • Place of Presentation
      大阪商工会議所(大阪)
    • Related Report
      2012 Research-status Report
  • [Presentation] 手技の容易化・安全化を目指した消化器内視鏡デバイスの開発

    • Author(s)
      久米恵一郎
    • Organizer
      平成24年度科学技術振興機構新技術説明会
    • Place of Presentation
      北九州産業学術推進機構:産学連携センター(北九州)
    • Related Report
      2012 Research-status Report
  • [Book] New Techniques in Gastrointestinal Endoscopy2011

    • Author(s)
      Kume K.
    • Total Pages
      23
    • Publisher
      In Tech
    • Related Report
      2011 Research-status Report
  • [Patent(Industrial Property Rights)] 内視鏡先端フード2013

    • Inventor(s)
      久米恵一郎
    • Industrial Property Rights Holder
      学校法人産業医科大学種類:意匠
    • Industrial Property Rights Type
      意匠
    • Acquisition Date
      2013-05-10
    • Related Report
      2013 Final Research Report
  • [Patent(Industrial Property Rights)] 処置用チューブ, 内視鏡フード及び内視鏡キャップ2012

    • Inventor(s)
      久米恵一郎
    • Industrial Property Rights Holder
      学校法人産業医科大学
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2012-151686
    • Filing Date
      2012-07-05
    • Related Report
      2013 Final Research Report
  • [Patent(Industrial Property Rights)] 内視鏡を用いた物体計測装置及び物体計測法並びに内視鏡フード2012

    • Inventor(s)
      久米恵一郎
    • Industrial Property Rights Holder
      学校法人産業医科大学
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2012-127530
    • Filing Date
      2012-06-04
    • Related Report
      2013 Final Research Report
  • [Patent(Industrial Property Rights)] 内視鏡操作システム2012

    • Inventor(s)
      久米恵一郎, 後藤高彰, 坂井伸朗
    • Industrial Property Rights Holder
      学校法人産業医科大学国立大学法人九州工業大学
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2012-060468
    • Filing Date
      2012-03-16
    • Related Report
      2013 Final Research Report
  • [Patent(Industrial Property Rights)] 内視鏡2012

    • Inventor(s)
      久米恵一郎
    • Industrial Property Rights Holder
      公益財団法人北九州学術産業推進機能
    • Industrial Property Rights Type
      特許
    • Acquisition Date
      2012-08-31
    • Related Report
      2013 Final Research Report
  • [Patent(Industrial Property Rights)] 内視鏡先端フード2012

    • Inventor(s)
      久米恵一郎
    • Industrial Property Rights Holder
      学校法人産業医科大学
    • Industrial Property Rights Type
      意匠
    • Filing Date
      2012-12-07
    • Acquisition Date
      2013-05-10
    • Related Report
      2013 Annual Research Report
  • [Patent(Industrial Property Rights)] 内視鏡操作システム2012

    • Inventor(s)
      久米恵一郎、後藤高彰、坂井伸朗
    • Industrial Property Rights Holder
      産業医科大学、九州工業大学
    • Industrial Property Rights Type
      特許
    • Filing Date
      2012-05-20
    • Related Report
      2012 Research-status Report
  • [Patent(Industrial Property Rights)] 内視鏡用局注剤2011

    • Inventor(s)
      山崎雅弘, 久米恵一郎
    • Industrial Property Rights Holder
      学校法人産業医科大学
    • Industrial Property Rights Type
      特許
    • Acquisition Date
      2011-06-17
    • Related Report
      2013 Final Research Report

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Published: 2011-08-05   Modified: 2019-07-29  

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