Development of endoscope robot with CAD system for minimally invasive diagnosis and surgery

本研究的目的是开发和利用具有半自动驾驶系统、微小操作功能和计算机辅助诊断系统的内窥镜机器人。为了实现这一目的，我们将研究分为四类。Category1;内窥镜机器人配合半自动驾驶系统的开发。我们成功地开发了支持结肠镜检查的机械手。Category2;具有微小操作功能的机器人系统。我们建立了NOTES机器人系统，安装了两个6自由度的手臂和一个微型摄像机。我们在猪身上成功地利用了它。Category3;计算机辅助诊断和导航系统。研制了CT图像自动诊断系统。Category4;培训与考核体系建设。我们已经为1000多名外科医生举办了腹腔镜手术培训研讨会。我们构建了一个自动化系统，通过该系统可以收集和评估学员的数据。在进一步的持续研究中，这些技术的精度将得到提高，我们将整合这些技术。

The purpose of this research is to develop and utilize an endoscope robot with semi-automatic driving system, minute manipulation function, and computer assisted diagnosis system. In order to carry out the purpose, we divided the research into four categories.Category1 ; Endoscope robot with the development of semi-automatic driving system.We succeeded in the development of the manipulator which supports colonoscopy.Category2 ; Robot system with minute manipulation function.We built up the robot system for NOTES mounted two arms with 6 degree of freedom and a minute camera. We succeeded in utilize it with a pig.Category3 ; System of computer assisted diagnosis and navigation.We developed automatic diagnosis system for CT image.Category4 ; Construction of training and assessment system.We have been holding training seminar of laparoscopic surgery for more than 1, 000 surgeons. We constructed the automated system by which the trainees' data can be collected and evaluated.In the further continuous study, these technical accuracy will be ameliorated, we will integrate these technologies.