Research activity information

• Dec. 2020 第21回計測自動制御学会システムインテグレーション部門講演会（SICE SI2020）, 優秀講演賞, 遠隔動力配置可能な上肢リハビリテーションロボットのプロトタイプ開発

  川中 建実, 中楯 龍, 荒田 純平


• Nov. 2020 日本泌尿器内視鏡学会, 第34回日本泌尿器内視鏡学会総会賞(ポスター), 医工連携で課題解決-RAPNにおける超音波プローブアタッチメント開発-

  小林 聡, 中楯 龍, 李 賢, 阿部 立郎, 門司 恵介, 武内 在雄, 塩田 真己, 猪口 淳一, 江藤 正俊


• Nov. 2019 The 15th Asian Conference on Computer Aided Surgery (ACCAS 2019), Excellent Paper Award


• Dec. 2017 計測自動制御学会システムインテグレーション部門講演会（SI2017）, 優秀講演賞


• Oct. 2017 日本コンピュータ外科学会, 2016年度 CAS Young Investigator Award, シルバー賞（日立賞）


• Nov. 2016 日本生体医工学会 関東支部 若手研究者発表会２０１６, 研究奨励賞阿部賞


• Jun. 2016 Computer Assisted Radiology 29th International Congress and Exhibition (CARS 2016), Kikuchi frugal tech award


• Dec. 2015 The 6th International Conference on Advanced Mechatronics (ICAM2015), Honorable Mention


• Jun. 2015 Computer Assisted Radiology 29th International Congress and Exhibition (CARS 2015), ISCAS Frugal Technology Award


• Jul. 2009 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2009), Finalist for Best Student Paper Award

• Usefulness of three-dimensional imaging in a flexible endoscopic surgery platform with multi-degrees-of-freedom articulating devices.

  Kosuke Yokoyama, Ryu Nakadate, Toshitatsu Takao, Douglas Motomura, Yoshihiro Muragaki, Yasuyoshi Yokokohji

  BACKGROUND AND AIMS: Recent studies on endoscopic submucosal dissection have aimed to reduce the difficulty of the procedure by using multi-degrees-of-freedom articulating devices. In this study, we evaluated the usefulness of adding three-dimensional (3D) video imaging into simulated endoscopic submucosal dissection tasks using multi-degrees-of-freedom devices. METHODS: We designed an endoscopic platform with a 3D camera and two multi-degrees-of-freedom devices. Four ex vivo bench tasks were created, and a crossover study comparing 2D and 3D conditions was conducted on 15 volunteers. In each task, performance such as procedure time and accuracy were objectively evaluated. Additionally, a comprehensive visual analogue scale questionnaire was conducted. RESULTS: In the tasks simulating submucosal flap grasping, marking, and full-area incision, the use of 3D imaging significantly improved the speed and accuracy of the multi-degrees-of-freedom device manipulation (p < .01). No significant differences were observed in the task that simulated the dissection procedure. Furthermore, it appears that the accuracy of recognizing curved surfaces may be reduced in the 3D environment. Operators reported subjective increases in recognizability and operability with the 3D camera, along with an increase in asthenopia (p < .01). CONCLUSIONS: 3D vision improves the technical accuracy of certain simulated multi-degrees-of-freedom endoscopic submucosal dissection tasks and subjectively improved operating conditions, at the cost of increased eye strain.

  Jan. 2024, Asian journal of endoscopic surgery, 17(1) (1), e13275, English, Domestic magazine

  Scientific journal


• Early-stage modeling and analysis of continuum compliant structure for multi-DOF endoluminal forceps using pseudo-rigid-body model

  Keisuke Osawa, D. S. V. Bandara, Ryu Nakadate, Eiichiro Tanaka, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata

  Informa UK Limited, Dec. 2023, Advanced Robotics, 37(23) (23), 1485 - 1494

  Scientific journal


• 3.5 mm compliant robotic surgical forceps with 4 DOF : design and performance evaluation

  D. S.V. Bandara, Ryu Nakadate, Murilo M. Marinho, Kanako Harada, Mamoru Mitsuishi, Jumpei Arata

  Minimally invasive surgery (MIS) is a viable alternative to general surgery with distinct advantages. Robotically assisted MIS, has been demonstrated to achieve higher accuracy and repeatability in comparison with those of manual procedures. Despite these advantages, owing to the nature of some surgical procedures in which dexterous tissue manipulations in deep narrow areas of the human body are necessary, there is a need for further miniaturized tools with smaller bending radii. To cater to this requirement, this study proposes a new compliant mechanism based surgical robotic forceps. It can generate four degrees of freedom at the tip of the forceps including two bending motions in two perpendicular axes, grasping and rotation. A better combination of the stress distribution through the elastic material, grasping force, and range of motion was determined based on a series of finite element analyses. In addition, the manufactured prototype underwent a series of laboratory experiments to evaluate its effectiveness. Details of the mechanism, finite element analysis, prototype implementation, and evaluations are presented in this paper.

  2023, Advanced Robotics, 37(4) (4), 270 - 280

  Scientific journal


• 2.5-mm articulated endoluminal forceps using a compliant mechanism

  Keisuke Osawa, D. S. V. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata

  Springer Science and Business Media LLC, Aug. 2022, International Journal of Computer Assisted Radiology and Surgery, 18(1) (1), 1 - 8

  Scientific journal


• Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps

  Keisuke Osawa, D. S. V. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata

  Gastrointestinal cancer, when detected early, is treated by accessing the lesion through the natural orifice using flexible endoscopes. However, the limited degree-of-freedom (DOF) of conventional treatment devices and the narrow surgical view through the endoscope demand advanced techniques. In contrast, multi-DOF forceps systems are an excellent alternative; however, these systems often involve high fabrication costs because they require a large number of micro-parts. To solve this problem, we designed compact multi-DOF endoluminal forceps with a monolithic structure comprising compliant hinges. To allow an efficient stress dispersion at the base end when the hinge bends, we proposed a novel design method to obtain the hinge parameters using the beam of uniform strength theory. This method does not involve a high computational cost. The results show that the improved design with a variable hinge thickness can reduce the maximum bending stress, dispersing the stress in a larger area than that of the previous design considering a constant thickness of the hinge. Moreover, the experiments conducted in a prototype confirm that the radius of the curvature was significantly improved. The proposed method could aid in designing other continuum robots relying on compliant hinges.

  MDPI AG, Feb. 2022, Applied Sciences, 12(5) (5), 2480 - 2480

  Scientific journal


• Development of ultrasound probe attachment for robot-assisted partial nephrectomy through medical-engineering collaboration

  小林聡, 中楯龍, 宮田信一, 李賢, 門司恵介, 柏木英志, 武内在雄, 塩田真己, 猪口淳一, 江藤正俊

  2022, Japanese Journal of Endourology and Robotics, 35, 109 - 118


• Surgical Robot for Intraluminal Access: An Ex Vivo Feasibility Study

  Ryu Nakadate, Tsutomu Iwasa, Shinya Onogi, Jumpei Arata, Susumu Oguri, Yasuharu Okamoto, Tomohiko Akahoshi, Masatoshi Eto, Makoto Hashizume

  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.

  Lead, American Association for the Advancement of Science (AAAS), Dec. 2020, Cyborg and Bionic Systems, 2020, 1 - 9, English

  [Refereed]

  Scientific journal


• Self-Propelled Colonoscopy Robot using Flexible Paddles

  Keisuke Osawa, Ryu Nakadate, Jumpei Arata, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Makoto Hashizume

  Aug. 2020, IEEE Robotics and Automation Letters, 5(4) (4), English, International magazine

  [Refereed]


• Principles and development of collagen-mediated tissue fusion induced by laser irradiation

  Shun Sasaki, Tetsuo Ikeda, Shin-ichiro Okihara, Shotaro Nishimura, Ryu Nakadate, Hiroshi Saeki, Eiji Oki, Masaki Mori, Makoto Hashizume & Yoshihiko Maehara

  The mechanism underlying tissue fusion mediated by laser irradiation remains unclear. We clarify the mechanisms underlying laser-mediated tissue fusion using a novel model. Microscopic examinations of morphological changes within the adventitia of a bovine carotid artery and a collagen sheet prepared from bovine dermis showed collagen fibril bundle loosening and collagen fibre swelling following heating at 46 °C. An incised bovine carotid artery covered with a collagen sheet to which pressure and laser heat of 40 °C-52 °C were applied created a structure that was pressure resistant to >300 mmHg. Microscopic analyses of the irradiation site showed collagen fibril interdigitation. Hence, low-temperature laser-mediated tissue fusion causes collagen fibril bundles to loosen and swell, and crimping causes the fibres to intertwine. As the temperature declines, the loosened and swollen fibrils and fibres tighten, and collagen fibre interdigitation is completed. This technology could be applied to fuse tissues during surgery.

  Jun. 2019, Scientific reports, 9(1) (1), 9383 - 9383, English, International magazine

  [Refereed]

  Scientific journal


• Compliant four degree-of-freedom manipulator with locally deformable elastic elements for minimally invasive surgery

  Jumpei Arata, Yosuke Fujisawa, Ryu Nakadate, Kazuo Kiguchi, Kanako Harada, Mamoru Mitsuishi, Makoto Hashizume

  Minimally Invasive Surgery (MIS) is one of the most successful applications of surgical robots. Although the introduction of robotic technology has brought a number of benefits, further advancements in MIS are limited by the size and bending radius of instruments. In this paper, we present a compliant four degree-of-freedom manipulator that consists of elastic elements with partly thinner structures. The proposed mechanism allows the elastic element to deform locally, thus minimizing its bending radius while the low number of mechanical parts greatly contributes to its compactness. This paper describes the design strategy, optimization method using FEA, prototype implementation, and evaluations. The evaluations reveal high accuracy and repeat accuracy, which are key elements for robotic instruments in MIS. Further, the prototype is able to exert sufficient force and it is possible to perform a simulated needle insertion task using the manipulator, demonstrating the feasibility of the proposed mechanism.

  May 2019, Proceedings - IEEE International Conference on Robotics and Automation, 2019-May, 2663 - 2669

  International conference proceedings


• 円錐型ウォームギア機構を用いた腸管自走システムの開発

  大澤啓介, 中楯 龍, 荒田純平, 小野木真哉, 赤星朋比古, 副島雄二, 橋爪 誠

  Feb. 2019, 日本コンピュータ外科学会誌, 21(1) (1), Japanese, Domestic magazine

  [Refereed]


• Construction of Automatic Scoring System to Support Objective Evaluation of Clinical Skills in Medical Education

  Yurina Sugamiya, Takuya Otani, Ryu Nakadate, Atsuo Takanishi

  In this study, we focused on the automatic scoring of medical clinical abilities. The objective clinical ability tests that all undergraduate students take before starting clinical practice were considered. As these tests evaluate practical skills, there is a problem that the learning method is poor compared to the examination of other lectures. Therefore, in this study, we recorded the voice of a student examining a simulated patient using a microphone. We constructed a system comprising a speech recognition module and a scoring system that performed automatic scoring by checking against a prepared example answer. This system was evaluated by medical doctors.

  IEEE, 2019, 2019 41ST ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC), 4177 - 4181, English

  [Refereed]

  International conference proceedings


• Development of a Self-Propelled Colonoscope Robot with a Conical Worm Gear Mechanism

  Keisuke Osawa, Ryu Nakadate, Jumpei Arata, Shinya Onogi, Tomohiko Akahoshi, Yuji Soejima, Makoto Hashizume

  The Japan Society of Computer Aided Surgery, 2019, Journal of Japan Society of Computer Aided Surgery, 21(1) (1), 5 - 11

  Scientific journal


• Spherical and non-spherical combined two degree-of-freedom rotational parallel mechanism for a microsurgical robotic system

  Jumpei Arata, Yoshiteru Kobayashi, Ryu Nakadate, Shinya Onogi, Kazuo Kiguchi, Makoto Hashizume

  Microsurgery, often performed for anastomosis of small vessels and nerves, requires micromanipulations of small tissues and thus requires highly specialized surgical skills. Robotic technology has great potential to assist with microsurgical treatments because of the high accuracy provided by robots; however, implementation remains challenging because the technical requirements of robotic surgery are far different from those in industry. One of the greatest challenges is that two surgical tools (e.g., tweezers) must be precisely and deftly moved around the surgical area in seven degrees of freedom (DOF) using one DOF to grasp each tool, and these tools are used in close proximity to each other. Additionally, high accuracy and rigidity at the tool tip are imperative for successful performance of the microsurgical procedure. In this study, we propose a new rotational two-DOF parallel mechanism that has the inherent advantages of a parallel mechanism, namely accuracy and rigidity, within a newly proposed spherical and non-spherical combined parallel structure to prevent collision of the two mechanisms in a dual-arm setup for microsurgery. The prototype was evaluated by performing a series of mechanical tests, and microsurgical suturing was performed by a microsurgical robotic system. The series of evaluations demonstrated the feasibility of the proposed mechanism.

  Dec. 2018, Journal of Robotics and Mechatronics, 30(6) (6), 846 - 854, English, International magazine

  [Refereed]

  Scientific journal


• Objective assessment of robotic suturing skills using a new computerized system: A step forward in the training of robotic surgeons

  Caleb Busch, Ryu Nakadate, Munenori Uemura, Satoshi Obata, Takahiro Jimbo, Makoto Hashizume

  Nov. 2018, Asian Journal of Endoscopic Surgery, 12(4) (4), English, International magazine

  [Refereed]


• Colorectal endoscopic submucosal dissection using novel articulating devices: a comparative study in a live porcine model

  Okamoto Y, Nakadate R, Nakamura S, Arata J, Oguri S, Moriyama T, Esaki M, Iwasa T, Ohuchida K, Akahoshi T, Ikeda T, Kitazono T, Hashizume M.

  Sep. 2018, Surgical Endoscopy, 33(2) (2), English, International magazine

  [Refereed]


• A new robotic-assisted flexible endoscope with single-hand control: Endoscopic submucosal dissection in the ex vivo porcine stomach

  Tsutomu Iwasa, Ryu Nakadate, Shinya Onogi, Yasuharu Okamoto, Jumpei Arata, Susumu Oguri, Haruei Ogino, Eikichi Ihara, Kenoki Ohuchida, Tomohiko Akahoshi, Tetsuo Ikeda, Yoshihiro Ogawa, Makoto Hashizume

  Apr. 2018, Surgical Endoscopy, 32(7) (7), English, International magazine

  [Refereed]


• Laparoscopic Ultrasound Manipulator With a Spring-Based Elastic Mechanism

  Jumpei Arata, Kazunari Fukami, Susumu Oguri, Shinya Onogi, Tetsuo Ikeda, Ryu Nakadate, Masamichi Sakaguchi, Tomohiko Akahoshi, Kanako Harada, Mamoru Mitsuishi, Makoto Hashizume

  Feb. 2018, International Journal of Computer Assisted Radiology and Surgery, 13(7) (7), English, International magazine

  [Refereed]


• Improving the Strength of Sutureless Laser-Assisted Vessel Repair Using Preloaded Longitudinal Compression on Tissue Edge

  Ryu Nakadate, Shigeru Omori, Tetsuo Ikeda, Tomohiko Akahoshi, Susumu Oguri, Jumpei Arata, Shinya Onogi, Makoto Hashizume

  Jan. 2017, Lasers in Surgery and Medicine, 49(5) (5), English, International magazine

  [Refereed]


• Augmented reality guidance with electromagnetic tracking for Transpyloric tube insertion

  Jordan Bano, Tomohiko Akahoshi, Ryu Nakadate, Byunghyun Cho, Makoto Hashizume

  Transpyloric tube insertion is a commonly intervention which consists in inserting a tube through the nose, the oesophagus and the stomach until the pylorus. This procedure can be done blindly if no licensed physician operator is available. Thus, the caregivers have to insert the tube without any visual feedbacks. The position of the tube has also to be conformed to avoid any issues. We proposed a guidance system for the insertion of this tube through an augmented reality application using an electromagnetic tracker. The trajectory and the orientation of the tube were visualized on a screen to monitor the tube insertion but also to conform the position of the tube tip inside the pylorus. This monitoring was improved by adding preoperative landmarks coming from a CT image or intraoperative landmarks obtained with ultrasound. Finally, the display was overlaid on a camera view to match the tube trajectory on the patient during the insertion so the clinicians directly visualized anatomical landmarks to guide themselves during the tube insertion. Preliminary results on one phantom showed the usefulness of our guidance system for blindly tube insertion. Further evaluations have to be realized on animals and on patients to validate these results.

  Springer Verlag, 2016, Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), 9805, 198 - 207, English

  International conference proceedings


• Development of a robot system for carotid arterial measurement by ultrasonography

  Takeshita Kazuyoshi, Kayanuma Hiroshi, Hayabuchi Jyouji, Niki Kiyomi, Sugawara Takaaki, Nakadate Ryu, Isii Hiroyuki, Takanishi Atuo

  [Purpose]Ultrasonography is one of widely used noninvasive and convenient methods. However, relatively large measurement variability is a problem to be solved. We developed a robot system for carotid arterial measurement by ultrasonography. In this study, we evaluated variability of the measurements of intima media thickness and carotid arterial diameter. [Methods] The robot consisted of one arm with 6-axis, which is operated by remote control with a probe shaped controller. Data acquisition was executed according to the sign which indicated the distinct intima separated from adventitia by echo-transparent media layer. The variability was measured by two observers with or without the robot system. [Results] There was no difference in acquisition time between the measurements with or without robot. However, variabilities of the measurements with the robot were lower than that without the robot (p<0.05). [Conclusion] The robot system has a potential to reduce variability of ultrasonographic measurements

  Japanese Society for Medical and Biological Engineering, 2016, Transactions of Japanese Society for Medical and Biological Engineering, 54(28) (28), S387 - S387, Japanese


• Development of intra-operative ultrasound navigation system for laparoscopic liver surgery

  Shinya Onogi, Tetsuo Ikeda, Jumpei Arata, Susumu Oguri, Ryu Nakadate, Tomohiko Akahoshi, Mamoru Mitsuishi, Makoto Hashizume

  In laparoscopic liver surgery, laparoscopic ultrasound (LUS) is indispensable to understand inner structure such as vessels and tumors. However, LUS is not convenient due to poor operability, and does not provide positional information in the endoscopic view. To address the issue, we have developed both a robotic hand for LUS and a 3D visualization software. In this study, we describe the software which provide 3D ultrasound by scanning LUS. To confirm the system feasibility, an experiment using a polyurethane liver phantom was conducted. Figure shows the reconstructed volume with vessels. The computational time was approximately 50 msec less than typical imaging period of ultrasound.

  2016, Transactions of Japanese Society for Medical and Biological Engineering, 54(PROC) (PROC), 1 - 2

  Scientific journal


• A Microsurgical Robotic System that Induces a Multisensory Illusion

  Jumpei Arata, Kazuo Kiguchi, Masashi Hattori, Masamichi Sakaguchi, Ryu Nakadate, Susumu Oguri and Makoto Hashizume

  Jan. 2016, International Journal of Humanoid Robotics, 13(4) (4), English, International magazine

  [Refereed]


• Articulated minimally invasive surgical instrument based on compliant mechanism

  Jumpei Arata, Shinya Kogiso, Masamichi Sakaguchi, Ryu Nakadate, Susumu Oguri, Munenori Uemura, Cho Byunghyun, Tomohiko Akahoshi, Tetsuo Ikeda, Makoto Hashizume

  Jun. 2015, International Journal of Computer Assisted Radiology and Surgery, 10(11) (11), English, International magazine

  [Refereed]


• Energy-saving highspeed pick-and-place robot using in-frame parallel spring

  Jumpei Arata, Yuji Isogai, Junya Sumida, Masamichi Sakaguchi, Ryu Nakadate, Susumu Oguri and Makoto Hashizume

  Fuji Technology Press, Jun. 2015, Journal of Robotics and Mechatronics, 27(3) (3), 267 - 275, English, International magazine

  [Refereed]


• Gastric endoscopic submucosal dissection using novel 2.6-mm articulating devices: an ex vivo comparative and in vivo feasibility study

  Ryu Nakadate, Shotaro Nakamura, Tomohiko Moriyama, Hajime Kenmotsu, Susumu Oguri, Jumpei Arata, Munenori Uemura, Kenoki Ohuchida, Tomohiko Akahoshi, Tetsuo Ikeda, Makoto Hashizume

  Feb. 2015, Endoscopy, 47(9) (9), English, International magazine

  [Refereed]


• Operability study on the Multisensory Illusion inducible in Microsurgical Robotic Systems

  Jumpei Arata, Masashi Hattori, Masamichi Sakaguchi, Ryu Nakadate, Susumu Oguri, Kazuo Kiguchi, Makoto Hashizume

  The Rubber Hand Illusion is a well known multisensory illusion in which the participant feels their own unseen hand become a rubber hand that is placed at the position where their hand is supposedly placed, triggered by synchronized haptic stimuli on their hand and the rubber hand. Our previous study showed that a robotized 1-degree-of-freedom rubber hand in the form of a master-slave system significantly enhanced the illusion compared with the classic rubber hand illusion. The illusion gives the sense that the part of body becomes part of the robot -it is thus assumed that this multisensory illusion is a potentially effective way to increase intuitiveness, and therefore increase the operability of a multi-degrees-of-freedom masterslave system. To further investigate the concept, we built a multisensory illusion inducible microsurgical robotic system based on the findings of the previous study and conducted a series of psychophysical experiments. The experimental results reveal that the multisensory illusion and operability is significantly correlated.

  IEEE, 2015, 2015 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS), 579 - 584, English

  [Refereed]

  International conference proceedings


• Multi-Degrees of Freedom Robotic tool with Remote Center of Motion for Laparoscopic Ultrasound Scan : Mechanical Structure and its Evaluation

  Arata Jumpei, Fukami Kazunari, Oguri Susumu, Ikeda Tetsuo, Nakadate Ryu, Onogi Shinya, Akahoshi Tomohiko, Harada Kanako, Mitsuishi Mamoru, Sakaguchi Masamichi, Hashizume Makoto

  Robotic technology in the form of master-slave system provides dexterous motions in the confined workspace while increasing the accuracy in motion. Surgical robot is one example that the robotic technology has been successfully introduced in the market, and its applicable area is currently increasing. As an extension of the concept, we develop a laparoscopic manipulator to perform an ultrasonic scan in the abdominal cavity. The prototype was built as a hand-held device with three degree-of-freedom that can perform a dexterous ultrasonic scan in the confined abdominal cavity that has been difficult using conventional surgical tools. In this paper, we introduce the mechanical structure and its evaluation.

  The Japan Society of Mechanical Engineers, 2015, The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM, 2015, 126 - 127, English


• Multi-DOF Robotic Forceps for Laparoscopy using in-frame spring mechanism

  Arata Jumpei, Kamura Yuki, Oguri Susumu, Nakadate Ryu, Kiguchi Kazuo, Hashizume Makoto

  In recent years, robotic surgery has been widely performed in clinical practice, therefore the surgeons are becoming more and more familiarized with surgical robotic tools. Although the strong needs at clinical side, laparoscopy, one of the most performed minimally invasive surgery, is not widely performed using robotic system. To develop a further compact, lightweight, versatile surgical robotic system for laparoscopy, we designed novel robotic forceps developed based on Soft Robotics within the diameter of 6 mm. In this paper, we present concept, mechanical design and preliminary assessment of the developed prototype.

  The Japan Society of Mechanical Engineers, 2015, The Abstracts of the international conference on advanced mechatronics : toward evolutionary fusion of IT and mechatronics : ICAM, 2015, 62 - 63, English


• Mechanism study for Microsurgical Robotic System that can induce Multisensory Illusion

  Jumpei Arata, Masashi Hattori, Masamichi Sakaguchi, Ryu Nakadate, Susumu Oguri, Makoto Hashizume

  In recent years, robotic technology has been introduced in surgery in the form of master slave system and its applicable surgical area is widely spreading. Minimally invasive surgery and microsurgery are the representing applications of the robotic surgery that the surgeon performs the dexterous and ne operations in the deep or narrow surgical area in micro-scale. The intuitiveness is thus highly desirable to perform the highly elaborated surgical tasks such as suturing for surgical master slave systems. To increase the operability, time-delay of system response, haptic feedback and eye-hand coordination issues have mainly been discussed in the field of robotics. In addition to these approaches, we propose a surgical robotic system that induces multisensory illusion. In our previous study, we reported that the robotic instruments enhances the multisensory illusion. In this paper, we determine the requirements for inducing the multisensory illusion on a multi-DOF master slave system and the first stage of prototype implementation based on the given requirements is described.

  IEEE, 2014, 2014 JOINT 7TH INTERNATIONAL CONFERENCE ON SOFT COMPUTING AND INTELLIGENT SYSTEMS (SCIS) AND 15TH INTERNATIONAL SYMPOSIUM ON ADVANCED INTELLIGENT SYSTEMS (ISIS), 13(4) (4), 1238 - 1242, English

  [Refereed]

  International conference proceedings


• Development of robotic system for autonomous liver screening using ultrasound scanning device

  Ammar Safwan Bin Mustafa, Takashi Ishii, Yoshiki Matsunaga, Ryu Nakadate, Hiroyuki Ishii, Kouji Ogawa, Akiko Saito, Motoaki Sugawara, Kiyomi Niki, Atsuo Takanishi

  Physicians use ultrasound scans to do diagnosis by making real-time images of internal organs, because such scans are safe, inexpensive, and non-invasive. However, aging society and limited numbers of physician make it difficult for patients in remote areas to be diagnosed. Besides, physician's technical skills affect the interpretation of the scans and thus the results of the examination. Thus, development of a robotic system for remote diagnosis is required to solve the problems. For this purpose, we proposed the development of a robotic system for automatic ultrasound imaging focusing on human liver. In this paper, we present several elements developed for the robotic system. First element is an algorithm for estimating the position of liver to guide the probe to scan initial position which is the epigastric region. Second element is ultrasound probe scanning protocol design to obtain whole image of the liver. Third element is force control algorithm to maintain the contact between the probe and human body even though the patient is breathing. Fourth element is an algorithm for detecting and correcting the probe's position when improper ultrasound images occurred. These algorithms with an implementation program control the apparatus: a Mitsubishi Electric's MELFA RV-1 six axis manipulator and tested on human subjects. The results confirmed the effectiveness of the approach. © 2013 IEEE.

  IEEE Computer Society, 2013, 2013 IEEE International Conference on Robotics and Biomimetics, ROBIO 2013, 804 - 809, English

  International conference proceedings


• Development of a Robotic Carotid Blood Flow Measurement System : Automated Positioning and Visual Servoing of the Ultrasound Probe by Ultrasound Image Feedback

  NAKADATE Ryu, SOLIS Jorge, OGAWA Kouji, SUGAWARA Motoaki, NIKI Kiyomi, TAKANISHI Atsuo

  One of the important tasks required for sonographers is an accurate positioning of ultrasound probe. Especially, the measurement of the diameter of the blood vessel is affected by the positioning error of the probe. For this purpose, we have been developing a robot system for the medical ultrasound diagnosis, which composed of a 6-DOFs probe manipulator and supporting arm. In this paper, we present an implementation of fully automated positioning algorithm of the ultrasound probe on the carotid artery, by means of image feedback. A probe holding robot firstly detects the patient skin, then scans and detects the longitudinal section of the carotid artery, guide the probe towards the position where the tissue layers of the artery walls are most clearly observed. Furthermore, a new method of the visual servoing for tracking the out-of-plane motion for the medical ultrasound is presented. Automated positioning algorithm is tested in eleven volunteers and the results show that the system successfully completed the task in 91% of the trials. Visual servoing algorithm is also tested and the experimental results show its effectiveness.

  The Robotics Society of Japan, Sep. 2011, JRSJ, 29(7) (7), 626 - 633, Japanese, Domestic magazine

  [Refereed]


• Development of a Robotic-Assisted Carotid Blood Flow Measurement System

  Ryu Nakadate, Yoshiki Matsunaga, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki

  Aug. 2011, Mechanism and Machine Theory, 46(8) (8), English, International magazine

  [Refereed]


• Workspace analysis and design improvement of a carotid flow measurement system

  G.Carbone, R.Nakadate, J.Solis, M.Ceccarelli, A.Takanishi, E.Minagawa, M.Sugawara, K.Niki

  Apr. 2010, Proceedings of Part H: Journal of Engineering in Medicine, 224(11) (11), English, International magazine

  [Refereed]


• Implementation of an Automatic Scanning and Detection Algorithm for the Carotid Artery by an Assisted-Robotic Measurement System

  Ryu Nakadate, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki

  In this paper, we present a robotic system which automatically searches and detects the longitudinal section of the carotid artery using a conventional medical ultrasound diagnostic system. In order to obtain a clear image of the carotid artery ready for medical diagnosis, the authors developed real-time image processing algorithms to detect the carotid artery and tissue layers of its walls in the B-mode ultrasound images. Sequential patterns of the ultrasound probe trajectory for scanning the surface of the neck and searching the carotid, were implemented and tested on the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement Robot System No. 1 Refined II (WTA-1RII). An experiment with eleven volunteers was carried out and the results show that the system obtained clear images of the carotid artery in 91% of the trials.

  IEEE, 2010, IEEE/RSJ 2010 INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2010), 313 - 318, English

  International conference proceedings


• Development of the Two-Wheeled Inverted Pendulum Type Mobile Robot WV-2R for Educational Purposes

  Jorge Solis, Ryu Nakadate, Yuki Yoshimura, Yuichiro Hama, Atsuo Takanishi

  The rapidly increase of personal robotic platforms and their applications in Japan represents a great challenge for universities to introduce undergraduate students the basic knowledge required to develop intelligent automated mechanisms. For this purpose; in this paper, we are presenting our approach to introduce first year undergraduate students of the Department of Modern Mechanical Engineering the basics of robotics systems. In order to foster the creativity of undergraduate students of engineering fields, we focused in developing an education tool designed to introduce at different educational levels the principle of developing mechatronic systems. In particular, the development of an inverted pendulum mobile robot Waseda Wheeled Vehicle No. 2 (WV-2R) has been proposed. Different kinds of experiments were proposed to confirm the possibility or implementing controllers as well as changing physical properties of the system to observe differences on the response of the system. From the experimental results, we could confirm the effectiveness of the proposed systems to control the angle of pendulum respect to the body base as well as by changing the radius of the wheel.

  IEEE, 2009, 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 2347 - 2352, English

  International conference proceedings


• Development of a Robotic Carotid Blood Measurement WTA-1RII: Mechanical Improvement of Gravity Compensation Mechanism and Optimal Link Position of the Parallel Manipulator based on GA

  Ryu Nakadate, Hisato Uda, Hiroaki Hirano, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki

  In recent years, due to the increasing rate of elderly people in Japan, the needs to detect adults' diseases at the early stage becomes a high priority. In particular, an increased interest in detecting heart and cerebrovascular diseases at an early stage may allow clinicians to begin treatment sooner (when more treatment options are available), when interventions are generally more effective and less expensive. For this purpose, the introduction of robotic-assisted technology has advantages in terms of repetitiveness and accuracy of the measurement procedure. Therefore, at Waseda University, we have proposed the development of a carotid blood flow measurement system to support doctors while using ultrasound diagnostic equipments to detect arteriosclerosis and myocardial ischemia by measuring wave intensity. In this paper, the Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement System No. 1 Refined II (WTA-1RII) is detailed. The WTA-1RII is composed by an ultrasound diagnostic system and a probe-supporting robotic device. The robotic device is composed by a parallel link manipulator (for fine adjustment) and a passive arm (for rough positioning). The WTA-1RII has improved the design of the gravity compensation mechanism (composed by a constant force spring attached to a slide guide). In addition, a genetic algorithm has been implemented to determine the optimal link's position of the 6-DOF parallel manipulator to increase the workspace. Finally, a set of experiments were carried out to determine the usability of the proposed system.

  IEEE, 2009, 2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 717 - +, English

  International conference proceedings


• Development of Mechatronic Systems for Education Purposes to Introduce Robot Technology Principles

  Jorge Solis, Ryu Nakadate, Tetsuro Yamamoto, Atsuo Takanishi

  The rapid increase of personal robotic platforms and their applications in Japan represents a great challenge for universities to introduce undergraduate students the basic knowledge required to develop intelligent automated mechanisms. For this purpose; in this paper, we are presenting our approach to introduce first year undergraduate students of the Department of Modern Mechanical Engineering the basics of robotics systems. In particular, the details of the inverted pendulum system based on the robotic education kit RoboDesigner and the development of a two-wheeled inverted pendulum mobile robot are detailed. The first system is basically used by students of the Mechatronics Laboratory (2) where they receive lectures of the content of each proposed topic and then, a set of practical experiments are done. On the other hand, in order to foster the creativity of undergraduate students of engineering fields, we focused in developing an education tool designed to introduce at different educational levels the principle of developing mechatronic systems. In particular, the development of an inverted pendulum mobile robot Waseda Wheeled Vehicle No. 1 (WV-1) has been proposed. Different kinds of experiments were proposed to confirm the possibility of implementing controllers as well as changing physical properties of the system to observe differences on the response of the system. From the experimental results, we could confirm the effectiveness of the proposed systems to control the angle of pendulum respect to the body base.

  IEEE, 2009, 2009 IEEE/ASME INTERNATIONAL CONFERENCE ON ADVANCED INTELLIGENT MECHATRONICS, VOLS 1-3, 911 - +, English

  International conference proceedings


• Development of Assisted-Robotic System Designed to Measure the Wave Intensity with an Ultrasonic Diagnostic Device

  Ryu Nakadate, Hisato Uda, Hiroaki Hirano, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki

  In recent years, due to the increasing rate of elderly people in Japan, the needs to detect adults' diseases at the early stage becomes a high priority. In particular, an increased interest in detecting heart and cerebrovascular diseases at an early stage may allow clinicians to begin treatment sooner, when interventions are generally more effective and less expensive. Recently, the Wave Intensity (WI) has been proposed as a new hemodynamic index that provides information about the dynamic behavior of the heart and the vascular system and their interaction. However; the repetitiveness and accuracy of the WI measurement depend on the precision of the positioning of the ultrasound probe. Therefore a positioning device for ultrasound probe is required. Such a device should not only be used to keep the position but also for the fine positioning of the probe. For this purpose, at Waseda University, we have proposed the development of a robot system to assist a carotid blood flow measurement using ultrasound diagnostic equipments. In this paper, the development of Waseda-Tokyo Women's Medical-Aloka Blood Flow Measurement System No. 1 Refined II (WTA-1RII is detailed. The system consists of an ultrasound diagnostic device, a 6-DOFs parallel link manipulator, a serial link passive arm, ball joint, and a joystick type controller. The WTA-1RII has improved the design of the gravity compensation mechanism. In addition, a genetic algorithm has by implemented to determine the optimal link's position of the 6-DOFs parallel manipulator to increase the workspace. Finally, a set of experiments were carried out to determine the usability of the proposed system.

  IEEE, 2009, 2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS, 510 - 515, English

  International conference proceedings


• DESIGN IMPROVEMENTS ON A CAROTID BLOOD FLOW MEASUREMENT SYSTEM

  G. Carbone, R. Nakadate, J. Solis, M. Ceccarelli, A. Takanishi, E. Minagawa, M. Sugawara, K. Niki

  This paper investigates mechanical design improvements for a carotid blood flow measurement robotic system. This robotic system is composed of a serial robot with a wrist having a 6-DOF parallel mechanism. Main focus is to enhance the workspace performance of the wrist. Thus, a workspace analysis is carried out by referring to a built prototype that is named as WTA-1R (Waseda-Tokyo women's medical Aloka blood flow measurement system no.1 Refined). Then, mechanical design enhancements are proposed.

  SPRINGER, 2009, COMPUTATIONAL KINEMATICS, PROCEEDINGS, 283 - +, English

  International conference proceedings

• Commercialized Surgical Robots in the World

  Ryu Nakadate

  Lead, The Robotics Society of Japan, Apr. 2021, Journal of the Robotics Society of Japan, 39(3) (3), 213 - 217, Japanese

  Introduction scientific journal


• 低侵襲医療機器の開発経験

  中楯 龍

  Lead, 日本コンピュータ外科学会誌, Jun. 2019, 低侵襲医療機器の開発経験, 21(2) (2), 70 - 74, Japanese


• 4 DOF Robotic Forceps with 2mm in diameter for Transnasal Endoscopic Neurosurgery

  荒田純平, 荒田純平, 梶原渉, 中楯龍, 橋爪誠, 木口量夫, 原田香奈子, 光石衛

  (一社)日本コンピュータ外科学会, 26 Oct. 2018, 日本コンピュータ外科学会誌, 20(4) (4), 240 - 240, Japanese


• 消化器外科手術における先端ロボット技術

  中楯 龍, 橋爪 誠

  Lead, 人工臓器, Sep. 2018, 人工臓器, 47(1) (1), 62 - 66, Japanese


• プローブ把持ロボットによる自動探索と３次元トラッキング

  中楯 龍, 橋爪 誠

  Lead, 超音波医学, Mar. 2018, 超音波医学, 45(2) (2), 149 - 157, Japanese


• Robotic system development of a flexible endoscope manipulation for endoscopic therapy

  Onogi Shinya, Nakadate Ryu, Iwasa Tsutomu, Arata Jumpei, Oguri Susumu, Ikeda Tetsuo, Hashizume Makoto

  Endoscopic submucosal dissection (ESD) is a radical operation for early-stage cancer of the stomach, colon, and esophagus. In ESD, circumferential cutting of the surrounding mucosa of the lesion and submucosa dissection are performed using electrosurgical knives by scope motion. However, this technique is the requirement of long-term training for safe and short time procedures. To address the issue, we have developed a robotic system using a commercialized endoscope for intuitive operation in one hand. The system consists of three parts: one is a holder for the control body of an endoscope, a grasper of the flexible shaft, and a master controller with four degrees of freedoms. The holder has two-rotation mechanism for two dials of the endoscope. In this study, mechanical tests were performed as measurement of scope motion by sine signal motion. From the results, the robot can manipulate each axis of an endoscope within 200 msec delay.

  Japanese Society for Medical and Biological Engineering, 2017, Transactions of Japanese Society for Medical and Biological Engineering, 55(3) (3), 182 - 182, Japanese


• 腹腔鏡下肝胆膵手術とナビゲーション 鏡視下肝切除における3D術中超音波システム

  池田 哲夫, 小野木 真哉, 荒田 純平, 中楯 龍, 小栗 晋, 赤星 朋比古, 原田 香奈子, 光石 衛, 橋爪 誠

  (一社)日本内視鏡外科学会, Dec. 2016, 日本内視鏡外科学会雑誌, 21(7) (7), RS6 - 5, Japanese


• Efficacy validation of a new platform with thin articulating devices for endoscopic submucosal dissection in animal study

  Yasuharu Okamoto, Ryu Nakadate, Shuntaro Nagai, Shotaro Nakamura, Tomohiko Moriyama, Motohiro Esaki, Tomohiko Akahoshi, Tetsuo Ikeda, Takanari Kitazono, Makoto Hashizume

  WILEY-BLACKWELL, Nov. 2016, JOURNAL OF GASTROENTEROLOGY AND HEPATOLOGY, 31, 350 - 350, English

  Summary international conference


• 内視鏡ロボットの現状と未来

  荒田純平, 中楯龍, 小野木真哉, 橋爪誠

  医療機器学, Oct. 2016, 医療機器学, 86(4) (4), 373 - 6, Japanese


• 手術支援ロボット・新しい内視鏡技術により実現する医療イノベーション

  中田亮輔, 中楯 龍, 橋爪 誠

  光技術コンタクト, Jun. 2016, 光技術コンタクト, 54(6) (6), 4 - 10, Japanese


• 腹腔鏡下手術において超音波装置を術中診断,治療支援およびナビゲーションに活用することを可能とするハンドヘルド型・多自由度電動アームの開発

  荒田純平, 小栗晋, 池田哲夫, 中楯龍, 小野木真哉, 赤星朋比古, 原田香奈子, 光石衛, 橋爪誠

  (一社)日本外科学会, Apr. 2016, 日本外科学会定期学術集会(Web), 116th, OP‐070‐4 (WEB ONLY) - 070, Japanese


• 腹腔鏡下超音波のためのナビゲーションシステムの開発

  小野木真哉, 荒田純平, 中楯龍, 小栗晋, 赤星朋比古, 池田哲夫, 原田香奈子, 光石衛, 橋爪誠

  (一社)日本外科学会, Apr. 2016, 日本外科学会定期学術集会(Web), 116th, OP‐004‐8 (WEB ONLY) - 004, Japanese


• 肝胆膵高難度手術に対する腹腔鏡手術のあり方と将来展望 腹腔鏡下肝切除を安全に行うために必要な知識、技術そしてトレーニング これまでに得てきたこと、これから必要なこと

  池田 哲夫, 木村 光一, 伊藤 心二, 岡部 弘尚, 播本 憲史, 池上 徹, 吉住 朋晴, 赤星 朋比古, 調 憲, 荒田 純平, 小栗 晋, 中楯 龍, 小野木 真哉, 橋爪 誠, 前原 喜彦

  (一社)日本外科学会, Apr. 2016, 日本外科学会定期学術集会抄録集, 116回, SY - 6, Japanese


• 内視鏡手術における先端技術の現状と展望

  中楯 龍, 橋爪 誠

  Lead, 日仏工業技術 Vol.60 No.1, Feb. 2016, 日仏工業技術, 60(1) (1), 11 - 14, Japanese


• 腹腔鏡下超音波のためのリアルタイム3D超音波画像構築・呈示

  小野木真哉, 荒田純平, 中楯龍, 小栗晋, 赤星朋比古, 池田哲夫, 原田香奈子, 光石衛, 橋爪誠

  (一社)日本コンピュータ外科学会, 31 Oct. 2015, 日本コンピュータ外科学会誌, 17(3) (3), 162 - 162, Japanese


• 2A1-C01 Operability assessment on a multisensory illusion inducible microsurgical robotic system

  ARATA Jumpei, HATTORI Masashi, SAKAGUCHI Masamichi, NAKADATE Ryu, OGURI Susumu, KIGUCHI Kazuo, HASHIZUME Makoto

  Body ownership transfer in the rubber hand illusion is a well-known multisensory illusion in literature. In our previous study, we have investigated the components to increase the multisensory illusion using robotic instruments. Based on the findings shown in the previous study, we developed a microsurgical robotic system for the further investigation of multisensory illusion in the form of multi-degree-of-freedom master slave system. In this paper, we report the effect of multisensory illusion in terms of the operability on the developed microsurgical robot. The experimental results showed the operability is significantly correlated to the multisensory illusion.

  The Japan Society of Mechanical Engineers, 17 May 2015, ロボティクス・メカトロニクス講演会講演概要集, 2015, "2A1 - C01(1)"-"2A1-C01(3)", Japanese


• Next-Generation Robotic Surgery from the aspect of surgical robots by industry.

  Nakadate R, Arata J, Hashizume M

  Lead, Minimally Invasive Therapy Allied Technologies. 24:2-7, Feb. 2015, Minimally Invasive Therapy Allied Technologies, 24, 2 - 7, English


• 血管損傷,胆管損傷時の対処と回避するためのトレーニング方法の検討

  神保教広, 池田哲夫, 小栗晋, 中楯龍, 小野木真哉, 荒田純平, 赤星朋比古, 橋爪誠

  2015, 肝臓内視鏡外科研究会プログラム・抄録集, 9th


• 腹腔鏡下肝切除に有用な超音波走査自在電動アーム

  荒田純平, 荒田純平, 荒田純平, 小栗晋, 池田哲夫, 池田哲夫, 中楯龍, 小野木真哉, 赤星朋比古, 原田香奈子, 光石衛, 橋爪誠, 橋爪誠

  2015, 肝臓内視鏡外科研究会プログラム・抄録集, 9th


• 腹腔鏡下超音波のための三次元画像の構築・可視化システム

  小野木真哉, 荒田順平, 中楯龍, 小栗晋, 赤星朋比古, 池田哲夫, 原田香奈子, 光石衛, 橋爪誠

  2015, 肝臓内視鏡外科研究会プログラム・抄録集, 9th


• 医療用ロボットの現状 (特集 医療用ロボット)

  剣持 一, 中楯 龍, 橋爪 誠

  日本ロボット工業会, Jan. 2015, ロボット, (222) (222), 8 - 13, Japanese


• シーズとニーズのマッチングの方法 ニーズなくしてシーズ無し シリコンジャケットイリゲーターの開発 臨床医にとって困難をニーズと考えシーズに変える可能性を見出す

  池田 哲夫, 赤星 朋比古, 山下 実, 植村 宗則, 小栗 晋, 中楯 龍, 荒田 純平, 橋爪 誠

  (一社)日本コンピュータ外科学会, Oct. 2014, 日本コンピュータ外科学会誌, 16(3) (3), 150 - 151, Japanese


• 3A1-D03 Toward Intuitively Manipulable Surgical Robot based on Multi-Sensory Illusion(Medical Robotics and Mechatronics (1))

  ARATA Jumpei, HATTORI Masashi, ICHIKAWA Shohei, SAKAGUCHI Masamichi, NAKADATE Ryu, OGURI Susumu, HASHIZUME Makoto

  Body ownership transfer in rubber hand illusion is a well known multi-sensory illusion in the literature. In this study, we introduce the illusion into a microsurgical master slave system to realize a further operability. The developed system has been designed based on the preliminary study that we had conducted using 1 DOF motorized rubber hand with a wearable master device with a optical encoder on the index finger's MP joint. In this paper, we briefly introduce the concept and the mechanical setup of the system.

  The Japan Society of Mechanical Engineers, 24 May 2014, ロボティクス・メカトロニクス講演会講演概要集, 2014, "3A1 - D03(1)"-"3A1-D03(2)", Japanese


• Image-Based 3D Navigation of the Ultrasound Probe

  ISHII T., OSHIDA K., NAKADATE R., TAKANISHI A., OGAWA K., SAITO A., SUGAWARA M., NIKI K.

  22 Nov. 2011, Journal of Japan Society of Computer Aided Surgery : J.JSCAS, 13(3) (3), 256 - 257, Japanese


• 1P1-G19 Development of an Two-Wheeled Inverted Pendulum Type Mobile Robot for Educational Purposes : Hardware Design and Control Implementation of the Waseda Wheeled Vehicle No.2 Refined

  KRYCZKA Przemyslaw, NAKADATE Ryu, SOLIS Jorge, TAKANISHI Atsuo

  Since 2007, at Waseda University, we have focused our research in developing more advanced educational tools to motivate students' creativity at different educational levels. For this purpose, we have proposed the development of a two-wheeled inverted pendulum type mobile robot designed to provide educational issues related to electronics, mechanics, control, etc. In this paper, we are presenting the details of the development of the Waseda Wheeled Vehicle No. 2 Refined (WV-2R) which is composed by two actuated wheels, a controller, a mobile base and a remote controller. In order to verify some of the proposed educational functions, different experiments were carried out to confirm their effectiveness.

  The Japan Society of Mechanical Engineers, 2010, ロボティクス・メカトロニクス講演会講演概要集, 2010, "1P1 - G19(1)"-"1P1-G19(4)", Japanese


• Automated Searching and Detection of Carotid Artery by Robot Using Medical Ultrasound Device

  NAKADATE R., SOLIS J., TAKANISHI A., SUGAWARA M., NIKI K., MINAGAWA E.

  21 Nov. 2009, Journal of Japan Society of Computer Aided Surgery : J.JSCAS, 11(3) (3), 234 - 235, Japanese


• 1A2-A20 Development of an Two-Wheeled Inverted Pendulum Type Mobile Robot for Educational Purposes : Hardware Design of the Waseda Wheeled Vehicle No.1

  NAKADATE Ryu, SOLIS Jorge, TAKANISHI Atsuo

  In the recent years, in order to foster the creativity of undergraduate students of engineering fields, the acquisition of technical skills requires an interdisciplinary approach to understand the basic knowledge among different backgrounds. As an approach to cover different aspects of the Robot Technology, in this project, we focused in developing an education tool designed to introduce at both elementary level and higher level students the principle of developing mechatronic systems. In particular, the development of an inverted pendulum mobile robot has been proposed. In this paper, the development of the Waseda Wheeled-Vehicle No.1 (WV-1) is described. A set of experiments are proposed to verify the controllability and stability properties of the WV-1.

  The Japan Society of Mechanical Engineers, 25 May 2009, ロボティクス・メカトロニクス講演会講演概要集, 2009, "1A2 - A20(1)"-"1A2-A20(3)", Japanese

• ロボット工学ハンドブック （第3版）

  日本ロボット学会

  Contributor, 3.4 リーダ・フォロワ型手術支援ロボット, コロナ社, Mar. 2023, Japanese, ISBN: 9784339046793


• Intelligent information-guided robotic surgery, in: Recent Advances in Laparoscopic Surgery.

  Ryu Nakadate, Makoto Hashizume

  IntechOpen, Nov. 2019, IntechOpen


• 3D Tracking of Respiratory Liver Movement by a Robot Assisted Medical Ultrasound, in:Computer Aided Surgery.

  Ryu Nakadate, Ammar Safwan Bin Mustafa, Hiroyuki Ishii, Akiko Saito, Atsuo Takanishi, Makoto Hashizume

  Springer Japan, Feb. 2016, Springer Japan


• ロボット工学テキスト, 第1章8節 ”超音波診断装置補助ロボットシステムWTA-2”，第7章 ”シミュレーション”

  高西淳夫, J. Solis, 髙信英明, M. Zecca, 石井裕之, 福井孝太郎, 橋本健二, 近藤秀樹, 遠藤信綱, 中楯龍, 竹崎裕記, P. Kryczka, 飯田 文也, 木下純一, Y. Noh (早稲田大学 高西淳夫研究室)

  JAPANROBOTECH, Jan. 2011, Japanese

• Compliant Multi-DOF Endoluminal Forceps with 2.5 mm in diameter

  K. Osawa, D.S.V. Bandara, R. Nakadate, Y. Nagao, T. Akahoshi, M. Eto, J. Arata

  Computer Assisted Radiology 36th International Congress and Exhibition (CARS 2022), Jun. 2022


• 手術用ロボット・機器の開発について、工学系の立場から

  中楯 龍

  神戸大学第39回医学研究科市民公開講座(2022), 2022

  Invited oral presentation


• アカデミアでの医工連携による手術デバイスの開発・実用化

  中楯 龍

  日本機械学会 第34回バイオエンジニアリング講演会(2022), 2022

  Invited oral presentation


• 柔軟メカニズムを用いた内視鏡治療用多自由度ロボット鉗子の開発

  大澤啓介, D.S.V. BANDARA, 中楯龍, 田中英一郎, 長尾吉泰, 赤星朋比古, 江藤正俊, 荒田純平

  第23回計測自動制御学会システムインテグレーション部門講演会,, 2022


• 柔軟メカニズムを用いた自走式大腸内視鏡ロボットの開発,

  大澤啓介, 中楯龍, 荒田純平, 田中英一郎, 長尾吉泰, 赤星朋比古, 江藤正俊, 橋爪誠

  Frontiers of CAS Symposium 2022, 2022


• コンプライアントメカニズムを用いたハンドヘルド型内視鏡治療用多自由度鉗子の開発

  大澤 啓介, D.S.V. Bandara, 中楯 龍, 長尾 吉泰, 赤星 朋比古, 江藤 正俊, 荒田 純平

  ロボティクス・メカトロニクス講演会(2022), 2022


• Parametric Optimization of Continuum Compliant Structure for Multi-DOF Endoluminal Forceps

  K. Osawa, D. S. V. Bandara, R. Nakadate, E. Tanaka, Y. Nagao, T. Akahoshi, M. Eto, J. Arata

  18th Asian Conference on Computer Aided Surgery (ACCAS 2022),, 2022


• 擬似剛体モデルを用いた消化管内治療鉗子のモデルベース設計手法

  大澤 啓介, DSV. Bandara, 中楯 龍, 長尾 吉泰, 赤星 朋比古, 江藤 正俊, 荒田 純平

  第39回日本ロボット学会学術講演会, Sep. 2021, Japanese

  Oral presentation


• Development of Multi-DOF Forceps Comprised of a Monolithic Compliant Structure for Endoluminal Surgery

  Keisuke Osawa, Sanjaya V. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata

  The 7th International Conference on Advanced Mechatronics (ICAM2021), Jul. 2021, English

  Oral presentation


• 消化管内治療用の一体構造型を有する小型多自由度鉗子の開発

  大澤 啓介, Sanjaya V. Bandara, 中楯 龍, 長尾 吉泰, 赤星 朋比古, 江藤 正俊, 荒田 純平

  ロボティクス・メカトロニクス講演会2021 (ROBOMEC2021), Jun. 2021, Japanese

  Oral presentation


• ⼿術⽀援ロボット開発による先端医療イノベーション

  中楯 龍

  第5回次世代スーパーマイクロサージャリー研究会, Mar. 2021, Japanese

  [Invited]

  Invited oral presentation


• 遠隔動力配置可能な上肢リハビリテーションロボットのプロトタイプ開発

  川中 建実, 中楯 龍, 荒田 純平

  第21回計測自動制御学会システムインテグレーション部門講演会（SICE SI2020）, Dec. 2020, Japanese

  Oral presentation


• 多自由度手術ロボットの操作性評価のための VR 操作シミュレーション環境の構築

  原崎 康太, 小栗 晋, 中楯 龍, 江藤 正俊, 荒田 純平

  第21回計測自動制御学会システムインテグレーション部門講演会（SICE SI2020）, Dec. 2020, Japanese

  Oral presentation


• 医工連携で課題解決-RAPNにおける超音波プローブアタッチメント開発-

  小林 聡, 中楯 龍, 李 賢, 阿部 立郎, 門司 恵介, 武内 在雄, 塩田 真己, 猪口 淳一, 江藤 正俊

  第34回日本泌尿器内視鏡学会, Nov. 2020, Japanese

  Oral presentation


• Self-Propelled Colonoscopy Robot using Flexible Paddles

  Keisuke Osawa, Ryu Nakadate, Jumpei Arata, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Makoto Hashizume

  2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2020), Oct. 2020, Las Vegas


• Improvement of Attitude Measurement for Surgical Navigation by Integration of a Position Sensor and a Gyroscope

  S. Onogi, R. Nakadate, Y. Nagao, M. Eto

  Computer Assisted Radiology 34th International Congress and Exhibition (CARS 2020), Jun. 2020, Munich, Germany


• 遠隔動力配置可能な上肢リハビリテーションロボットに関する研究

  川中建実, 中楯龍, 木口量夫, 荒田純平

  ロボティクス・メカトロニクス講演会2020 (ROBOMEC2020), May 2020, 金沢


• 体内に挿入可能な５指ロボットハンドと低コストデータグローブ

  中楯 龍

  九州大学ベンチャーエコシステム連絡会, Dec. 2019, 東京

  [Invited]


• 超音波診断支援ロボット

  中楯 龍

  第18回日本超音波治療研究会, Dec. 2019, 東京

  [Invited]


• Self-Propelled Colonoscope Robot by Elastic Wall Fitting Mechanism

  Keisuke Osawa, Ryu Nakadate, Jumpei Arata, Tomohiko Akahoshi, Masatoshi Eto, Makoto Hashizume

  The 15th Asian Conference on Computer Aided Surgery (ACCAS 2019), Nov. 2019, 東京


• 連続縫合が可能なシャフト径3mmのシングルアクション自動運針器の開発

  中楯 龍, 小栗 晋, 荒田 純平, 大澤 啓介, 赤星 朋比古, 江藤 正俊, 橋爪 誠

  第28回日本コンピュータ外科学会大会, Nov. 2019, 東京


• 柔軟パドルを用いた腸管自走ロボットの開発

  大澤啓介, 中楯龍, 荒田純平, 赤星朋比古, 江藤正俊, 橋爪誠

  第37回日本ロボット学会学術講演会, Sep. 2019, 東京


• ２本の腕とステレオカメラを備えた腹腔鏡手術用ミニチュアハンドロボットの開発

  中楯龍, 大澤啓介, 荒田純平, 大内田研宙, 赤星朋比古, 江藤正俊, 橋爪誠

  第37回日本ロボット学会学術講演会, Sep. 2019, 東京


• 状態遷移モデルと患者CGを用いた臨床技能訓練システム

  菅宮 友莉奈, 大谷 拓也, 中楯 龍, 大久保 由美子, 山内 かづ代, 高西 淳夫

  第37回日本ロボット学会学術講演会, Sep. 2019, 東京


• Construction of automatic scoring system to support objective evaluation of clinical skills in medical education

  Yurina Sugamiya, OTANI Takuya, Ryu Nakadate, Atsuo Takanishi

  41st Annual International Conference of the IEEE Engineering in Medicine & Biology Society (EMBC2019)., Jul. 2019, Berlin, Germany


• 九州大学における医療機器開発支援の取組みについて

  中楯 龍

  福岡県医療機器関連セミナー ～承認・認証申請の概要～, Jul. 2019, 福岡

  [Invited]


• 2 mm surgical manipulator with four degrees-of-freedom for transnasal endoscopy comprising elastic mechanical elements

  J. Arata, S. V. Bandara, W. Kajihara, R. Nakadate, K. Harada, M. Mitsuishi, K. Kiguchi, M. Hashizume

  Computer Assisted Radiology 33th International Congress and Exhibition (CARS 2019), Jun. 2019, Lennes, France


• 多自由度手術ロボットの直感的操作 インタフェースの開発とその評価に関する研究

  原崎康太, 小栗晋, 中楯龍, 木口量夫, 江藤正俊, 荒田純平

  ロボティクス・メカトロニクス講演会2019 (ROBOMEC2019), Jun. 2019, 広島


• Compliant four degree-of-freedom manipulator with locally deformable elastic elements for minimally invasive surgery

  Jumpei Arata, Yosuke Fujisawa, Ryu Nakadate, Kazuo Kiguchi, Kanako Harada, Mamoru Mitsuishi and Makoto Hashizume

  The 2019 IEEE International Conference on Robotics and Automation (ICRA), May 2019, Montreal, Canada


• Mechanism study for miniaturized compliant manipulator for Minimally Invasive Surgery

  Wataru Kajihara, Ryu Nakadate, Kazuo Kiguchi, Kanako Harada, Mamoru Mitsuishi, Makoto Hashizume, Jumpei Arata

  The 14th Asian Conference on Computer Aided Surgery (ACCAS 2018), Nov. 2018, Shanghai, China


• 軟性鏡手術ロボットのex vivo評価

  中楯 龍, 岩佐 勉, 小野木 真哉, 荒田 純平, 小栗 晋, 岡本 康治, 赤星 朋比古, 副島 雄二, 江藤 正俊, 橋爪 誠

  第27回日本コンピュータ外科学会大会, Nov. 2018, 奈良


• 体深部狭所での運針のためのシングルアクション運針器の開発

  中楯 龍, 小栗 晋, 荒田 純平, 大澤 啓介, 赤星 朋比古, 副島 雄二, 江藤 正俊, 橋爪 誠

  第27回日本コンピュータ外科学会大会, Nov. 2018, 奈良


• Synthetic elastic mechanism for miniaturized neurosurgical robotic forceps

  Jumpei Arata, Yosuke Fujisawa, Ryu Nakadate, Kanako Harada, Mamoru Mitsuishi, Kazuo Kiguchi, Makoto Hashizume

  Computer Assisted Radiology 31th International Congress and Exhibition (CARS 2018), Jun. 2018


• 体内で連続縫合が可能な自動運針器のプロトタイプの開発

  中楯龍, 小栗晋, 荒田純平, 小野木真哉, 赤星朋比古, 副島雄二, 橋爪誠

  ロボティクス・メカトロニクス講演会2018 (ROBOMEC2018), Jun. 2018, 北九州


• 先端医療イノベーションセンターの開発事例2

  中楯 龍

  平成29年度AMED国産医療機器創出促進基盤整備等シンポジウム, Mar. 2018, 福岡

  [Invited]


• 体内に挿入可能な５指ロボットハンドと低コストデータグローブ

  中楯 龍

  次世代医療システム産業化フォーラム2017第6回例会, Dec. 2017, 大阪

  [Invited]


• パラレルメカニズムを応用した微細手術ロボットのための回転２自由度機構

  小林 美輝, 中楯 龍, 木口 量夫, 橋爪 誠, 荒田 純平

  計測自動制御学会システムインテグレーション部門講演会（SI2017）予稿集, Dec. 2017


• 新医療機器開発の事例紹介と 参入にあたって必要なこと

  中楯 龍

  国産医療機器創出促進基盤整備事業セミナー, Nov. 2017, 福岡

  [Invited]


• A novel 2-DOF Rotational Parallel Mechanism with a Remote Center of Motion for Microsurgical Robot

  Yoshiteru Kobayashi, Ryu Nakadate, Kazuo Kiguchi, Makoto Hashizume, Jumpei Arata

  The 13th Asian Conference on Computer Aided Surgery (ACCAS2017), Nov. 2017


• Development of robotic flexible endoscope manipulation system

  Shinya Onogi, Ryu Nakadate, Tsutomu Iwasa, Jumpei Arata, Susumu Oguri, Makoto Hashizume

  The 13th Asian Conference on Computer Aided Surgery (ACCAS2017), Nov. 2017


• Novel suturing device for flexible endoscope

  Ryu Nakadate, Tsutomu Iwasa, Yasuharu Okamoto, Jumpei Arata, Shinya Onogi, Susumu Oguri, Tomohiko Akahoshi, Tetsuo Ikeda, Makoto Hashizume

  The 13th Asian Conference on Computer Aided Surgery (ACCAS2017), Nov. 2017


• 縦方向とねじり回転が可能な軟性鏡用外付け持針器の開発

  中楯龍, 岩佐勉, 岡本康治, 小野木真哉, 荒田純平, 小栗晋, 赤星朋比古, 池田哲夫, 橋爪誠

  第11回先進内視鏡治療研究会（J-CASE）, Oct. 2017


• ピニオンギヤ機構を用いた自走式大腸内視鏡ロボットの開発

  大澤啓介, 中楯龍, 小栗晋, 荒田純平, 小野木真哉, 赤星朋比古, 池田哲夫, 橋爪誠

  第26回日本コンピュータ外科学会大会, Oct. 2017


• 医学教育における臨床能力の客観的評価をサポートするための自動採点システムの構築

  菅宮 友莉奈, 中楯 龍, 大谷 拓也, 高西 淳夫

  日本ロボット学会, Sep. 2017


• Multi-Degree-Of-Freedom Laparoscopic Surgical Manipulator using Large Deformation of Elastic Components as Mechanism

  Jumpei Arata, Yuki Kamura, Susumu Oguri, Ryu Nakadate, Kazuo Kiguchi, Makoto Hashizume

  Computer Assisted Radiology 31st International Congress and Exhibition (CARS 2017), Jun. 2017, スペイン


• 生体ブタ大腸ESDにおける屈曲鉗子を備えた新プラットホームの有効性の検討

  岡本康治, 中楯龍, 橋爪誠

  第93回日本内視鏡学会総会, May 2017, 大阪


• 世界の手術マニピュレータの開発動向と 当施設での製品開発経験

  中楯 龍

  国産医療機器創出促進基盤整備事業等事業シンポジウム, Feb. 2017, 福岡

  [Invited]


• 鏡視下肝切除における3D術中超音波システム

  池田哲夫, 小野木真哉, 荒田純平, 中楯龍, 小栗晋, 赤星朋比古, 原田香奈子, 光石衛, 橋爪誠

  第29回日本内視鏡外科学会総会, Dec. 2016, 横浜


• 日本のお家芸である軟性鏡とともに用いる手術マニピュレータ

  中楯 龍

  第25回日本コンピュータ外科学会大会, Nov. 2016, 東京

  [Invited]


• 球面パラレルメカニズムによる小型腹腔鏡下手術用ロボット

  荒田純平, 嘉村侑起, 小栗晋, 中楯龍, 木口量夫, 橋爪誠

  第25回日本コンピュータ外科学会大会, Nov. 2016, 東京


• 超音波による頸動脈計測自動化のためのロボットシステムの開発

  竹下和慶, 萱沼大, 早渕貞士, 仁木清美, 菅原基晃, 中楯龍, 石井裕之, 高西淳夫

  日本生体医工学会 関東支部 若手研究者発表会２０１６, Nov. 2016, 埼玉


• ロボットシステムによる頸動脈検査技術の開発

  早渕貞士, 萱沼大, 仁木清美, 平山貢大, 竹下和慶, 中楯龍, 石井裕之, 高西淳夫

  日本生体医工学会 関東支部 若手研究者発表会２０１６, Nov. 2016, 埼玉


• Efficacy validation of a new platform with thin articulating devices for endoscopic submucosal dissection in animal study

  Yasuharu Okamoto, Ryu Nakadate, Shuntaro Nagai, Shotaro Nakamura, Tomohiko Moriyama, Motohiro Esaki, Tomohiko Akahoshi, Tetsuo Ikeda, Takanari Kitazono, Makoto Hashizume

  Asian Pacific Digestive Week 2016, Nov. 2016, Kobe


• Mechanical evaluation of Laparoscopic Ultrasound Manipulator using a Spring based Elastic Mechanism

  Jumpei Arata, Kazunari Fukami, Susumu Oguri, Tetsuo Ikeda, Ryu Nakadate, Shinya Onogi, Masamichi Sakaguchi, Tomohiko Akahoshi, Kanako Harada, Mamoru Mitsuishi, Makoto Hashizume

  The 12th Asian Conference on Computer Aided Surgery (ACCAS2016), Oct. 2016, Korea


• 腹腔鏡手術用ミニチュアロボットハンドの腕部の開発

  中楯龍 荒田純平 小野木真哉 小栗晋 宗崎良太 大内田研宙 赤星朋比古 池田哲夫 橋爪誠

  第32回ライフサポート学会大会，第16回日本生活支援工学会大会，日本機械学会 福祉工学シンポジウム2016 (LIFE2016), Sep. 2016, 仙台


• Augmented Reality Guidance with Electromagnetic Tracking for Transpyloric Tube Insertion

  Jordan Bano, Tomohiko Akahoshi, Ryu Nakadate, Byunghyun Cho, Makoto Hashizume

  The 7th International Conference on Medical Imaging and Augmented Reality (MIAR 2016), Aug. 2016, スイス


• 2本の腕からなる新デバイスを用いた大腸ESD

  岡本康治, 中楯龍, 森山智彦, 中村昌太郎, 岩佐勉, 赤星朋比古, 池田哲夫, 小栗晋, 荒田純平, 大内田研宙, 北園孝成, 橋爪誠

  第16回 ＥＭＲ/ＥＳＤ研究会, Jul. 2016, 東京


• Laparoscopic Ultrasound Manipulator based on a Spring based Elastic Mechanism

  Jumpei Arata, Kazunari Fukami, Susumu Oguri, Tetsuo Ikeda, Ryu Nakadate, Shinya Onogi, Masamichi Sakaguchi, Tomohiko Akahoshi, Kanako Harada, Mamoru Mitsuishi, Makoto Hashizume

  Computer Assisted Radiology 29th International Congress and Exhibition (CARS 2016), Jun. 2016, Hamburg


• A miniature five finger hand robot for laparoscopic surgery —development of hand part and master glove—

  R. Nakadate, J. Arata, S. Oguri, S. Onogi, T. Akahoshi, T. Ikeda, M. Hashizume

  Computer Assisted Radiology 29th International Congress and Exhibition (CARS 2016), Jun. 2016, Hamburg


• Intraoperative three dimensional ultrasound reconstruction and visualization for endoscopic liver surgery

  S. Onogi, T. Ikeda, J. Arata, R. Nakadate, S. Oguri, T. Akahoshi, K. Harada, M. Mitsuishi, M. Hashizume

  Computer Assisted Radiology 29th International Congress and Exhibition (CARS 2016), Jun. 2016, Hamburg


• 腹腔鏡下手術において超音波装置を術中診断，治療支援およびナビゲーションに活用することを可能とするハンドヘルド型・多自由度電動アームの開発

  小野木真哉, 荒田純平, 中楯龍, 小栗晋, 赤星朋比古, 池田哲夫, 原田香奈子, 光石衛, 橋爪誠

  第116回日本外科学会定期学術集会, Apr. 2016, 大阪


• 経鼻的神経内視鏡手術における深部縫合のための持針器開発

  迎 伸孝, 中楯 龍, 吉本 幸司, 飯原 弘二, 橋爪 誠

  第26回脳神経外科手術と機器学会（CNTT2017）, Apr. 2016, 山梨


• 腹腔鏡下超音波のためのナビゲーションシステムの開発

  小野木真哉, 荒田純平, 中楯龍, 小栗晋, 赤星朋比古, 池田哲夫, 原田香奈子, 光石衛, 橋爪誠

  第116回日本外科学会定期学術集会, Apr. 2016, 大阪


• 腹腔鏡下肝切除を安全に行うために必要な知識，技術そしてトレーニング：これまでに得てきたこと，これから必要なこと

  池田哲夫, 木村光一, 伊藤心二, 岡部弘尚, 橋本憲史, 池上徹, 吉住朋晴, 赤星朋比古, 調憲, 荒田純平, 小栗晋, 中楯龍, 小野木真哉, 橋爪誠, 前原喜彦

  第116回日本外科学会定期学術集会, Apr. 2016, 大阪


• 新ESD用屈曲処置具のラーニングカーブについての検討

  岡本康治, 中楯龍, 永井俊太郎, 中村昌太郎, 荒田純平, 小栗晋, 森山智彦, 岩佐勉, 大内田研宙, 赤星朋比古, 池田哲夫, 橋爪誠

  第106回 日本消化器病学会 九州支部例会, Dec. 2015, 福岡


• Multi-DOF Robotic Forceps for Laparoscopy using in-frame spring mechanism

  Jumpei Arata, Yuki Kamura, Susumu Oguri, Ryu Nakadate, Kazuo Kiguchi, Makoto Hashizume

  The 6th International Conference on Advanced Mechatronics (ICAM2015), Dec. 2015, 東京


• 腹腔鏡下超音波のための三次元画像の構築・可視化システム

  小野木真哉, 荒田純平, 中楯龍, 小栗晋, 赤星朋比古, 池田哲夫, 原田香奈子, 光石衛, 橋爪誠

  第9回肝臓内視鏡外科研究会, Nov. 2015, 福岡


• 腹腔鏡下超音波のためのリアルタイム3D 超音波画像構築・呈示

  小野木真哉, 荒田純平, 中楯龍, 小栗晋, 赤星朋比古, 池田哲夫, 原田香奈子, 光石衛, 橋爪誠

  第24回日本コンピュータ外科学会大会, Nov. 2015, 東京


• 腹腔鏡下肝切除に有用な超音波走査自在電動アーム

  荒田純平, 小栗晋, 池田哲夫, 中楯龍, 小野木真哉, 赤星朋比古, 原田香奈子, 光石衛, 橋爪誠

  第9回肝臓内視鏡外科研究会, Nov. 2015, 福岡


• 柔軟なばね構造による多自由度ロボット鉗子

  荒田純平, 小栗晋, 中楯龍, 木口量夫, 橋爪誠

  第24回日本コンピュータ外科学会大会, Nov. 2015, 東京


• ロボットハンド

  中楯 龍

  KTC 大学合同新技術説明会・技術相談会, Nov. 2015, 福岡

  [Invited]


• 手術ロボットベンチャー企業の事例研究

  中楯龍, 荒田純平, 橋爪誠

  第24回日本コンピュータ外科学会大会, Nov. 2015, 東京


• 軟性鏡用屈曲処置具の開発を通じた医工連携

  中楯龍, 岡本康治, 永井俊太郎, 中村昌太郎, 荒田純平, 小栗晋, 森山智彦, 岩佐勉, 大内田研宙, 赤星朋比古, 池田哲夫, 橋爪誠

  第9回J－CASE(NOTES）研究会, Oct. 2015, 東京


• 2本の屈曲処置具を備えたESDプラットフォームの有用性

  中楯龍, 岡本康治, 藤原謙次, 森山智彦, 中村昌太郎, 岩佐勉, 赤星朋比古, 池田哲夫, 小栗晋, 荒田純平, 大内田研宙, 橋爪誠

  第90回日本消化器内視鏡学会総会, Oct. 2015, 東京


• 体内に挿入可能な極小５指ロボットハンドと低コストデータグローブ

  中楯 龍

  JST 九州大学新技術説明会, Oct. 2015, 東京

  [Invited]


• Operability study on the Multisensory Illusion inducible in Microsurgical Robotic Systems

  Jumpei Arata, Masashi Hattori, Masamichi Sakaguchi, Ryu Nakadate, Susumu Oguri, Kazuo Kiguchi and Makoto Hashizume

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2015), Sep. 2015, Hamburg


• 12mmポートから体内に挿入可能なマスタスレーブ式腹腔鏡手術用15自由度5本指ロボットハンドとマスタの開発

  中楯 龍, 荒田 純平, 小野木 真哉, 小栗 晋, 宗崎 良太, 大内田 研宙, 赤星 朋比古, 池田 哲夫, 橋爪 誠

  第33回日本ロボット学会学術講演会, Sep. 2015, 東京


• Hand held manipulator that can robustly perform ultrasound scan in laparoscopic surgery

  Susumu Oguri, Jumpei Arata, Tetsuo Ikeda, Ryu Nakadate, Shinya Onogi, Tomohiko Akahoshi, Kanako Harada, Mamoru Mitsuishi, Makoto Hashizume

  The 11th Asian Conference on Computer Aided Surgery (ACCAS 2015), Jul. 2015, Singapore


• 通常の軟性内視鏡で使用可能な新規ＥＳＤ機器の開発

  中楯 龍

  がんプロフェッショナル養成基盤推進プラン講演会「消化管がんの最新治療と将来の展望」, Jul. 2015, 盛岡

  [Invited]


• 単孔式内視鏡手術における鉗子の運動制限についての検討

  富川盛雅, 中楯 龍, 植村宗則, 遠藤和也, 竹中賢治, 橋爪 誠

  第9回 単孔式内視鏡手術研究会, Jul. 2015, 秋田


• Body Image Transferable Surgical Master Slave System For Further Intuitiveness

  Jumpei Arata, Masashi Hattori, Masamichi Sakaguchi, Ryu Nakadate, Susumu Oguri, Kazuo Kiguchi, Makoto Hashizume

  Computer Assisted Radiology 29th International Congress and Exhibition (CARS 2015), Jun. 2015, Barcelona


• MultiDegrees Of Freedom Laparoscopic Ultrasound Probe With Remote Center Of Motion

  Susumu Oguri, Jumpei Arata, Tetsuo Ikeda, Ryu Nakadate, Shinya Onogi, Tomohiko Akahoshi, Kanako Harada, Mamoru Mitsuishi, Makoto Hashizume

  Computer Assisted Radiology 29th International Congress and Exhibition (CARS 2015), Jun. 2015, Barcelona


• Robot System To Drive A Flexible Endoscope For Endoscopic Submucosal Dissection

  Ryu Nakadate, Jumpei Arata, Susumu Oguri, Tsutomu Iwasa, Shinya Onogi, Yasuharu Okamoto, Tetsuo Ikeda, Hajime Kenmotsu, Makoto Hashizume

  Computer Assisted Radiology 28th International Congress and Exhibition (CARS 2015), Jun. 2015, Barcelona


• Mechanism study for Microsurgical Robotic System that can induce Multisensory Illusion

  Jumpei Arata, Kazuo Kiguchi, Masashi Hattori, Masamichi Sakaguchi, Ryu Nakadate, Susumu Oguri, Makoto Hashizume

  2014 Joint 17th International Conference on Soft Computing and Intelligent Systems and 15th International Symposium on Advanced Intelligent Systems (SCIS&ISIS 2014), Dec. 2014, Kitakyushu, Japan,


• 市販の軟性鏡に挿入可能な屈曲処置具の開発と使用経験

  中楯 龍, 中村 昌太郎, 荒田 純平, 藤原 謙次, 大内田 研宙, 赤星 朋比古, 池田 哲夫, 橋爪 誠

  第8回J-CASE（NOTES)研究会, Dec. 2014, 盛岡


• 身体所有感転移に基づく直感的操作性を目指すマイクロサージェリー用ロボットシステム

  荒田純平, 服部将士, 坂口正道, 中楯龍, 小栗晋, 橋爪誠

  第23回日本コンピュータ外科学会大会, Nov. 2014, 大阪


• Multi-Sensory Illusionに基づく直観的操作性を目指すマイクロサージェリ・ロボットのメカニズム開発

  荒田 純平, 服部 将士, 坂口 正道, 中楯 龍, 小栗 晋, 橋爪 誠

  第32回日本ロボット学会学術講演会, Sep. 2014, 福岡


• Articulated minimally invasive surgical tool for laparoscopy based on compliant mechanism

  J. Arata, S. Kogiso, M. Sakaguchi, R. Nakadate, S. Oguri, M. Uemura, C. Byunghyun, T. Akahoshi, T. Ikeda and M. Hashizume

  Computer Assisted Radiology 28th International Congress and Exhibition (CARS 2014), Jun. 2014, Fukuoka


• Mechanically connected master-slave laparoscopic device: low friction, low inertia prototype

  R. Nakadate, H. Kenmotsu, J. Arata, S. Oguri, M. Uemura, C. Byunghyun, T. Akahoshi, T. Ikeda, K. Ohuchida, M. Hashizume

  Computer Assisted Radiology 28th International Congress and Exhibition (CARS 2014), Jun. 2014, Fukuoka


• Intercostal localization for automated ultrasound diagnosis system of abdominal area

  Y. Sugamiya, S. Ammar, R. Nakadate, H. Ishii, A. Saito, M. Sugawara, K. Niki, A. Takanishi

  Computer Assisted Radiology 28th International Congress and Exhibition (CARS 2014), Jun. 2014, Fukuoka


• 2.6 mm articulating endoscopic submucosal dissection device insertable into standard endoscope

  R. Nakadate, H. Kenmotsu, S. Nakamura, T. Moriyama, S. Oguri, M. Uemura, J. Arata, K. Ohuchida, M. Hashizume

  Computer Assisted Radiology 28th International Congress and Exhibition (CARS 2014), Jun. 2014, Fukuoka


• Multi-Sensory Illusionに基づく直観的操作性を目指す手術用ロボット

  荒田 純平, 服部 将士, 市川 翔平, 坂口 正道, 中楯 龍, 小栗 晋, 橋爪 誠

  日本機械学会ロボティクス・メカトロニクス講演会2014, May 2014, 富山


• A robotic needle insertion system for the ReMI guided therapy

  Ryu Nakadate, Susumu Oguri, Masaharu Murata, Jumpei Arata, Makoto Hashizume

  17th Biennial Meeting of Society for Free Radical Research International (SFRRI 2014), Mar. 2014, Kyoto


• Development of robotic system for autonomous liver screening using ultrasound scanning device

  Bin Mustafa A.S., Ishii T., Matsunaga Y., Nakadate R., Ishii H., Ogawa K., Saito A., Sugawara M., Niki K., Takanishi A.

  2013 IEEE International Conference on Robotics and Biomimetics (ROBIO2013), Dec. 2013, Shenzhen, China


• 3D Tracking of Respiratory Liver Movement by a Robot Assisted Medical Ultrasound

  Ryu Nakadate, Ammar Safwan Bin Mustafa, Hiroyuki Ishii, Akiko Saito, Atsuo Takanishi, Makoto Hashizume

  The 9th Asian Conference on Computer Aided Surgery (ACCAS 2013), Sep. 2013, Tokyo


• 超音波診断装置による肝臓領域の自動操作制御系構築のための肋間認識と肋間走査

  菅宮 友莉奈, 中楯 龍, 石井裕之, アマルサフワン, 斎藤 明子, 菅原 基晃, 仁木 清美, 高西 淳夫

  第31回日本ロボット学会学術講演会, Sep. 2013, 東京


• Human Abdomen Recognition Using Camera and Force Sensor in Medical Robot System for Automatic Ultrasound Scan

  Ammar Safwan Bin Mustafa, Takashi Ishii, Yoshiki Matsunaga, Ryu Nakadate, Hiroyuki Ishii, Kouji Ogawa, Akiko Saito, Motoaki Sugawara, Kiyomi Niki, Atsuo Takanishi

  The 35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013), Jul. 2013, Osaka


• 医療用超音波自動検査のためのカメラによる体表認識と 力センサによる肋骨の有無検出

  アマル サフワン ビン ムスタファ, 石井 隆史, 松永 宜樹, 中楯 龍, 石井 裕之, 小川 宏治, 斎藤 明子, 仁木 清美, 菅原 基晃, 高西 淳夫

  第33回 バイオメカニズム学術講演会, Dec. 2012, 仙台


• 超音波プローブ保持ロボットによる頸部血流計測の自動化アルゴリズムの改良と評価

  中楯 龍, 高西 淳夫, 菅原 基晃, 仁木 清美, 岡田 孝, 富川 盛雅, 橋爪 誠

  平成24年度日本生体医工学会九州支部学術講演会, Dec. 2012, 鹿児島


• プローブ保持ロボットを用いたWave Intensity計測精度の評価

  中楯 龍, サフワン アマル, 高西 淳夫, 菅原 基晃, 仁木 清美, 岡田 孝

  日本超音波医学会第85回学術集会, May 2012, 東京


• 画像情報を用いた超音波プローブの3次元ナビゲーション

  石井 隆史, 大信田克哉, 中楯 龍, 高西 淳夫, 小川 宏治, 斎藤 明子, 菅原 基晃, 仁木 清美

  第20回日本コンピュータ外科学会大会, Nov. 2011, 神奈川


• 3Dプリンタと光センサを用いた小型2軸力覚センサの開発

  中楯 龍, 高西 淳夫, 小川 宏治, 菅原 基晃, 仁木 清美

  第29回日本ロボット学会学術講演会予稿集, Sep. 2011, 東京


• 頸部血流計測ロボットシステムWTA-2Rの開発 －臨床応用のための安全設計－

  中楯 龍, 高西 淳夫, 小川 宏治, 菅原 基晃, 仁木 清美

  第29回日本ロボット学会学術講演会予稿集, Sep. 2011, 東京


• 超音波診断装置による肝臓領域の自動走査制御系の構築の試み

  石井 隆史, 中楯 龍, 小川 宏治, 斎藤 明子, 菅原 基晃, 仁木 清美, 高西 淳夫

  第29回日本ロボット学会学術講演会予稿集, Sep. 2011, 東京


• フレーム間ブロックマッチングを用いたプローブ保持ロボットによる３Ｄ自動追従

  中楯龍, Jorge Solis, 菅原基晃, 仁木清美, 小川宏治, 高西淳夫

  日本超音波医学会第84回学術集会, May 2011, 東京


• Out-of-Plane Visual Servoing Method for Tracking the Carotid Artery with a Robot-Assisted Ultrasound Diagnostic System

  Ryu Nakadate, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki

  IEEE International Conference on Robotics and Automation (ICRA2011), May 2011, Shanghai, China


• Implementation of an Automatic Scanning and Detection Algorithm for the Carotid Artery by an Assisted-Robotic Measurement System

  Ryu Nakadate, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki, Akiko Saito

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2010), Oct. 2010, Taiwan


• Development of an inverted-pendulum type mobile robot for education purposes

  Solis, J., Kryczka, P., Takezaki, Y., Kinoshita, J., Nakadate, R., Iida, F., Takanishi, A

  The First IFToMM Asian Conference on Mechanism and Machine Science (Asian-MMS 2010), Oct. 2010, Taiwan


• Development of Robot Assisted Measurement System for Abdominal Ultrasound Diagnosis

  Ryu Nakadate, Yasuaki Tokunaga, Jorge Solis, Atsuo Takanishi, Eiichi Minagawa, Motoaki Sugawara, Kiyomi Niki, Akiko Saito

  The 3rd IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010), Sep. 2010, Tokyo


• 頸部血流計測ロボットシステムWTA-2R の開発 直動パラレルリンクマニピュレータの小型化と位置決め精度向上

  松永 宜樹, 大信田 克哉, 中楯 龍, ソリス ホルヘ, 小川 宏治, 菅原 基晃, 仁木 清美, 斎藤 明子, 高西 淳夫

  第28回日本ロボット学会学術講演会予稿集, Sep. 2010, 名古屋


• 頸部血流計測ロボットシステムWTA-2R の開発 ― 超音波画像の法線方向へのビジュアルサーボ ―

  中楯 龍, ソリス ホルヘ, 小川 宏治, 菅原 基晃, 仁木 清美, 高西 淳夫

  第28回日本ロボット学会学術講演会予稿集, Sep. 2010, 名古屋


• Development of the Ultrasound Probe Holding Robot WTA-1RII and Implementation of an Automated Scanning Method based on Ultrasound Image Feedback

  Ryu Nakadate, Jorge Solis, Atsuo Takanishi, Motoaki Sugawara, Kiyomi Niki and Eiichi Minagawa

  the 18th CISM-IFToMM Symposium on Robot Design, Dynamics, and Control (RoManSy2010), Jul. 2010, Udine, Italy


• 教育用二輪型倒立振子ロボットの開発 ―Waseda Wheeled Vehicle No.2 Refined の機構設計および制御実装―

  クリチェカ プシェミスワフ, 中楯 龍, ソリス ホルヘ, 高西 淳夫

  日本機械学会ロボティクス・メカトロニクス講演会2010, Jun. 2010, 旭川


• プローブ保持ロボットによる頸動脈断層画像の自動探索アルゴリズムの開発

  中楯龍, ソリスホルヘ, 高西淳夫, 菅原基晃, 仁木清美, 小川宏治, 皆川栄一

  日本超音波医学会第83回学術集会, May 2010, 京都


• 頸動脈超音波断層画像のロボットによる自動探索

  中楯龍, ホルヘソリス, 皆川 栄一, 菅原基晃, 仁木清美, 高西淳夫

  第18回日本コンピュータ外科学会大会, Nov. 2009, 東京


• Development of Assisted-Robotic System Designed to Measure the Wave Intensity with an Ultrasonic Diagnostic Device

  R. Nakadate, H. Uda, H. Hirano, J. Solis, A. Takanishi, E. Minagawa, M. Sugawara, K. Niki

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009), Oct. 2009, St.Louis, USA


• Development of the Two-Wheeled Inverted Pendulum Type Mobile Robot WV-2R for Educational Purposes

  J. Solis, R. Nakadate, Y. Yoshimura, Y. Hama, A. Takanishi

  IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2009), Oct. 2009, St.Louis, USA


• Introduction of Mechatronics to Undergraduate Students Based on Robotic Platforms for Education Purposes

  J. Solis, R. Nakadate, T. Yamamoto, A. Takanishi

  IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man2009), Sep. 2009, Toyama, Japan


• 頸部血流計測ロボットシステムWTA-2の開発‐小型ベースおよび腹部計測へ適用可能な新アームの設計・製作‐

  大信田克哉, 徳永泰明, 中楯龍, 皆川 栄一, 菅原基晃, 仁木清美, 斎藤明子, 高西淳夫

  第27回日本ロボット学会学術講演会予稿集, Sep. 2009, 横浜


• 教育用自律2輪倒立振子ロボットの開発―機構の設計および制御の実装―

  中楯龍, 木下純一, 竹崎裕記, ソリスホルヘ, 高西淳夫

  第27回日本ロボット学会学術講演会予稿集, Sep. 2009, 横浜


• Development of a Robotic Carotid Blood Measurement WTA-1RII:Mechanical Improvement of Gravity Compensation Mechanism and Optimal Link Position of the Parallel Manipulator based on GA

  R. Nakadate, H. Uda, H. Hirano, J. Solis, A. Takanishi, E. Minagawa, M. Sugawara, K. Niki

  IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2009), Jul. 2009, Singapore


• Development of Mechatronic Systems for Education Purpose to Introduce Robot Technology Principles

  J. Solis, R. Nakadate, T. Yamamoto, A. Takanishi

  IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2009), Jul. 2009, Singapore


• Design Improvements On A Carotid Blood Flow Measurement System

  G. Carbone, R. Nakadate, J.Solis, M. Ceccarelli, A. Takanishi, E. Minagawa, M. Sugawara, K. Niki

  Proceedings of the 5th International Workshop on Computational Kinematics (CK2009), May 2009, Duisburg, Germany


• 教育用二輪型倒立振子ロボットの開発―Waseda Wheeled Vehicle No.1の機構設計―

  中楯龍, 山本哲郎, ソリスホルヘ, 高西淳夫

  日本機械学会ロボティクス・メカトロニクス講演会2009, May 2009, 福岡


• 頸部血流計測ロボットシステムWTA-1RⅡの開発 -自重補償機構とGA を用いた最適リンク配置-

  中楯龍, 宇田寿人, 平野博晃, 皆川栄一, 菅原基晃, 仁木清美, 高西淳夫

  第26回日本ロボット学会学術講演会予稿集, Sep. 2008, 神戸


• 3Dプリンタを用いた内視鏡治療用多自由度鉗子の性能評価

  大澤啓介, D.S.V.Bandara, 中楯龍, 長尾吉泰, 赤星朋比古, 江藤正俊, 荒田純平

  日本機械学会 第34回バイオエンジニアリング講演会

• 日本ロボット学会


• 日本コンピュータ外科学会


• IEEE

• 消化器がん克服のためのロボット軟性鏡診断・治療エコシステム

  中楯 龍, 荒田 純平, 長尾 吉泰, 江藤 正俊, 大澤 啓介

  日本学術振興会, 科学研究費助成事業 基盤研究(B), 基盤研究(B), 2020 - 2022, Principal investigator

  軟性内視鏡手術プラットフォームの主にソフトウェアの構築を行った。軟性内視鏡は2か所で屈曲するマルチベンドタイプであり、6自由度を持つ。操作インターフェースは片手で6自由度あるため、フットスイッチを踏んでいる間、右の操縦桿でカメラを操作することとした。覗き込み動作が直観的な操作できることを確認した。フットスイッチを踏んでいない間は2本の処置具（グラスパーと電メス）を操作する。処置具は4自由度のため、各関節にモータが内蔵されている操作インターフェースのうち2自由度を制御で拘束した。カメラと処置具の操作の切り替え時には、それぞれの切り替え前のポジションを記憶しておき、戻るときに操作インターフェースの関節モータを用いて元のポジションに誘導する。これらにより、操縦桿から手を離さないで内視鏡１本と処置具2本が操作可能なプラットフォームが実現した。大腸を自走する内視鏡ロボットについては、新たにカメラを搭載できるようにした。

  Competitive research funding


• Development of an Innovative Scientific Educational Package for Endoscopic Surgery

  TOMIKAWA MORIMASA

  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (C), Kyushu University, 01 Apr. 2017 - 31 Mar. 2020

  The Kyushu University Training Center for Minimally Invasive Surgery has been regularly held minimally invasive surgery training programs for more than 15 years. All programs were open to currently active surgeons throughout Japan, and the cumulative number of participants is over 2500. As results of analyses of the training programs, 1. The expert surgeon has more natural and stable hand motions. 2. Training brings the novice surgeon closer to the expert's performances. 3. There are some groups whose scores decrease after training, and their careers and individualities have certain characteristics. 4. It may be possible to set training programs suitable for each individual by clarifying these characteristics.


• Research and development of innovative biological tissue bonding technology by laser transmission welding method using biomaterial

  Tetsuo Ikeda, Okihara Shinichiro

  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (C), 01 Apr. 2015 - 31 Mar. 2018

  Background) Since current surgical tissue repair methods cause injuries and overpressure by suture, complete remodeling of viable tissue is impossible. The tissue fusion technique without damages is hoped. Purpose) This study is aimed to clarify the mechanism of interdigitation by laser energy between collagen fiber, and develop the technique of tissue repairing and fusion without injuries. Results) The bundle of collagen fiber was loosened and was swollen at 45℃. The pressure proof was significantly strong in Group A and interdigitation of different collagen fiber was observed.


• Study of a miniature master-slave five fingers hand robot which can perform surgery in abdominal cavity

  Nakadate Ryu, OSAWA keisuke

  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (B), Kyushu University, 2016 - 2018, Principal investigator

  A robot system which is composed of, two miniature five-finger hands for right/left arm (21 active degrees of freedom each, 10mm in diameter), a three dimensional bending endoscope (6 degrees of freedom, 10mm in diameter) was developed for the purpose of laparoscopic surgery. The operator’s finger/hand movements and head movement are simultaneously reproduced in abdominal cavity by glove type sensors and a head mount display.

  Competitive research funding


• Development of a new minimally invasive surgical devices based on enhanced navigation system and robotic technology

  Tomikawa Morimasa, OHDAIRA Takeshi, KENMOTSU Hajime, SOUZAKI Ryota, OHUCHIDA Kenoki, MURATA Masaharu, NAKADATE Ryu, HASHIZUME Makoto

  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (B), Kyushu University, 01 Apr. 2013 - 31 Mar. 2016

  We developed an endoscopic manipulator and an active puncturing robot that mount computer assisted diagnosis and navigation systems based on “Computational Anatomy”. These devices have high resolution endoscope and are able to work regardless of high magnetic fields of magnetic resonance imaging devices. Animal experiments were performed and demonstrated the usefulness of our developed system. The improvements of sterilization policy or disposable parts policy will be necessary to adapt the developed system to clinical practices.


• Robust visual servoing for medical ultrasound for HIFU therapy

  Nakadate Ryu

  Japan Society for the Promotion of Science, Grants-in-Aid for Scientific Research, Grant-in-Aid for Scientific Research (C), Kyushu University, 2013 - 2016, Principal investigator

  The study aim was to develop a robotic system which holds a medical ultrasound probe and automatically keeps tracking the target cross section of the human organ even if it is moving by respiratory motion. We have developed a new probe holding robot and algorithms for improving the tracking performance. By using sensor fusion of the patient respiratory volume and ultrasound image, we have successfully achieved a significant reduction of the tracking error compared with the traditional image feedback control.

  Competitive research funding


• トロッカーから腹腔内に挿入可能な5本指ロボットハンドの開発

  九州大学 橋渡し研究加速ネットワークプログラム シーズA, 2015 - 2015, Principal investigator

  Competitive research funding


• コンピュータ支援外科システムを用いたメトレ／匠の技の評価手法の確立

  日本学術振興会, 二国間交流, 2014 - 2014, Coinvestigator

  Competitive research funding


• 腹腔鏡手術用マスタスレーブ型５指ハンドロボットの開発と没入感に関する研究

  立石科学技術振興財団 2014年度 研究助成, 2014 - 2014, Principal investigator

  Competitive research funding

• がん治療最前線 九州大学先端医療イノベーションセンターの挑戦

  FBS福岡放送, Jul. 2016

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• がん治療最前線 九州大学先端医療イノベーションセンターの挑戦 https://www.youtube.com/watch?v=J8ZwpS5ESdE

  Youtube, Jul. 2016

  Others


• ロボットハンド https://www.youtube.com/watch?v=70S2tWS9eSI

  Youtube, Mar. 2016

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• 九大、直径１２ミリメートルの穴を通る内視鏡手術向けロボットハンド開発

  日刊工業新聞, Nov. 2015

  Paper


• 超音波診断装置 操作支援ロボ試作 早大とアロカ

  日本経済新聞朝刊, Oct. 2009

  Paper