@article{oai:uoeh-u.repo.nii.ac.jp:00000696,
 author = {久米 , 恵一郎 and Kume, Keiichiro},
 issue = {2},
 journal = {産業医科大学雑誌, Journal of UOEH},
 month = {Jun},
 note = {軟性内視鏡分野のロボット開発は，経管腔的内視鏡手術（natural orifice translumenal endoscopic surgery: NOTES）におけるtissue triangulationを可能にするプラットフォームとして研究が始まった．その後，早期消化管癌に対する内視鏡的粘膜下層剥離術（endoscopic submucosal dissection: ESD）の出現・普及により現行の診断目的に開発された軟性内視鏡による治療手技の限界が改めて意識され，上下部消化管内視鏡分野にも治療を目的とした内視鏡ロボットの開発が始まる．軟性内視鏡の先端に両手のように2本のアームが搭載されたものが中心で，把持，牽引，切開，切除，止血などの手技を可能にしたが，ロボット化のメリットを具現した理想的な最終形態は提示されていない．本稿では，軟性内視鏡ロボットの開発状況と筆者の開発したロボットについて概説する． 
The robotic system for flexible endoscopy was first developed as a platform enabling tissue triangulation in natural-orifice translumenal endoscopic surgery (NOTES). Then endoscopic submucosal dissection (ESD) was introduced and has widely been employed for the treatment of early gastrointestinal carcinoma. Subsequently, endoscopists became well aware of the limitations of their endoscopic manipulations with the conventional flexible endoscopes developed for diagnostic use, which led to the development of robotic systems for upper/lower gastrointestinal tract endoscopes intended for therapeutic use. Most flexible robotic endoscopes have 2 mechanical arms attached to the head, allowing surgeons to perform endoscopic manipulations, such as grasping, traction, incision, excision, and hemostasis. However, there are still many challenges that remain to be addressed: the ideal robotic endoscope has not yet been realized. This article reviews the ongoing developments and our own efforts in the area of flexible robotic endoscopy.},
 pages = {149--156},
 title = {軟性内視鏡ロボットの現況と方向性},
 volume = {37},
 year = {2015},
 yomi = {クメ, ケイイチロウ}
}