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Surgical Robot for Intraluminal Access:An Ex Vivo Feasibility Study

Cyborg and Bionic Systems 2020年第1期2020卷 1-9页

作者： Ryu Nakadate Tsutomu Iwasa shinya onogi Jumpei Arata Susumu Oguri Yasuharu Okamoto Tomohiko Akahoshi Masatoshi Eto Makoto Hashizume Center for Advanced Medical Innovation Kyushu UniversityJapan Kitakyushu Municipal Medical Center Kyushu UniversityJapan Institute of Biomaterials and Bioengineering Tokyo Medical and Dental UniversityJapan Department of Mechanical Engineering Kyushu UniversityJapan Department of Advanced Medicine and Innovative Technology Kyushu University HospitalJapan Kyushu Central Hospital Japan Department of Urology Kyushu UniversityJapan Kyushu University Japan

Early-stage gastrointestinal cancer is often treated by endoscopic submucosal dissection(ESD)using a flexible endoscope.Compared with conventional percutaneous surgery,ESD is much less invasive and provides a high quality of life for the patient because it does not require a skin incision,and the organ is preserved.However,the operator must be highly skilled because ESD requires using a flexible endoscope with energy devices,which have limited degrees of freedom.To facilitate easier manipulation of these flexible devices,we developed a surgical robot comprising a flexible endoscope and two articulating instruments.The robotic system is based on a conventional flexible endoscope,and an extrapolated motor unit moves the endoscope in all its degrees of freedom.The instruments are thin enough to allow insertion of two instruments into the endoscope channel,and each instrument has a bending section that allows for up–down,right–left,and forward–backward motion.In this study,we performed an ex vivo feasibility evaluation using the proposed robotic system for ESD in a porcine stomach.The procedure was successfully performed by five novice operators without complications.Our findings demonstrated the feasibility of the proposed robotic system and,furthermore,suggest that even operators with limited experience can use this system to perform ESD.

关键词： Robot Access robot

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Transcript Level Analysis of Lignin and Flavonoid Biosynthesis Related Genes in <i>Eucalyptus globulus</i>

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American Journal of Plant Sciences 2014年第18期5卷 2764-2772页

作者： Tomotaka shinya Kazunori Hayashi Shinichi onogi Akiyoshi Kawaoka Agri-Biotechnology Research Laboratory Nippon Paper Industries Co. Ltd. Tokyo Japan

We have investigated a correlation of transcript abundances of key genes that influence the quality of wood and flavonoid biosynthesis, such as the two p-hydroxycinnamoyl-CoA:quinate shikimate p-hydroxycinnamoyl transferase (HCT) and the two chalcone synthases (CHS) from Eucalyptus globulus grown in a greenhouse. The EglHCT1 and EglHCT2 transcripts accumulated in stems of all ages, but to a lesser extent in leaves. On the other hand, EglCHS3 and EglCHS4 exhibited high transcript levels in leaves, roots and shoots, but low levels in the stem. A positive correlation (R2 > 0.70) was observed between the transcript levels of the EglHCT1, EglHCT2 genes and Klason lignin (KL) content. In addition, the sum of transcript levels of EglHCT1 and EglHCT2 genes were highly correlated to KL contents (R2 > 0.85). However, there is no relationship between transcript levels of two CHS genes and, KL or flavonoid contents. This may imply that lignin biosynthesis and flavonoid biosynthesis are independently regulated in E. globulus.

关键词： HCT CHS 4CL Transcript Level Lignin Content Eucalyptus globulus

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