Updated on 2024/06/19

写真a

 
FUJIE, Masakatsu
 
Affiliation
Faculty of Science and Engineering
Job title
Professor Emeritus

Research Areas

  • Mechanics and mechatronics

Research Interests

  • 生物・生体工学

 

Research Projects

  • -

  • -

Misc

  • Position Control of Needle Tip Based on Physical Properties of LIver and Force Sensor

    Yo Kobayashi, Jun Okamoto, Masakatsu, G. Fujie

    Journal of Robotics and Mechatroics   18 ( 2 ) 167 - 176  2006

  • 粘弾性・非線形性を考慮した肝臓の材料特性のモデリング

    小林 洋, 岡本 淳, 藤江 正克

    日本コンピュータ外科学会誌   7 ( 4 ) 559 - 565  2006

    DOI

  • Position Control of Needle Tip Based on Physical Properties of LIver and Force Sensor

    Yo Kobayashi, Jun Okamoto, Masakatsu, G. Fujie

    Journal of Robotics and Mechatroics   18 ( 2 ) 167 - 176  2006

  • Bipolar coagulation-capable microforceps - Wire-driven microforceps for a neurosurgery support system

    T Kawai, K Kan, K Hongo, K Nishizawa, F Tajima, MG Fujie, T Dohi, K Takakura

    IEEE ENGINEERING IN MEDICINE AND BIOLOGY MAGAZINE   24 ( 4 ) 57 - 62  2005.07

    DOI

  • Bipolar coagulation-capable microforceps - Wire-driven microforceps for a neurosurgery support system

    T Kawai, K Kan, K Hongo, K Nishizawa, F Tajima, MG Fujie, T Dohi, K Takakura

    IEEE ENGINEERING IN MEDICINE AND BIOLOGY MAGAZINE   24 ( 4 ) 57 - 62  2005.07

    DOI

  • Physical Properties of Liver and Development of Intelligent Manipulator for Needle Insertion

    Yo Kobayashi, Jun Okamoto, Masakatsu G. Fujie

    Proceedings of International Conference on Robotics and Automation 2005     1644 - 1651  2005

    DOI

  • Development of a Hydraulically-driven Flexible Manipulator Including Passive Safety Method

    Haruna Okayasu, Jun Okamoto, M. G. Fujie, H. Iseki

    Proceedings of International Conference on Robotics and Automation 2005     2901 - 2907  2005

    DOI

  • Robot Surgery based on the Physical Properties of the Brain -Physical Brain Model for Planning and Navigation of a Surgical Robot-

    Aiko Yoshizawa, Jun Okamoto, Hiroshi Yamakawa, Masakatsu G. Fujie

    Proceedings of International Conference on Robotics and Automation 2005    2005

    DOI

  • Manipulators for intrauterine fetal surgery in an Open MRI

    Kanako Harada, Kota Tsubouchi, Toshio Chiba, Masakatsu G. Fujie

    Proceedings of International Conference on Robotics and Automation 2005     504 - 509  2005

    DOI

  • Research on QoS requirement for robotic tele-surgery

    K. Kawamura, M.G. Fujie

    The 1st Asian Symposium on Computer Aided Surgery    2005

  • Development of Surgery Assisting Manipulator s for RAO

    Masaru Yanagihara, Jun Okamoto, Norihiro Mitsui, Hideo Yano, Masakatsu G. Fujie

    The 1st Asian Symposium on Computer Aided Surgery    2005

  • Development of MRI Compatible SCARA-type Manipulator Using New Gimbals Mechanism

    M. Oura, Y. Mita, Y. Kobayashi, K. Kishi, J. Okamoto, M. G. Fujie

    The 1st Asian Symposium on Computer Aided Surgery    2005

  • Manipulators for intrauterine fetal surgery in an Open MRI -Report on first prototype-

    Kanako Harada, Kota Tsubouchi, Toshio Chiba, Masakatsu G. Fujie

    CARS 2005 Computer Assisted Radiology and Surgery    2005

  • QoS optimal conditions for robotic tele-surgery

    K.Kawamura, J.Okamoto M.Fujie

    CARS 2005 Computer Assisted Radiology and Surgery    2005

  • Position control of needle tip with force feedback and liver model

    Y Kobayashi, J Okamoto, MG Fujie

    CARS 2005: COMPUTER ASSISTED RADIOLOGY AND SURGERY   1281   719 - 724  2005

     View Summary

    Because the deflection is easier to occur with thin needle, the movement of the needle in consideration of the deflection is required. The deflection correction with (a) the force feedback, (b) liver model (c) force feedback and liver model is carried out to control the position of the needle tip. The experimental result shows the method using (c) represents optimal effectiveness of all the proposed approaches. (c) 2005 CARS & Elsevier B.V. All rights reserved.

    DOI

  • A new approach to minimally invasive neurosurgery with passive manipulator

    H. Okayasu, J. Okamoto, M. G. Fujie, H. Iseki

    CARS 2005 Computer Assisted Radiology and Surgery    2005

  • Development of Heartbeat Sensing System for Robotic Surgery

    T. Umeda, J. Okamoto, M.G. Fujie

    The 1st International Conference on Manufacturing, MachineDesign and Tribology     DDI-402  2005

  • Development of Surgical Assist Manipulator Securing

    J. Okamoto, T. Hara, H. Iseki, M.G.Fujie

    The 1st International Conference on Manufacturing, MachineDesign and Tribology     DDI-302  2005

  • Development of Dual-Armed Surgical Master-Slave Manipulator System with MR Compatibility

    Kousuke Kishi, Fujio Tajima, Kazutoshi Kan, Masakatsu G. Fujie, Ken-ichi Sudo, Shin-ichi Takamoto, Takeyoshi Dohi

    Robotics and Mechatronics   17 ( 3 ) 285 - 292  2005

  • Development of a hydraulically-driven flexible manipulator for neurosurgery

    H. Okayasu, J. Okamoto, M. G. Fujie, H. Iseki

    Robotics and Mechatronics   17 ( 2 ) 149 - 157  2005

    DOI

  • ロボット手術プランニングのための脳の力学的モデリング

    吉澤 愛子, 岡本 淳, 藤江 正克

    日本コンピュータ外科学会誌   7 ( 2 ) 105 - 113  2005

    DOI

  • Development of Electrically Assisted Walking Support Device for Elderly People

    TAKEUCHI Ikuo, EGAWA Saku, KOSEKI Atsushi, FUJIE Masakatsu, TAMURA Toshiyo

    Journal of Life Support Technology   17 ( 1 ) 22 - 28  2005

     View Summary

    It is essential for elderly people to walk by themselves to keep their independence in their daily lives. support their walking, we have developed an electrically assisted walking support device capable of meeting individual use's assistance requirement. Because the walking ability differs person by person, it is necessary to tune the control parameters of the device suitable to individual walking capability. To achieve this, auto-tuning technology that automatically adjusts control parameters such as virtual inertia or viscous resistance was developed and tested by a patient who can hardly walk without help. Test results showed that the electrically assisted walking support device provides high adaptability to elderly people for their mobility.

    DOI CiNii

  • 液圧駆動脳ヘラマニピュレータの開発-マニピュレータのメカニズムと要素試作機による特性評価-

    岡安はる奈, 岡本淳, 藤江正克, 伊関洋

    日本コンピュータ外科学会誌   7 ( 1 ) 51 - 58  2005

    DOI

  • Development of Real-time Simulation for Robotic Tele-surgery

    Kawamura Kazuya, Tajima Takashige, Okamoto Jun, Fujie Masakatsu G.

    Journal of Japan Society of Computer Aided Surgery   7 ( 1 ) 7 - 14  2005

     View Summary

    Medical robotics have started using methods of minimally invasive surgery as standard, and this technology has been used for remote operations i.e. tele-surgery. There is an actual case which exclusive communication lines were used during robotic tele-surgery. However, using special communication lines is not average method. So, the construction of the general robotic tele-surgical environments is required. In this paper, the simulation system is composed of three modules that have been developed to simulate signal characteristics in a public line. The modules are (1) QoS simulator algorithm, (2) QoS compensation algorithm and (3) Slave simulator algorithm. The requirement of the network QoS to establish the most suitable means of control was clarified. And then, an ultrasonic motor was driven and its performance was experimented to demonstrate the feasibility of (2) QoS compensation algorithm. The output value was compared with the input value of the ultrasonic motor. Buffering the network disorders was shown.

    DOI CiNii

  • Physical Properties of Liver and Development of Intelligent Manipulator for Needle Insertion

    Yo Kobayashi, Jun Okamoto, Masakatsu G. Fujie

    Proceedings of International Conference on Robotics and Automation 2005     1644 - 1651  2005

    DOI

  • Development of a Hydraulically-driven Flexible Manipulator Including Passive Safety Method

    Haruna Okayasu, Jun Okamoto, M. G. Fujie, H. Iseki

    Proceedings of International Conference on Robotics and Automation 2005     2901 - 2907  2005

    DOI

  • Robot Surgery based on the Physical Properties of the Brain -Physical Brain Model for Planning and Navigation of a Surgical Robot-

    Aiko Yoshizawa, Jun Okamoto, Hiroshi Yamakawa, Masakatsu G. Fujie

    Proceedings of International Conference on Robotics and Automation 2005    2005

    DOI

  • Manipulators for intrauterine fetal surgery in an Open MRI

    Kanako Harada, Kota Tsubouchi, Toshio Chiba, Masakatsu G. Fujie

    Proceedings of International Conference on Robotics and Automation 2005     504 - 509  2005

    DOI

  • Research on QoS requirement for robotic tele-surgery

    K. Kawamura, M.G. Fujie

    The 1st Asian Symposium on Computer Aided Surgery    2005

  • Development of Surgery Assisting Manipulator s for RAO

    Masaru Yanagihara, Jun Okamoto, Norihiro Mitsui, Hideo Yano, Masakatsu G. Fujie

    The 1st Asian Symposium on Computer Aided Surgery    2005

  • Development of MRI Compatible SCARA-type Manipulator Using New Gimbals Mechanism

    M. Oura, Y. Mita, Y. Kobayashi, K. Kishi, J. Okamoto, M. G. Fujie

    The 1st Asian Symposium on Computer Aided Surgery    2005

  • Manipulators for intrauterine fetal surgery in an Open MRI -Report on first prototype-

    Kanako Harada, Kota Tsubouchi, Toshio Chiba, Masakatsu G. Fujie

    CARS 2005 Computer Assisted Radiology and Surgery    2005

  • QoS optimal conditions for robotic tele-surgery

    K.Kawamura, J.Okamoto M.Fujie

    CARS 2005 Computer Assisted Radiology and Surgery    2005

  • Position control of needle tip with force feedback and liver model

    Y Kobayashi, J Okamoto, MG Fujie

    CARS 2005: COMPUTER ASSISTED RADIOLOGY AND SURGERY   1281   719 - 724  2005

     View Summary

    Because the deflection is easier to occur with thin needle, the movement of the needle in consideration of the deflection is required. The deflection correction with (a) the force feedback, (b) liver model (c) force feedback and liver model is carried out to control the position of the needle tip. The experimental result shows the method using (c) represents optimal effectiveness of all the proposed approaches. (c) 2005 CARS & Elsevier B.V. All rights reserved.

    DOI

  • A new approach to minimally invasive neurosurgery with passive manipulator

    H. Okayasu, J. Okamoto, M. G. Fujie, H. Iseki

    CARS 2005 Computer Assisted Radiology and Surgery    2005

  • Development of Heartbeat Sensing System for Robotic Surgery

    T. Umeda, J. Okamoto, M.G. Fujie

    The 1st International Conference on Manufacturing, MachineDesign and Tribology     DDI-402  2005

  • Development of Surgical Assist Manipulator Securing

    J. Okamoto, T. Hara, H. Iseki, M.G.Fujie

    The 1st International Conference on Manufacturing, MachineDesign and Tribology     DDI-302  2005

  • Development of Dual-Armed Surgical Master-Slave Manipulator System with MR Compatibility

    Kousuke Kishi, Fujio Tajima, Kazutoshi Kan, Masakatsu G. Fujie, Ken-ichi Sudo, Shin-ichi Takamoto, Takeyoshi Dohi

    Robotics and Mechatronics   17 ( 3 ) 285 - 292  2005

  • Development of a hydraulically-driven flexible manipulator for neurosurgery

    H. Okayasu, J. Okamoto, M. G. Fujie, H. Iseki

    Robotics and Mechatronics   17 ( 2 ) 149 - 157  2005

    DOI

  • A Prototype Master-Slave System Consisting of Two MR-Compatible Manipulators with Interchangeable Surgical Tools

    Fujio Tajima, Kousuke Kishi, Kouji Nishizawa, Kazutoshi Kan, Hiroshi Ishii, Masakatsu G. Fujie, Takeyoshi Dohi, Ken-ichi Sudo, Shin-ichi Takamoto

    Proceedings of International Conference on Robotics and Automation 2004    2004

  • Physical property of liver for robot-assisted needle insertion

    Y. Kobayashi, J. Okamoto, M. G. Fujie

    Proceedings of the 18th International Congress and Exhibition, Computer Assisted Radiology and Surgery     1335  2004

  • Passive manipulator for neurosurgery

    H. Okayasu, M. G. Fujie, H. Iseki

    Proceedings of the 18th International Congress and Exhibition, Computer Assisted Radiology and Surgery CARS 2004     1282  2004

  • Development of the Walking Support Robot with the Weight Bearing Mechanism Supporting Ischia-Cushion for Ischia and Behavior of Ischia during Walking

    Kuroko Shiho, Fujie Masakatsu G, Takashima Takamichi, Tkeuchi Ikuo

    Proceedings of 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society     11.11.4-12  2004

  • Physical Properties of the Liver for Needle Insertion Control

    Yo Kobayashi, J.un Okamoto, Masakatsu G. Fujie

    Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems     2960 - 2966  2004

  • A Prototype Master-Slave System Consisting of Two MR-Compatible Manipulators with Interchangeable Surgical Tools

    Fujio Tajima, Kousuke Kishi, Kouji Nishizawa, Kazutoshi Kan, Hiroshi Ishii, Masakatsu G. Fujie, Takeyoshi Dohi, Ken-ichi Sudo, Shin-ichi Takamoto

    Proceedings of International Conference on Robotics and Automation 2004    2004

  • Physical property of liver for robot-assisted needle insertion

    Y. Kobayashi, J. Okamoto, M. G. Fujie

    Proceedings of the 18th International Congress and Exhibition, Computer Assisted Radiology and Surgery     1335  2004

  • Passive manipulator for neurosurgery

    H. Okayasu, M. G. Fujie, H. Iseki

    Proceedings of the 18th International Congress and Exhibition, Computer Assisted Radiology and Surgery CARS 2004     1282  2004

  • Development of the Walking Support Robot with the Weight Bearing Mechanism Supporting Ischia-Cushion for Ischia and Behavior of Ischia during Walking

    Kuroko Shiho, Fujie Masakatsu G, Takashima Takamichi, Tkeuchi Ikuo

    Proceedings of 26th Annual International Conference of the IEEE Engineering in Medicine and Biology Society     11.11.4-12  2004

  • Physical Properties of the Liver for Needle Insertion Control

    Yo Kobayashi, J.un Okamoto, Masakatsu G. Fujie

    Proceedings of 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems     2960 - 2966  2004

  • Development of multi-DOF brain retract manipulator with safety method

    J Okamoto, M Lida, K Nambu, MG Fujie, M Umezu

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4     2594 - 2599  2003

     View Summary

    To extend applicable area of minimally invasive neurosurgery, multi-DOF brain retract manipulator is developed. By inserting this manipulator deeper into the brain as an conductor and then other micromanipulator afterwards, it will be possible to realize new minimally invasive neurosurgery. The brain retract manipulator system is controlled by new safety method with brain retraction pressure monitoring system, Tendon-driven unit which controls lock or free status of each joint of multi-joint spatula, Passive-hybrid control system that assure the system a suitable safety. In evaluation test with a hog, insertion of the multi-joint spatula as deep as the cerebral base was realized, and the possibility of securing the space between the temporal lobe and the cerebral base is verified.

  • A new method to extend applicable area of minimally invasive neurosurgery by brain retract manipulator

    J Okamoto, M Iida, K Nambu, MG Fujie, M Umezu, H Iseki

    MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI 2003, PT 1   2878   190 - 197  2003

     View Summary

    To extend applicable area of minimally invasive neurosurgery, multi-DOF brain retract manipulator is developed. By inserting this manipulator deeper into the brain as an conductor and then other micromanipulator afterwards, it will be possible to realize new minimally invasive neurosurgery. The brain retract manipulator system is controlled by new safety method with brain retraction pressure monitoring system, Tendon-driven unit which controls lock or free status of each joint of multi-joint spatula, Passive-hybrid control system that assure the system a suitable safety. In evaluation test with a hog, insertion of the multi-joint spatula as deep as the cerebral base was realized, and the possibility of securing the space between the temporal lobe and the cerebral base is verified.

  • Development of multi-DOF brain retract manipulator for minimally invasive neurosurgery

    J Okamoto, M Iida, K Nambu, H Okayasu, MG Fujie, M Umezu, H Iseki

    CARS 2003: COMPUTER ASSISTED RADIOLOGY AND SURGERY, PROCEEDINGS   1256   522 - 528  2003

     View Summary

    In order to extend applicable area of minimally invasive neurosurgery, multi-DOF brain retract manipulator is developed. By inserting this manipulator deeper into the brain as a conductor and then other micromanipulator [K. Kan, M. Fujie, F. Tajima, K. Nishizawa, T. Kawai, A. Shose, Development of HUMAN system with three micromanipulators and minimally invasive neurosurgery, Proc. on the 15th International Symposium and Exhibition of Computer Assisted Radiology and Surgery (CARS 2001), 2001, pp. 144-149.] afterwards, it will be possible to realize new minimally invasive neurosurgery. The brain retract manipulator system consists of the following mechanisms: 10-DOF polyarticular spatula, brain retraction pressure monitoring system, Tendon-driven unit, which controls lock or free status of each joint of polyarticular spatula, passive-hybrid control system that assures the system a suitable safety, and 6-DOF SCARA type supporting structure. In evaluation test with a hog, insertion of the polyarticular spatula as deep as the cerebral base was realized, and the possibility of securing the space between the temporal lobe and the cerebral base is verified. (C) 2003 Published by Elsevier Science B.V.

    DOI

  • Development of a hydraulic-driven flexible manipulator for neurosurgery

    H Okayasu, J Okamoto, MG Fujie, M Umezu, H Iseki

    CARS 2003: COMPUTER ASSISTED RADIOLOGY AND SURGERY, PROCEEDINGS   1256   607 - 612  2003

     View Summary

    Minimally invasive surgery has recently become a key word in medical engineering. In this operation, to introduce instruments, spatulas, which push tissues aside and retain the approach path to the affected area and workspace for introducing instruments, are necessary. So, a new type of hydraulic-driven flexible manipulator for neurosurgery has been developed. With a balloon put on, by using only physiological saline for drive system that assures safety, especially in pressure, to brain tissue as well has a simple mechanism. In addition, this gives the advantage of MRI compatibility. We first designed and made the prototype, and then evaluated it. (C) 2003 Published by Elsevier Science B.V.

    DOI

  • An MR-compatible master-slave manipulator with interchangeable surgical tools

    F Tajima, K Kishi, K Kan, H Ishii, K Nishizawa, MG Fujie, T Dohi, K Sudo, S Takamoto

    CARS 2003: COMPUTER ASSISTED RADIOLOGY AND SURGERY, PROCEEDINGS   1256   529 - 537  2003

     View Summary

    This paper describes design, implementation and evaluation of a prototype of magnetic resonance (MR)-compatible master-slave manipulator with interchangeable surgical tools. The manipulator is designed so as to fit vertical-magnetic-field open-configuration MR imagers. Also, it is designed so that the surgical tool at the arm tip is interchangeable. We evaluated MR compatibility of the manipulator including a surgical tool by moving it close to a phantom in the field of view of an open-configuration MR imager. No noticeable deformation, but some signal-to-noise ratio (SNR) deterioration, was observed in the MR images. Consulted clinicians then evaluated its manipulability by maneuvering the master-slave manipulator system. After several-minute trial and error, they could perform each primitive motion for suturing task to training materials. (C) 2003 Published by Elsevier Science B.V.

    DOI

  • An MR-Compatible Surgical Manipulator: Part of a Unified Support System for Diagnosis and Treatment of Heart Disease

    Fujio Tajima, Kousuke Kishi, Kouji Nishizawa, Kazutoshi Kan, Hiroshi Ishii, Masakatsu G. Fujie, Takeyoshi Dohi, Ken-ichi Sudo, Shin-ichi Takamoto

    Advanced Robotics   17 ( 6 ) 561 - 575  2003

    DOI CiNii

  • Development of multi-DOF brain retract manipulator with safety method

    J Okamoto, M Lida, K Nambu, MG Fujie, M Umezu

    IROS 2003: PROCEEDINGS OF THE 2003 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, VOLS 1-4     2594 - 2599  2003

     View Summary

    To extend applicable area of minimally invasive neurosurgery, multi-DOF brain retract manipulator is developed. By inserting this manipulator deeper into the brain as an conductor and then other micromanipulator afterwards, it will be possible to realize new minimally invasive neurosurgery. The brain retract manipulator system is controlled by new safety method with brain retraction pressure monitoring system, Tendon-driven unit which controls lock or free status of each joint of multi-joint spatula, Passive-hybrid control system that assure the system a suitable safety. In evaluation test with a hog, insertion of the multi-joint spatula as deep as the cerebral base was realized, and the possibility of securing the space between the temporal lobe and the cerebral base is verified.

  • A new method to extend applicable area of minimally invasive neurosurgery by brain retract manipulator

    J Okamoto, M Iida, K Nambu, MG Fujie, M Umezu, H Iseki

    MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI 2003, PT 1   2878   190 - 197  2003

     View Summary

    To extend applicable area of minimally invasive neurosurgery, multi-DOF brain retract manipulator is developed. By inserting this manipulator deeper into the brain as an conductor and then other micromanipulator afterwards, it will be possible to realize new minimally invasive neurosurgery. The brain retract manipulator system is controlled by new safety method with brain retraction pressure monitoring system, Tendon-driven unit which controls lock or free status of each joint of multi-joint spatula, Passive-hybrid control system that assure the system a suitable safety. In evaluation test with a hog, insertion of the multi-joint spatula as deep as the cerebral base was realized, and the possibility of securing the space between the temporal lobe and the cerebral base is verified.

  • Development of multi-DOF brain retract manipulator for minimally invasive neurosurgery

    J Okamoto, M Iida, K Nambu, H Okayasu, MG Fujie, M Umezu, H Iseki

    CARS 2003: COMPUTER ASSISTED RADIOLOGY AND SURGERY, PROCEEDINGS   1256   522 - 528  2003

     View Summary

    In order to extend applicable area of minimally invasive neurosurgery, multi-DOF brain retract manipulator is developed. By inserting this manipulator deeper into the brain as a conductor and then other micromanipulator [K. Kan, M. Fujie, F. Tajima, K. Nishizawa, T. Kawai, A. Shose, Development of HUMAN system with three micromanipulators and minimally invasive neurosurgery, Proc. on the 15th International Symposium and Exhibition of Computer Assisted Radiology and Surgery (CARS 2001), 2001, pp. 144-149.] afterwards, it will be possible to realize new minimally invasive neurosurgery. The brain retract manipulator system consists of the following mechanisms: 10-DOF polyarticular spatula, brain retraction pressure monitoring system, Tendon-driven unit, which controls lock or free status of each joint of polyarticular spatula, passive-hybrid control system that assures the system a suitable safety, and 6-DOF SCARA type supporting structure. In evaluation test with a hog, insertion of the polyarticular spatula as deep as the cerebral base was realized, and the possibility of securing the space between the temporal lobe and the cerebral base is verified. (C) 2003 Published by Elsevier Science B.V.

    DOI

  • Development of a hydraulic-driven flexible manipulator for neurosurgery

    H Okayasu, J Okamoto, MG Fujie, M Umezu, H Iseki

    CARS 2003: COMPUTER ASSISTED RADIOLOGY AND SURGERY, PROCEEDINGS   1256   607 - 612  2003

     View Summary

    Minimally invasive surgery has recently become a key word in medical engineering. In this operation, to introduce instruments, spatulas, which push tissues aside and retain the approach path to the affected area and workspace for introducing instruments, are necessary. So, a new type of hydraulic-driven flexible manipulator for neurosurgery has been developed. With a balloon put on, by using only physiological saline for drive system that assures safety, especially in pressure, to brain tissue as well has a simple mechanism. In addition, this gives the advantage of MRI compatibility. We first designed and made the prototype, and then evaluated it. (C) 2003 Published by Elsevier Science B.V.

    DOI

  • An MR-compatible master-slave manipulator with interchangeable surgical tools

    F Tajima, K Kishi, K Kan, H Ishii, K Nishizawa, MG Fujie, T Dohi, K Sudo, S Takamoto

    CARS 2003: COMPUTER ASSISTED RADIOLOGY AND SURGERY, PROCEEDINGS   1256   529 - 537  2003

     View Summary

    This paper describes design, implementation and evaluation of a prototype of magnetic resonance (MR)-compatible master-slave manipulator with interchangeable surgical tools. The manipulator is designed so as to fit vertical-magnetic-field open-configuration MR imagers. Also, it is designed so that the surgical tool at the arm tip is interchangeable. We evaluated MR compatibility of the manipulator including a surgical tool by moving it close to a phantom in the field of view of an open-configuration MR imager. No noticeable deformation, but some signal-to-noise ratio (SNR) deterioration, was observed in the MR images. Consulted clinicians then evaluated its manipulability by maneuvering the master-slave manipulator system. After several-minute trial and error, they could perform each primitive motion for suturing task to training materials. (C) 2003 Published by Elsevier Science B.V.

    DOI

  • An MR-Compatible Surgical Manipulator: Part of a Unified Support System for Diagnosis and Treatment of Heart Disease

    Fujio Tajima, Kousuke Kishi, Kouji Nishizawa, Kazutoshi Kan, Hiroshi Ishii, Masakatsu G. Fujie, Takeyoshi Dohi, Ken-ichi Sudo, Shin-ichi Takamoto

    Advanced Robotics   17 ( 6 ) 561 - 575  2003

    DOI CiNii

  • Development of MR Compatible Surgical Manipulator toward a Unified Support System for Diagnosis and Treatment of Heart Disease

    Fujio Tajima, Kousuke Kishi, Kouji Nishizawa, Kazutoshi Kan, Yasuhiro Nemoto, Haruo Takeda, Shin-ichiro Umemura, Hiroshi Takeuchi, Masakatsu G. Fujie, Takeyoshi Dohi, Ken-ichi Sudo, Shin-ichi Takamoto

    Proceedings of Fifth International Conference on Medical Image Computing and Computer Assisted Intervention    2002

  • Development of MR Compatible Surgical Manipulator toward a Unified Support System for Diagnosis and Treatment of Heart Disease

    Fujio Tajima, Kousuke Kishi, Kouji Nishizawa, Kazutoshi Kan, Yasuhiro Nemoto, Haruo Takeda, Shin-ichiro Umemura, Hiroshi Takeuchi, Masakatsu G. Fujie, Takeyoshi Dohi, Ken-ichi Sudo, Shin-ichi Takamoto

    Proceedings of Fifth International Conference on Medical Image Computing and Computer Assisted Intervention    2002

  • Development of surgery assisting manipulator for RAO

    Masaru Yanagihara, Jun Okamoto, Masakatsu G. Fujie, Norihiro Mitsui, Hideo Yano

    Proceedings of International Symposium on Robotics 2004  

  • Development of surgery assisting manipulator for RAO

    Masaru Yanagihara, Jun Okamoto, Masakatsu G. Fujie, Norihiro Mitsui, Hideo Yano

    Proceedings of International Symposium on Robotics 2004  

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Internal Special Research Projects

  • 歩行時の上肢と下肢の協調性を高める歩行訓練ロボットの開発

    2013  

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     これまで,高齢者の歩行の安定性が低下する要因として,歩行中の上肢の運動,特に体幹の回旋量が減少することが明らかになっている.高齢者が上肢と下肢を連動させるタイミング等の協調的に動作させるコツを失ってしまったため,下肢の振り出しが適切に促進されず,つまずき等の転倒を起こしてしまうことが原因である.そこで,本研究では,上肢と下肢が協調して動作する回旋運動をモデル化し,そのモデルを取り入れたロボットにより,上肢と下肢を結ぶ骨盤動作のみをアシストをすることで,つまずき等の転倒を予防した高齢者の歩行動作を誘導する訓練システムを開発する. 本研究では,上肢の運動と下肢の運動を連動させることで,下肢の振り出しを促進し,歩容を改善させる歩行訓練システムの研究を行う.本研究で提案する歩行訓練システムを開発するため,上肢と下肢を連動させるタイミング等の協調的に動作させる運動力学的な条件の工学的な解明,および,そのモデルに基づいて適切に下肢の振り出しをアシストするロボットの開発を実施する.この際,上肢と下肢にそれぞれ機械的なアシストを加え連動させる場合では,システム全体の大型化や使用者の装着の手間等の負担が大きくなる.そこで,本研究では,上肢と下肢を結ぶ骨盤に注目し,上肢の回旋角度の情報に基づいて,骨盤動作のみをアシストすることで,下肢の回旋角度を誘導する手法を開発する. 上記の内容に対して,上肢と下肢を連動させるタイミング等の協調的に動作させる運動力学条件の工学的解明と上肢と下肢が協調して動作する体幹の回旋運動モデルの構築を行った.運動力学条件の工学的解明では,高齢者の歩行中の運動学的パラメータを変化させることによって,体幹の回旋するタイミングや量,どのように変化しているかを計測し,分析を行った.また,体幹の回旋運動モデルの構築では,明らかとなった運動力学条件に基づき,上肢の回旋運動の情報と下肢の回旋運動の情報が逆位相になるような骨盤の回旋運動を決定する運動モデルの構築を行った.

  • 下肢麻痺者に対するリハビリ効果をもった長下肢装具処方のためのシステム構築

    2012  

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    本研究では下肢麻痺患者に対して処方される下肢装具の処方支援システムの構築を目的とした歩行時筋活動推定モデルの研究を行った。以下にその概要を示す。下肢麻痺を引き起こす最も代表的な疾患として、脳卒中や脊髄損傷が挙げられる。現在日本に、脳卒中の患者は約135万人、脊髄損傷の患者は約10万人存在し、年々その数を増している。これら、下肢麻痺の疾患を負った患者に対して、立位・あるいは歩行を補助する目的で処方されるのが、下肢装具である。下肢装具の中にも、様々な種類が存在し、患者の症状に沿った処方が望まれる。患者の症状に対して補助が不足すれば転倒などの危険があり、補助の過剰は患者の筋力の低下を招く。しかしながら、現在の下肢装具処方は、患者の筋力によらない補助が選択されがちであるといった問題が指摘されている。これは、臨床の現場で筋活動を定量的に計測することが難しいこと、また、筋活動が変化した際にその原因がどこにあるのが定量的推定が困難であることが原因である。そこで、本研究の目的として、〝臨床現場で計測が可能なパラメータを用いた、筋活動の定量的推定・及び筋活動変化原因の定量的な推定が可能なモデルの構築″と設定した。物理モデルを用いた筋活動推定では、床反力計や三次元運動計測器といった大規模な計測設備が必要になり、臨床の場で使うことが困難である。そこで、本研究では数学的手法であるベイジアンネットワークを用い、計測装置が小型で計測が容易な関節角度及び足底圧の分布を入力とした筋活動推定モデルを構築した。この際、ベイジアンネットワークの特徴の一つでもある因果関係の推定を行い、筋活動が変化した際に何が原因になっているかを推定することを可能なモデルを構築した。筋活動推定を行うにあたり、現在臨床現場で行われている徒手筋力検査法において、筋の評価が7~9段階で行われていることを参考にし、筋活動を10段階で評価することとした。また、推定の対象筋は大腿直筋・半腱様筋・前脛骨筋・長指伸筋・長腓骨筋・腓腹筋とした。実際のモデル構築においては、被験者3名(健常被験者2名、両下肢麻痺被験者1名)で健常歩行モデルの構築を行った。その結果、筋活動の推定精度は健常者のすべての筋において90%以上の推定精度を得ることができた。また、両下肢麻痺被験者においては、健常者よりも推定精度が低下したものの、すべての筋において85%以上の推定精度を得た。これは、また、筋活動の変化原因について、計測用の装具を用いて現在すでにある装具の条件を再現し、歩行計測を行った。装具装着歩行モデルを構築し、健常歩行モデルと比較したところ、各筋において生体工学的に正しい原因推定を行うことが可能であった。これらのことから、本研究では因果関係の起こるパラメータの最低値、最高値を推定、影響度を定量的に示す手法を提案し、下肢装具処方支援システムの開発にむけて、関節角度・足底圧のみから筋活動量・活動量変化の原因を推定する筋活動量推定モデルを構築することで推定手法の有効性を示している。本研究の成果は、これまで患者の筋活動量に対して定量的な目標値をもって処方されることがなかった下肢装具処方に対して、臨床現場でも計測が可能な簡易なパラメータのみを用いて筋活動量の推定を行うモデルの構築を行った点、さらに、筋活動量が変化するときにその原因となるパラメータ及び、原因となる範囲の推定を可能にした点にある。この知見は今後、下肢装具と同じく物理モデルを用いることが困難な他の装具処方支援へシステムを応用されることが期待される。このように、本研究の成果は今後の下肢装具処方支援システムはいうまでもなく、支援機器処方の基準として、生体工学、福祉工学の発展にも大いに貢献するものであると考えられる。

  • 開腹手術と同等の操作性を有するSILS・NOTES支援手術ロボットの開発

    2010  

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    本研究課題では、次世代の内視鏡手術支援ロボットの開発を対象とし、術者の手技の負担を最大限軽減しながらも、患者の身体的負担を最小化するシステムの開発を行った。ここで次年度以降への継続的・発展的な研究開発を可能とするために、医師へのヒアリングに基づいて、研究代表者・連携研究者・研究協力者および学外の関連研究者が十分連携した研究体制を構築し、応用システム開発において必要となる次の2つの基盤技術の評価を実施した。(1)手術ツール操作用マニピュレータ(体内で駆動するロボット)次世代内視鏡手術における技術革新の核となる技術である、体内で自由自在に屈曲することの可能な手術ツール操作用マニピュレータの開発を目的に、新しい駆動伝達系の開発を実施した。新しい駆動伝達系により実現された術具マニピュレータは、従来のものと比較して非常に高精度かつ高応答性を有するものであった。さらに開発した駆動伝達系のための制御手法を開発することで、医師の操作に対するロボットの動作遅れは医師が知覚できないレベルにまで達することを確認した。(2)体外で駆動するロボット手術ツール操作用マニピュレータは体表に設けた小さな穴を挿入孔(トロカールポート)から挿入して行う術式であるので,挿入孔を中心に2自由度の拘束を受ける。よって体外から操作できるのは、挿入孔を中心とした回転2自由度と術具の軸まわりの回転1自由度、そして挿入深さの直動1自由度、合わせて計4自由度となる.本課題において、開発した手術ツール操作用マニピュレータに適合した上記の4自由度の位置決めを行える保持ロボットを開発したこれら2つの本研究課題で評価した基盤技術をもとに、次年度以降の応用システム開発に還元することを計画している。さらに、本研究課題を実施する過程において、申請した科研費の研究分担者らとの協力体制を整えつつあり、この関係をもととした次年度以降の更なる規模の研究開発を予定している。

  • MRI画像によるナビゲーション機能を有するNOTES支援ロボットシステムの開発

    2009   小林洋

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    本研究課題では、次世代の内視鏡手術支援ロボットの開発を対象とし、術者の手技の負担を最大限軽減しながらも、患者の身体的負担を最小化するシステムの開発を行った。ここで次年度以降への継続的・発展的な研究開発を可能とするために、医師へのヒアリングに基づいて、研究代表者・連携研究者・研究協力者および学外の関連研究者が十分連携した研究体制を構築し、応用システム開発において必要となる次の2つの基盤技術開発について行った。(1)手術ツール操作用マニピュレータ(体内で駆動するロボット)次世代内視鏡手術における技術革新の核となる技術である、体内で自由自在に屈曲することの可能な手術ツール操作用マニピュレータの開発を目的に、新しい駆動伝達系の開発を実施した。新しい駆動伝達系により実現された術具マニピュレータは、従来のものと比較して非常に高精度かつ高応答性を有するものであった。さらに開発した駆動伝達系のための制御手法を開発することで、医師の操作に対するロボットの動作遅れは医師が知覚できないレベルにまで達することを確認した。(2)体外で駆動するロボット手術ツール操作用マニピュレータは体表に設けた小さな穴を挿入孔(トロカールポート)から挿入して行う術式であるので,挿入孔を中心に2自由度の拘束を受ける。よって体外から操作できるのは、挿入孔を中心とした回転2自由度と術具の軸まわりの回転1自由度、そして挿入深さの直動1自由度、合わせて計4自由度となる.本課題において、開発した手術ツール操作用マニピュレータに適合した上記の4自由度の位置決めを行える保持ロボットを開発したこれら2つの本研究課題で得られた基盤技術を、次年度以降の応用システム開発に還元することを計画している。さらに、本研究課題を実施する過程において、申請した科研費の研究分担者らとの協力体制を整えつつあり、この関係をもととした次年度以降の更なる規模の研究開発を予定している。