軟性内視鏡手術支援のためのロボットシステムの開発

抄録

Maneuver of flexible endoscopic operation requires a difficult precision operation for a long time period. So, it is expected that a robotic system for flexible endoscope handling. We developed the Endoscope Operation Robot and a micro robot arm for endoscopic dissection. The robot equipped bilateral haptic feedback, which can represent reactional force to operators in forward and backward movement and rotation of an endoscope. The micro robot arm for dissection operation has 5 degrees of freedom which independent of the endoscope operation, and endoscopists can easily manipulate the robot arm with a pen device. Experimental endoscopic submucosal dissection (ESD), one of the treatments for early-stage gastrointestinal cancer, was performed with our system. All 7 cases of ESD were completed with en bloc resection, and mean dissection time of our system were 1.88 min/cm² or 0.67 cm²/min. In comparison of mean dissection speed of our system with other systems, our system was the quickest. We showed that our system can perform ESD with high efficiency in this paper.