研究者業績
  1. 研究者検索結果一覧
  2. 川村 和也

川村 和也

カワムラ カズヤ  (Kazuya Kawamura)

基本情報

所属
千葉大学 フロンティア医工学センター 准教授
(兼任)大学院工学研究院　工学部 総合工学科 医工学コース 准教授
(兼任)大学院工学研究院　 融合理工学府 基幹工学専攻 准教授
学位
博士（工学）(2009年3月 早稲田大学)
研究者番号
50449336
ORCID ID
 https://orcid.org/0000-0002-2736-1311
J-GLOBAL ID
200901068885312227
researchmap会員ID
6000000438
外部リンク

研究キーワード

 8

研究分野

 2

経歴

 8
もっとみる

学歴

 3

委員歴

 13
もっとみる

主要な受賞

 11
もっとみる

主要な論文

 119
  • Kazuya Kawamura, Yuma Shimura
    Journal of Robotics and Mechatronics 34(6) 1277-1283 2022年12月  査読有り筆頭著者
  • 山田亮太, 川平洋, 下村義弘, 川村和也
    日本コンピュータ外科学会誌 22(2) 131-137 2020年  査読有り責任著者
  • Kazuya Kawamura, Hiroto Seno, Yo Kobayashi, Satoshi Ieiri, Makoto Hashizume, Masakatsu G. Fujie
    Applied Sciences 9(19) 4136-4136 2019年10月2日  査読有り筆頭著者
    In pediatric surgery, robotic technology is useful. However, it is difficult to apply this technology due to size-related problems. In our study, we proposed a mechanical design method using a human-in-the-loop type simulator, and the moving volume and invisible area were optimized. We also verified the effectiveness of the optimization of the mechanical parameters by applying the simulator to pediatric surgery. In this experiment, a needle-hooking task was carried out by four subjects with five types of mechanisms using the results of the Pareto optimal solution obtained in the previous research. Moreover, the accuracy of the needle tip manipulation was verified. It was confirmed that the accuracy was higher under the operation of the mechanism that satisfied the Pareto optimal solution in comparison with the other mechanism. As the operation was carried out based on movement in the direction of the arm, the moving volume decreased. Therefore, the accuracy of the hooking was found to improve. It would be useful to optimize the mechanism by verifying the moving volume and invisible area rate for the needle-hooking task. In future work, the optimization of the mechanism for procedures that require both hands will be carried out.
  • Kazuya Kawamura, Hiroto Seno, Yo Kobayashi, Satoshi Ieiri, Makoto Hashizume, Masakatsu G. Fujie
    Adv. Robotics 30(7) 476-488 2016年  査読有り
もっとみる

MISC

 80
  • 瀬能 洸冬, 川村 和也, 小林 洋, 藤江 正克
    Journal of Japan Society of Computer Aided Surgery : J.JSCAS 12(3) 406-407 2010年11月2日  責任著者
  • 岡本 淳, 野村 真理子, 森田 裕也, 川村 和也, 剣持 一, 高杉 紳一郎, 橋爪 誠, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2010 _2A2-G29_1-_2A2-G29_2 2010年  
    To realize convenient and long distance gait analysis, a geostationary satellite type gait analysis system is developed. Proposed system is composed of a mobile robot and magnetic three dimension positional measurement device (LATUS by POLHEMUS). This system follows to the subject who attached markers and measures the marker positions for long distance. This paper report the result of position measurement experiment in the outdoor environment that has little distortion factor. The result shows sufficient value comparison with commercial motion capture system.
  • 岡田 薫, 豊田 和孝, 川村 和也, 岡本 淳, 竹村 博文, 藤江 正克
    Journal of Japan Society of Computer Aided Surgery : J.JSCAS 11(3) 238-239 2009年11月21日  
  • 川村 和也, 小林 洋, 藤江 正克
    Journal of Japan Society of Computer Aided Surgery : J.JSCAS 11(3) 272-273 2009年11月21日  筆頭著者責任著者
  • 野村 真理子, 熊坂 悠, 川村 和也, 岡本 淳, 剣持 一, 高杉 紳一郎, 橋爪 誠, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2009 _2A1-L13_1-_2A1-L13_2 2009年  
    To realize the long distance gait analysis, the gait analysis system is developed. Proposed system is composed of a mobile robot and three dimension positional measurement device(LATUS^[○!R]). This system follows to the subject who attached markers and measures the marker position for long distance. But in the indoor environment, there are many objects which distort the magnetic field from measurement device. This paper described about the process of the gait analysis system, new mobile robot, and the result of the relationships of position and measurement accuracy.
  • 小林 洋, 加藤 篤, 星 雄陽, 川村 和也, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2009 _1A2-K06_1-_1A2-K06_4 2009年  
    Research concerning a control method intended for a surgical robot, which prevents the overload of fragile tissues is shown in this paper. In particular, we proposed that the simulation based parameter setting method to ensure the robustness of the performance relative to the variation of the organ stiffness parameter. The simulation and experimental result suggests that our control method helps to prevent stress overload and that the proposed parameter setting method is effective in realizing the robustness relative to the variation of the organ stiffness parameter.
  • 川村 和也, 小林 洋, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2009 _1A2-K07_1-_1A2-K07_2 2009年  筆頭著者責任著者
    In recently year, disparity in medical treatments between different domains is a serious problem of the elderly dominated society. So realization of robotic tele-surgery would be expected for elimination of the disparity in medical treatments between different domains. For the development of intra-operative assisting system, a clarification of the relation between network disorder and operability during a surgery is required. This study aims to evaluate operability quantitatively under the delay environment and propose required conditions of surgical assisting system. In this paper, the three kinds of simulator are developed and the operability of gripping motion under the delay environment is evaluated with this integrated simulation system.
  • 川村和也, 小林洋, 藤江正克
    日本コンピュータ外科学会誌 10(3) 267-268 2008年10月31日  筆頭著者責任著者
  • 岡本 淳, 野村 真理子, 熊坂 悠, 川村 和也, 剣持 一, 高杉 紳一郎, 橋爪 誠, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2008 _2A1-C17_1-_2A1-C17_2 2008年  
    To realize the long distance gait analysis, the geostationary satellite type gait analysis system is developed. Proposed system is composed of a mobile robot (walking support machine) and three dimension positional measurement device (FASTRAK). This system follows to the subject who attached markers and measures the marker positions for long distance. This paper report the result of gait measurement experiment in the outdoor environment that has little distortion factor to the magnetic field generated by FASTRAK.
  • 野村 真理子, 熊坂 悠, 川村 和也, 岡本 淳, 剣持 一, 高杉 紳一郎, 橋爪 誠, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2008 _2A1-C18_1-_2A1-C18_2 2008年  
    We are developing a geostationary satellite type gait analysis system that consists of a mobile robot and a magnetic three dimensional position measurement device. But in the indoor environment, there are many objects which distort the magnetic field from measurement device. In this paper, we quantify the magnetic field distortion in the rehabilitation room at Kyusyu University hospital. From the experimental results, we confirm the measurement error and the distance between magnetic receiver and floor has increase proportionally relation.
  • Yo Kobayashi, Akinori Onishi, Takeharu Hoshi, Kazuya Kawamura, Makoto Hashizume, Masakatsu G. Fujie
    MEDICAL IMAGING AND AUGMENTED REALITY, PROCEEDINGS 5128 50-+ 2008年  
    This paper shows the viscoelastic and nonlinear liver model for organ model based needle insertion. in which the deformation of an organ is estimated and predicted, and the needle trajectory is decided with organ deformation taken into consideration. An organ model including detailed material characteristics is important in order to achieve the proposed method. Firstly, the material properties of the liver are modeled from the measured data and its viscoelastic characteristics are represented by differential equations. including the term of the fractional derivative. Nonlinearity in terms of the stiffness was measured. and modeled using the quadratic function of strain. Next, a solution of an FE(Finite element) model using such material properties is shown. We use the sampling time scaling property as the solution for the viscoelastic system, while the solution for a nonlinear system using the Euler method and the Modified Newton-Raphson method is also shown. Finally, the deformation of liver model is calculated and pig liver of in vivo situation is obtained from medical ultrasound equipment. Comparing the relationship between needle displacement and force on real liver and liver model, we validate the proposed model.
  • 小林 洋, 尾西 晃典, 星 雄陽, 川村 和也, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2008 _1A1-C19_1-_1A1-C19_4 2008年  
    This paper shows validation of viscoelastic and nonlinear physical model of liver. In vitro experiment using biomaterial in previous works shows the nonlinear response of force loaded on the needle and the velocity dependency of needle displacement where puncture occur. The physical models of the liver were analyzed under the same conditions of in vitro experiment in order to evaluate the model. From the result of validation experiment, the developed liver model reproduces the nonlinear response of force loaded on the needle and the velocity dependency of needle displacement where puncture occur.
  • 井上 慎太郎, 野口 豊弘, 加藤 篤, 豊田 和孝, 川村 和也, 小林 洋, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2008 _1P1-C09_1-_1P1-C09_4 2008年  
    To prevent accidents during a surgery using a master-slave surgical robot, we proposed an autonomous avoidance algorithm of danger area. This proposed algorithm generates avoidance motion with manual operation by an operator and autonomous operation based on position information of the danger area. Using usual methods of the autonomous avoidance, it is difficult to juggle two demands postulated as follows: the stability of the slave motion around the danger area and avoidance when the danger area approach to the slave robot. In this paper, we described a new method that can juggle them, and evaluate the availability using simulation and actual equipment.
  • 小林 洋, 尾西 晃典, 星 雄陽, 川村 和也, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2008 _1P1-C13_1-_1P1-C13_4 2008年  
    This paper shows the development of ultrasound-guided needle insertion manipulator driven by flexible rack. The manipulator holds an ultrasound probe and unifying it. The manipulator has three degree of freedom and realizes the positioning on Ultrasound image. In this paper, we measure the positioning precision of developed manipulator. From these results, it is suggested that the manipulator realize precise positioning under 0.1mm. Then, the registration method is shown and the manipulator realizes precise positioning under 1mm on ultrasound image from registration experiment.
  • 岡田 薫, 加藤 篤, 野口 豊弘, 豊田 和孝, 川村 和也, 小林 洋, 岡本 淳, 宮下 朋之, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2008 _1P1-C10_1-_1P1-C10_4 2008年  
    This paper presents the development of robot capable to simulate heartbeat. It is difficult to operate off-pump coronary-artery bypass surgery. Consequently, we develop the surgical robot system with heart-beat compensation. In the process of developing the robot system above, it is necessary to evaluate the tracking capability of the robot system quantitatively. Therefore, we developed the Robotic heart-beat simulator which evaluates the robot system. First of all, required specification of the robot was found by the heartbeat data in vivo experiment. Second, the link parameters of the robot that satisfy the specification were optimized. At the end, the robot was evaluated for accuracy of position and posture. As a result, the robot moved with maximum error of 0.28 [mm] and 0.54 [deg]. In addition, the robot was evaluated in the experiment of movement based on the heartbeat data, it showed a little error and time-lag, but utility of the robotic heartbeat simulator.
  • 尾西 晃典, 小林 洋, 星 雄陽, 川村 和也, 橋爪 誠, 藤江 正克
    Journal of Japan Society of Computer Aided Surgery : J.JSCAS 9(3) 200-201 2007年12月30日  
  • 尾西晃典, 小林洋, 星雄陽, 川村和也, 橋爪誠, 藤江正克
    コンピュータ支援画像診断学会大会・日本コンピュータ外科学会大会合同論文集 17th-16th 33-34 2007年11月2日  
  • 川村 和也, 小林 洋, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2007 _2A1-G09_1-_2A1-G09_2 2007年  筆頭著者責任著者
    In recent year, robotics and computer technology introduced in surgical domain allow surgery to be performed more precise medical care. In particular, computer technology enables precise surgical simulation using virtual reality or computer graphics. In our research, we will focus on constructing an intra-operative navigation system with online information of organs and surgical tools based on surgical simulation with mechanical models. This proposed simulation system consists of two simulators and an actual manipulator: virtual slave manipulator, organs deformation calculator and master controller. In this paper, we illustrated the organs deformation calculator and an experiment with pig liver and this simulator.
  • 小林 洋, 尾西 晃典, 星 雄陽, 川村 和也, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2007 _2A1-G05_1-_2A1-G05_4 2007年  
    This paper shows the development of precise needle insertion manipulator driven by flexible rack. We aim at the precise positioning of manipulator with drive transmission using flexible rack. The mechanism to realize precise positioning using flexible rack dive is supposed. And, we develop the needle insertion manipulator using the supposed mechanism. The characteristics of flexible rack drive is measured and modeled to make controller. The controller of manipulator is made from simulation result using flexible rack drive model. The experiment to measure the precision of manipulator was carried out. The developed manipulator realizes precise positioning at 20μm.
  • 岡本 淳, 梅田 剛史, 大浦 光宏, 川村 和也, 小林 洋, 福与 恒夫, 竹村 博文, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2007 _2A1-H08_1-_2A1-H08_4 2007年  
    Purpose of this study is the development of surgical robot system with heartbeat compensation. By driving manipulator using the sensing data of the heartbeat, the position and orientation of heart and that of the manipulator are synchronized and relatively fixed. Hereby minimum motion like interarterial coronary anastomosis under the heartbeat becomes possible and therefore it will be minimally invasive. This paper describes the method of heartbeat compensation, master-slave surgical system and heartbeat compensation system. The Shincronaized motion is to make the robot follow to the movement of the heart, the detected heart position is input to the slave robot. The Shincronaized vision is to offer the image of a geostationary heart. We report on the work experiment to combine the Shincronaized motion with the Shincronaized vision.
  • 藤江 正克, 岩森 順子, 梅田 剛史, 大浦 光宏, 豊田 和孝, 川村 和也, 小林 洋, 岡安 はる奈, 岡本 淳, 山川 宏, 安達 洋祐, 竹村 博文, 福与 恒雄
    Journal of Japan Society of Computer Aided Surgery : J.JSCAS 8(3) 138-139 2006年12月30日  
  • 山川 宏, モハマド カマロル, 中村 拓真, 川村 和也, 小林 洋, 岡本 淳, 宮下 朋之, 藤江 正克
    Journal of Japan Society of Computer Aided Surgery : J.JSCAS 8(3) 140-141 2006年12月30日  
  • 小林 洋, 星 雄陽, 川村 和也, 藤江 正克
    Journal of Japan Society of Computer Aided Surgery : J.JSCAS 8(3) 268-269 2006年12月30日  
  • 梅田 剛史, 大浦 光宏, 豊田 和孝, 川村 和也, 小林 洋, 岡本 淳, 福与 恒雄, 竹村 博文, 藤江 正克
    Journal of Japan Society of Computer Aided Surgery : J.JSCAS 8(3) 290-291 2006年12月30日  
  • 豊田和孝, 梅田剛史, 大浦光宏, 川村和也, 小林洋, 岡本淳, 藤江正克
    日本ロボット学会学術講演会予稿集(CD-ROM) 24th 3J34 2006年9月14日  
  • 川村 和也, 小林 洋, 岡本 淳, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2006 _2A1-A24_1-_2A1-A24_4 2006年  筆頭著者
    Tele-surgery offers medical care even in a distant region and has already had a real clinical case with a special communication line. To make tele-surgery common method, surgical environment with a public communication line such as Internet is necessary. In this research, we quantified doctors' workloads with simulation system for constructing the optimal conditions for tele-surgery. Tele-surgery is composed of surgical robots system, affected area and network between doctor and patient. So reconstructing this environment in virtual space required surgical robots system, organs and network. We already developed and reported the simulation system consisted of the network simulator, master manipulators and virtual slave manipulators. In this paper, we developed a organs deformation simulator. This simulator used Mass-Spring-Damper method to describe the deformation. And this simulator was applicable to real-time presentation of deformation. The workload using this system was also evaluated with NASA-TLX
  • 星 雄陽, 川村 和也, 小林 洋, 岡本 淳, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2006 _2A1-A25_1-_2A1-A25_2 2006年  
    Accurate models of tissue behavior are key elements in supporting system for surgery. Tissue model parameters, however, are inherently uncertain factors that are due to individual specificity. This paper is concerned with the identification analysis of tissue model parameters by use of Mass-Spring-Damper model in conjunction with the Extended Kalman Filter. As a result of evaluation test in numerical simulation, elastic parameter of tissue model converges at the correct value.
  • Kawamura K., Fujie M. G.
    Journal of Japan Society of Computer Aided Surgery : J.JSCAS 7(2) 198-200 2005年9月30日  
  • K. Kawamura, M.G. Fujie
    The 1st Asian Symposium on Computer Aided Surgery 2005年  査読有り筆頭著者
  • 川村 和也, 田島 孝重, 鈴木 伸一, 岡本 淳, 藤江 正克
    ロボティクス・メカトロニクス講演会講演概要集 2004 172-173 2004年  筆頭著者

書籍等出版物

 2

講演・口頭発表等

 148
もっとみる

担当経験のある科目(授業)

 14
もっとみる

所属学協会

 3

共同研究・競争的資金等の研究課題

 20
もっとみる

産業財産権

 11
もっとみる

社会貢献活動

 12
一覧へ戻る