#author("2026-06-12T09:15:52+08:00","","") #author("2026-06-12T09:18:30+08:00","","") ---- [[FrontPage]] | [[Project Team Member]] | [[Presentations]] | [[Publications]] | [[Patents]] | [[Grants]] | [[Awards]] | [[Project History]] | [[Photos]] | [[Videos]] ---- #br ''Publications'' #br SIZE(7):医学系： **論文（原著もしくは総説） [#r80c3389] Hiraki T, Matsui Y, Sakurai J, Tomita K, Uka M, Kajita S, et al. Comparison of robotic versus manual needle insertion for CT-guided intervention: prospective randomized trial. Radiology Advances. 2025;2(2):umaf010. Komaki T, Hiraki T, Kamegawa T, Matsuno T, Sakurai J, Matsuura R, Yamaguchi T, Sasaki T, Mitsuhashi T, Okamoto S, Uka M, Matsui Y, Iguchi T, Gobara H, Kanazawa S. Robotic CT-guided out-of-plane needle insertion: comparison of angle accuracy with manual insertion in phantom and measurement of distance accuracy in animals. Eur Radiol 2020; 30:1342-1349. Hiraki T, Kamegawa T, Matsuno T, Sakurai J, Komaki T, Yamaguchi T, Tomita K, Uka M, Matsui Y, Iguchi T, Gobara H, Kanazawa S. Robotic needle insertion during computed tomography fluoroscopy-guided biopsy: prospective first-in-human feasibility trial. Eur Radiol 2020; 30:927-933. 平木隆夫．「CTガイド下IVR用針穿刺ロボット（Zerobot®）の開発」。Rad Fan 2019; 17(12):75-77. 櫻井 淳、平木隆夫、小牧稔幸、金澤 右.「薬事承認申請から考える医療用ロボット開発」。臨床画像2019; 35(4):486-489. 平木隆夫、亀川哲志、松野隆幸、櫻井 淳、小牧稔幸、金澤 右.「CTガイド下IVR用針穿刺ロボットの現状と将来展望」。臨床画像2019; 35(4):474-479. 平木隆夫.「ロボット下IVRの現状と将来展望」序説。臨床画像2019; 35(4):473. 平木隆夫、亀川哲志，松野隆幸，櫻井 淳，金澤 右「CTガイド下針穿刺ロボット（Zerobot®）の現状と今後の展望」。Bio Clinica 2019; 34(3):75-79. Hiraki T, Kamegawa T, Matsuno T, Komaki T, Sakurai J, Kanazawa S. Zerobot®:a remote-controlled robot for needle insertion in CT-guided interventional radiology developed at Okayama University. Acta Medica Okayama 2018; 72(6):539-546. Hiraki T, Matsuno T, Kamegawa T, Komaki T,Sakurai J, Matsuura R, Yamaguchi T, Sasaki T, Iguchi T, Matsui Y, Gobara H, Kanazawa S. Robotic insertion of various ablation needles under computed tomography guidance: accuracy in animal experiments. Eur J Radiol 2018; 105:162-167. 平木 隆夫，亀川 哲志，松野 隆幸，谷本 圭司，櫻井 淳，桐田 泰三，金澤 右「 CT透視ガイド下IVR用針穿刺ロボット（Zerobot®）の開発」IVR会誌 2018; 33:19-25. 平木 隆夫、金澤 右、亀川 哲志，松野 隆幸，櫻井 淳，谷本 圭司，平柳 則之「CT透視画像を用いた腹部領域のIVR治療と技術開発の将来展望-CT透視下IVR用ロボットと最新CTとの融合」INNERVISION 2017; 32(12):77-79. Hiraki T, Kamegawa T, Matsuno T, et al. Robotically Driven CT-Guided Needle Insertion: Preliminary Results in Phantom and Animal Experiments. Radiology 2017; 285(2):454-461. Hiraki T, Kamegawa T, Matsuno T, et al. Robotically Driven CT-Guided Needle Insertion: Preliminary Results in Phantom and Animal Experiments. Radiology 2017; 285(2):454-461. 平木 隆夫、亀川 哲志、松野 隆幸、櫻井 淳、桐田 泰三、三宅 徹、谷本 圭司、金澤 右「CT透視下IVR用針穿刺ロボット（Zerobot®）の開発」Rad Fan 2016; 14:61-64. 平木 隆夫、金澤 右、亀川 哲志、松野 隆幸、北村 浩基，井上 卓也，川原 博，中家 寛貴「CT透視ガイド下IVRのためのロボット開発」新医療2014; 8:120–122. 平木 隆夫、亀川 哲志、松野 隆幸、金澤 右「CT透視下針穿刺用ロボット開発の歩み：術者被ばくゼロのIVRを目指して」IVR会誌2014; 29:375-381. **紹介記事 [#m37c3b7c] Yusuke Matsui, Tetsushi Kamegawa, Koji Tomita, Mayu Uka, Noriyuki Umakoshi, Takahiro Kawabata, Kazuaki Munetomo, Toshihiro Iguchi, Takayuki Matsuno & Takao Hiraki (2024). Robotic systems in interventional oncology: a narrative review of the current status. International Journal of Clinical Oncology, 29(2), 81-88. 「針穿刺ロボットを用いたがんに対する低侵襲治療の医師主導治験」。日経研月報 vol. 510, No. 12, pp. 31, 2020. 「穿刺ロボット「Zerobot」で術者被ばくゼロへ」日経メディカル 2020.8/27. 「研究大学 世界をリードするリサーチユニバーシティへ」。岡山大学広報誌いちょう並木2019; 93:3-4. 「医工連携で開発したロボットを駆使した新時代のがん低侵襲治療」。岡山大学統合報告書2019, P30 「岡山大学 医療用針穿刺ロボット「Zerobot」の初の臨床試験を実施 し10例全例で成功」。INNERVISION 2019; 34(10):87. 平成29年度岡山医学会賞総合奨励賞（結城賞）紹介記事。岡山医学会雑誌2018; 130(8):51-53. #br SIZE(7):工学系： **論文 [#u9628a26] Takayuki Matsuno, Hikaru Murakami, Tetsushi Kamegawa, Nanako Sakai, Takao Hiraki, Yuichiro Toda: “Estimation of Needle Puncturing Form during Slight Needle Movement Based on Force Data for Robotic Automated Puncturing Function”, Journal of Medical Robotics Research, Vol.7, No.2 & 3, pp.2241004_1-11, June 2022. T. Matsuno, N. Kido, T. Kamegawa, T. Hiraki and T. Fukuda: “Contact detection algorithm for needle puncturing robot”, Communications in Information and Systems (CIS), Volume 22, Number 4, pp.477–497, 2022. Kento Yokouchi, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Takuya Yamaguchi, and Akio Gofuku :”Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot”, Journal of Robotics and Mechatronics Vol.32 No.3, pp. 692-700, June 2020, doi: 10.20965/jrm.2020.p0692 (Published online: 20 June 2020) 亀川哲志，高山和真，松野隆幸，平木隆夫，櫻井淳，小牧稔幸，松浦龍太郎，佐々木崇了，五福明夫: “CT透視ガイド下針穿刺ロボットの自動化のための医師の手技中における針の軌道修正の調査”, 日本コンピュータ外科学会誌, Vol.22, No.1, pp.14-20, Feb. 2020. 日本コンピューター外科学会 論文賞（優秀症例賞） Akisato Nagao, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki: “Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment”, International Journal of Mechatronics and Automation, Vol.6 No.4, pp.190-200, 2018. Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Masayuki Nakamura, Akira Yanou, and Mamoru Minami, “Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control”, Journal of Robotics and Mechatronics, Vol.28, No.6, pp. 911-920, 2016. #br **書籍 [#x559e934] 松野隆幸，亀川哲志，平木隆夫："ロボット工学ハンドブック"，第Ⅳ編ロボット応用 3.7節〔事例〕CT透視下針穿刺ロボット ，コロナ社，(2023.3) 亀川哲志，松野隆幸，平木隆夫：”医工連携による機器・材料の開発”，第16章 CTガイド下針穿刺ロボットの開発，pp.150–156，シーエムシー出版 (2021.2) #br **総説・解説記事 [#nadcd8b5] 亀川 哲志，松野 隆幸，平木 隆夫: "CT ガイド下針穿刺ロボットZerobot の開発", 日本経営工学会，経営システム第35巻2号，pp.120-126, 2026年1月 Yusuke Matsui, Tetsushi Kamegawa, Koji Tomita, Mayu Uka, Noriyuki Umakoshi, Takahiro Kawabata, Kazuaki Munetomo, Toshihiro Iguchi, Takayuki Matsuno, Takao Hiraki: "Robotic systems in interventional oncology: a narrative review of the current status", International Journal of Clinical Oncology, https://doi.org/10.1007/s10147-023-02344-8, (Published online: 28 April 2023) Hiraki T, Kamegawa T, Matsuno T, Komaki T, Sakurai J, Kanazawa S. :"Zerobot®:a remote-controlled robot for needle insertion in CT-guided interventional radiology developed at Okayama University". Vol.72. No.6, pp.539-546, Acta Medica Okayama. 2018 平木 隆夫，亀川 哲志，松野 隆幸，谷本 圭司，櫻井 淳，桐田 泰三，金澤 右: "CT透視ガイド下IVR用針穿刺ロボット（Zerobot®）の開発", IVR会誌 2018; 33:19-25. 亀川 哲志，松野 隆幸，平木 隆夫「CT透視下で針穿刺を行うロボットの開発」日本アイソトープ協会 Isotope News，2016年8月号，746，26-28. 平木隆夫, 亀川哲志, 松野隆幸, 金澤右: "CT透視下針穿刺用ロボット開発の歩み：術者被ばくゼロのIVRを目指して", IVR会誌 Jpn J Intervent Radiol, Vol.29, No.4, pp.375-381, 2014年12月 #br **国際会議（査読有）の予稿集 [#a895ea40] Takayuki Matsuno, Wataru Muramoto, Taichi Ozawa, Yuichiro Toda, Tetsushi Kamegawa, Yusuke Matsui and Takao Hiraki:"Method for Estimating the Moment on a Needle During Surgery Using a Puncture Robot for Automatic Insertion", 2025 SICE Festival with Annual Conference, FrCT7.1, Chiang Mai, Thailand, September 9-12, 2025. K. Mayumi, T. Matsuno, T. Kamegawa, K. Morooka, T. Hiraki and Y. Toda, “Automatic Puncture Needle Detection by Image Processing Using Deep Learning and CT Values,” 2022 International Symposium on Micro-~NanoMehatronics and Human Science (MHS), Nagoya, Japan, 2022, pp. 1-6 K. Mayumi, T. Matsuno, T. Kamegawa, K. Morooka, T. Hiraki and Y. Toda, “Automatic Puncture Needle Detection by Image Processing Using Deep Learning and CT Values,” 2022 International Symposium on Micro-Nano Mehatronics and Human Science (MHS), Nagoya, Japan, 2022, pp. 1-6 S. Kobayashi, Y. Toda, T. Matsuno, K. Mayumi, W. Muramoto, N. Fujitsuka, T. Tanaka, T. Kamegawa and T. Hiraki, “Automatic Detection of Puncture Needle from CT Image with Deep Learning and Difference of CT Value Along Craniocaudal Direction,” 2023 IEEE International Conference on Systems, Man, and Cybernetics (SMC), Honolulu, Oahu, HI, USA, 2023, pp. 4947-4952 Takayuki Matsuno, Hikaru Murakami, Tetsushi Kamegawa, Takaaki Miyamoto, Nanako Sakai, Mamoru Minami, Takao Hiraki: “Estimation of Needle Puncturing Form Based on Force Data during Slight Needle Movement”, Proceedings of 2021 International Symposium on Medical Robotics (ISMR), 2021, pp. 1-7, doi: 10.1109/ISMR48346.2021.9661566. Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki: “Collision Detection Calculation of Robot to Insert Needles for Interventional Radiology”, Proceedings of the 2021 IEEE International Conference on Advanced Robotics and its Social Impacts, FrPA.13. Matsuno T, Kamegawa T, Hiraki T, Toda Y, and Minami M. “Needle Angle Offset Compensation Based on Volume CT Image for Needle Puncture Robot”, Proceedings of the 24th International Symposium on Artificial Life and Robotics (AROB2019). 2019, 922–927. Kazushi Kimura, Takayuki Matsuno, Kohei Sugiyama, Akisato Nagao, Tetsushi Kamegawa, Mamoru Minami, Takao Hiraki.「Needle pose adjustment based on force information with needle puncturing robot」Proceeding of the 2017 IEEE/SICE International Symposium on System Integration (SII2017), 2017, 626–631. Matsuno T, Sugiyama K, Nagao A, Kamegawa T, Hiraki T, Minami M. Prediction of needle deflection based on reaction force analysis for needle puncture robot with CT equipment. Proceedings of the Twenty-Second International Symposium on Artificial Life and Robotics 2017 (AROB 22nd 2017) and the Second International Symposium on ~BioComplexity 2017 (ISBC 2nd 2017), 2017, 801–806. Matsuno T, Sugiyama K, Nagao A, Kamegawa T, Hiraki T, Minami M. Prediction of needle deflection based on reaction force analysis for needle puncture robot with CT equipment. Proceedings of the Twenty-Second International Symposium on Artificial Life and Robotics 2017 (AROB 22nd 2017) and the Second International Symposium on Bio Complexity 2017 (ISBC 2nd 2017), 2017, 801–806. Akisato Nagao, Takayuki Matsuno, Kazusi Kimura, Tetsushi Kamegawa, Mamoru Minami, Takao Hiraki. 「Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment」Proceeding of the 2017 IEEE International Conference on Mechatronics and Automation (ICMA2017), pp.451-457, 2017. Akira Heya, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Akio Gofuku.「Development of Instantaneously Puncture System for CT Fluoroscopy-Guided Interventional Radiology」 Proceedings of 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2016), pp.2369-2374, 2016. Hajime Ishii, Tetsushi Kamegawa, Hiroki Kitamura, Takayuki Matsuno, Takao Hirakiy and Akio Gofuku. 「Development of a Prototype of Puncturing Robot for CT-guided Intervention」 Proceedings of the 11th IEEE Conference on Industrial Electronics and Applications (ICIEA2016), pp.1020-1025, 2016. Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Akira Yanou, Mamoru Minami.「Reaction Force Analysis of Puncture Robot for CT-guided Interventional Radiology in Animal Experiment」Proceedings of the 2015 IEEE/SICE International Symposium on System Integration, pp.7-12, 2015. Hirotaka Nakaya, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Takuya Inoue, Akira Yanou, Mamoru Minami, Akio Gofuku.「CT Phantom for Development of Robotic Interventional Radiology」Proceedings of the 2014 IEEE/SICE International Symposium on System Integration, pp.82-87, 2014. Takuya Inoue, Takayuki Matsuno, Akira Yanou, Mamoru Minami, Takao Hiraki.「Development of a Minimally Invasive Robotic Interventional Radiology for Treatment of Lung Cancer -Manufacture of a Basic Mechanism and Verification Experiment-」Proceedings of SICE Annual Conference 2013, pp.2646-2651, 2013.