1A1-C22 多自由度柔軟マイクロ鉗子の開発 : 消化器内視鏡治療への応用の提案と検証(手術支援ロボティクス・メカトロニクス)

抄録

Endoscopic treatment is one of the minimally invasive surgical procedures. With this procedure, a doctor can excise the cancer tumor in the stomach without having to perform a laparatomy. However, currently there is limitation for doing treatment in the narrow digestive tract and as such; a new tool to aid the doctor in performing the endoscopic treatment is sought. In light of this, we propose and have developed the new tool, which can be used in conjunction with the ESD, needed in the endoscopic treatment. This tool aims to improve efficiency of the treatment by holding the mucous membrane in the inner wall of the stomach that has a soft structure while the ESD is being performed and removing the excised part after the cut. To test the utility of the tool, the developed prototype of the tool was used by a certified surgeon on a pig's stomach and the tool's effectiveness was verified.