研究者業績
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
経歴
8-
2023年10月 - 現在
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2015年10月 - 現在
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2012年4月 - 2023年9月
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2012年4月 - 2015年9月
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2012年8月 - 2012年10月
学歴
3-
2006年4月 - 2009年3月
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2004年4月 - 2006年3月
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2000年4月 - 2004年3月
委員歴
13-
2015年4月 - 現在
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2015年 - 現在
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2024年4月 - 2024年11月
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2023年3月 - 2023年12月
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2016年4月 - 2019年3月
主要な受賞
11主要な論文
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Journal of Robotics and Mechatronics 34(6) 1277-1283 2022年12月 査読有り筆頭著者
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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.
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Adv. Robotics 30(7) 476-488 2016年 査読有り
主要なMISC
80書籍等出版物
2講演・口頭発表等
148-
36th Annual International IEEE EMBS Conference 2014年8月 招待有り
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ロボティクス・メカトロニクス講演会講演概要集 2014年5月24日In this paper, we performed biodynamic verification of a normal gait muscular activity model gait with lower foot orthosis muscular activity model and using Bayes estimation. In creating this model, we aimed to enable quantitative selection of lower foot orthoses based on a patient's muscular activity in the lower foot. This model allows for not only the estimation of muscle activity, but also another closely related parameter through the change in muscular activity, which is a parent node to the muscle activity node. Here, we verify the biodynamic validity of the normal gait model and gait with lower foot orthosis model parent node for two foot muscles.
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ロボティクス・メカトロニクス講演会講演概要集 2014年5月24日This Paper presents a novel evaluation method for surgical robotics operation by analyzing user's brain activity. In this paper, we evaluated the operability as how strongly the user perceives that the robot belongs to the user's body. In experiment, we measured the user's brain activity on the intraparietal sulcus by f-NIRS as the user controlled the virtual arm. As a result, the oxygenated hemoglobin is significantly close to the sum of sin wave. We conclude that the oxygenated hemoglobin changed as the user perceives that the virtual arm belongs to the user's body.
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電子情報通信学会技術研究報告 2014年1月19日【背景・目的】腹腔鏡下手術における操作性に内視鏡の位置と運動は大きく関与すると考えられる.本研究では従来のスコピストによるカメラ操作に代わる,固定広角カメラを利用した術野自動提示システムの開発を行った.【手法】広角画像における鉗子先端を画像処理によって自動検出し,挿入された二本の鉗子先端の中心がその時刻における術者の関心領域であるという仮定の下にその領域を術者に提示した.【結果】自動検出は誤差約11pixelsで行われた.また,評価実験から提案システムがスコピストによる内視鏡操作と同等の操作性を実現することが示唆された.【結語】提案手法によって内視鏡画像中からの鉗子先端の自動検出が可能であり,提案システムは術者に至適な画像を提示できると考えられた.
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電子情報通信学会技術研究報告 2014年1月19日前立腺癌治療後の患者のQOL維持のため,癌部位の局所的治療を目的とした詳細な癌部位の検出手法が求められている.本研究では,超音波画像診断法の精度の向上を目的として前立腺組織の癌組織を含む前立腺組織切片から,病理診断を元に癌部と非癌部を抽出し,超音波顕微鏡を用いて各部位の細胞レベルでの音響特性を計測した.癌組織と正常組織には,組織内の音速および減衰特性に統計的に有意差が認められ,超音波画像診断法における前立腺癌の精密な検出の可能性が示唆された.
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年次大会 : Mechanical Engineering Congress, Japan 2013年9月8日The objective of this study is building the systems which can prescript desirable leg orthosis for leg paralyzed patients. In this paper we build leg muscular estimate model by using Bayesian network. Our method can estimate activity level of muscle using only two kinds of parameter. Sole pressure distribution and Joint angle. And this method has three advantages. Our use of 10% increments in the levels of the measured factors enabled changes in these factors during gait to be reflected in the model. Variations in the influence of factors that differ between low and high muscle activity are represented. It is easier to use than physical models; three- dimensional motion analysis is not necessary and the method is convenient for clinical use. We estimate healthy person's leg muscular activity, and leg paralyzed person's leg muscular activity by using our model. The accuracy of healthy person model estimation is over 90%. And the accuracy of leg paralyzed model estimation is over 85%.
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Journal of Japan Society of Computer Aided Surgery : J.JSCAS 2013年8月27日
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日本ロボット学会誌 2012年11月15日The mobility-aid is important for the people with severe disability, especially, the child with sever cerebral palsy. In this article, interactive learning system between human and robot is applied for an electric powered wheelchair of the person with severe cerebral palsy. The user, that is, human, understands how to control wheelchair whose input signal is an acceleration data attached at right foot with feeling wheelchair' movement. The robot, that is, wheelchair, understands user's obscure foot movement using a self organizing map. The effectiveness of proposed interactive learning system was evaluated by the experiments with 10 healthy subjects and a child with severe cerebral palsy.
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生活生命支援医療福祉工学系学会連合大会講演論文集(CD-ROM) 2012年11月
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Journal of Japan Society of Computer Aided Surgery : J.JSCAS 2012年10月5日
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年次大会 : Mechanical Engineering Congress, Japan 2012年9月9日Surgical robot needs the intuitive operability. However conventional method cannot evaluate user inter-operability. We propose the evaluation method using brain activity measurement to design the robot which perceive user to be part of user's own body. In this paper, the objective is to clarify the master configuration against the monitor that facilitates users to perceive the manipulator as part of their own body. We assume that the master configuration produces the immersive reality of the user putting his own arm into the monitor. In our experiments, as subjects controlled the virtual slave manipulator on the target in a surgical simulator, we measured brain activity through brain-imaging devices. We carried out our experiments a number of times with the master manipulator configured in a variety of ways with the position of the monitor fixed. In all subjects, we found that the brain was activated significantly when the master manipulator was located behind the monitor. We conclude that the master configuration produces immersive reality through body image.
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ロボティクス・メカトロニクス講演会講演概要集 2012年5月27日Recently, small incision pediatric surgeries have been widely performed due to their minimally invasiveness. However, they make it difficult for surgeons to manipulate surgical tools. Robotic assist is required to reduce the workload for surgeons. Single port endoscopic surgery (SPS) assist robot we have developed is important option for it. It enables surgeons to perform precise operation using its tool manipulators. However, the operative field of a child is so tight that manipulators are limited for range of movement and hide working area from their view. We proposed the compensation method that complements the view by superimposing the image taken with added endoscope on forceps region of view. This paper presents a basic evaluation for validity of proposal method. In the experiment, delay time and resultant error of complemented image satisfied requirement specifications. In addition, we heard views of a pediatric surgeon on it.
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ロボティクス・メカトロニクス講演会講演概要集 2012年5月27日In this paper we develop an estimation model of foot-ankle muscular activity for designing an ankle-foot orthosis. We used Baysian network for building the model and evaluate the model. Especially we talk about conformity with actual muscle activity. Our model has three advantages. First, it can express the influences, which change throughout the gait, because we use 10% level nodes of each factor. Second, it can express the influences of factors, which are different for low and high muscular activity legels. Last, the model can compensate the missed estimations by estimating every 10% level muscle activity. In an evaluation of this model, we confirmed that this model can estimate all muscular activity level with an accuracy rate greater than 90%.
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COMPUTER AIDED SURGERY 2012年
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日本生体医工学会大会プログラム・論文集(CD-ROM) 2012年
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Journal of Japan Society of Computer Aided Surgery : J.JSCAS 2011年11月22日
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年次大会 : Mechanical Engineering Congress, Japan 2011年9月11日Patients with diseases such as chronic obstructive pulmonary disease (COPD) need to improve their thorax mobility. Thoracic excursion is one of the simplest and most useful indexes to evaluate the respiratory function. In this paper, we have proposed the prototype of a simple thoracic excursion measurement system with real-time visual bio-feedback in the chest expansion test. In this system, the thoracic excursion is measured using a wire-type linear encoder whose wire is wrapped around the thorax. The developed system was used by more than twenty patients such as patient with COPD. According to the questioner to the rehabilitation doctor and physical therapist, the immediately effect was confirmed by using the real-time bio-feedback of measured chest circumstance.
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ロボティクス・メカトロニクス講演会講演概要集 2011年5月26日Recently, robotic systems assisting single port endoscopic surgery (SPS) was developed. Our laboratory also developed a SPS assisting robot. It enables surgeons to manipulate position and posture of the endoscope. Joystick and foot switches are used to manipulate endoscope, however, this system is not suitable for manipulating endoscope and operability of endoscope is bad. It's because manipulating posture is rare in robotic surgery and not discussed the way of manipulating posture. This paper presents a basic evaluation of operability about manipulating position and posture of endoscope. In the experiment, we evaluate operability of position and posture independently.
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Computer Aided Surgery - 7th Asian Conference on Computer Aided Surgery, ACCAS 2011, Bangkok, Thailand, August 2011, Proceedings 2011年
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Journal of Japan Society of Computer Aided Surgery : J.JSCAS 2010年11月2日
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Journal of Japan Society of Computer Aided Surgery : J.JSCAS 2010年11月2日
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ロボティクス・メカトロニクス講演会講演概要集 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.
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2009 IEEE/SICE International Symposium on System Integration: SI International 2008 - The 2nd Symposium on System Integration 2009年12月1日We are developing integrated robotic system with needle insertion robot and biomechanical simulator to realize localized RFA therapy. In this paper, we introduce the following three key systems: Needle insertion robot, biomechanical physical liver model for deformation simulation and temperature distribution simulation. ©2009 IEEE.
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Journal of Japan Society of Computer Aided Surgery : J.JSCAS 2009年11月21日
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Journal of Japan Society of Computer Aided Surgery : J.JSCAS 2009年11月21日
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ロボティクス・メカトロニクス講演会講演概要集 2009年5月25日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.
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ロボティクス・メカトロニクス講演会講演概要集 2009年5月25日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 thr...
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ロボティクス・メカトロニクス講演会講演概要集 2009年5月25日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.
担当経験のある科目(授業)
14-
2020年4月 - 現在メカニカルエンジニアリングラボF (早稲田大学)
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2019年4月 - 現在力学基礎演習 (千葉大学)
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2018年4月 - 現在工学入門（A,B, C） (千葉大学)
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2015年4月 - 現在物理学基礎実験 (千葉大学)
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2014年4月 - 現在メカトロニクス工学 (千葉大学)
所属学協会
3-
2012年4月 - 現在
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2005年4月 - 現在
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2004年4月 - 現在
共同研究・競争的資金等の研究課題
20-
中谷医工計測技術振興財団 技術開発研究助成【長期大型研究】 2022年4月 - 2027年3月
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栢森情報科学振興財団 第28回研究助成 2024年1月 - 2026年1月
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日本学術振興会 科学研究費助成事業 2022年4月 - 2025年3月
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公益財団法人 御器谷科学技術財団 2024年度研究助成 2024年4月 - 2025年3月
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立石科学技術振興財団 2023年度研究助成(A) 2023年4月 - 2024年3月