start-ver=1.4
cd-journal=joma
no-vol=411
cd-vols=
no-issue=1
article-no=
start-page=22
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20251127
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=The impact of liver transection depth on surgical difficulty in robotic versus laparoscopic limited liver resection (TAKUMI-5)
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Purpose Although robotic liver resection (RLR) has gained popularity worldwide, limited liver resection remains the mainstay of RLR. This study aimed to investigate the effect of parameters, including liver transection depth (LTD), on surgical difficulty in limited RLR compared with limited laparoscopic liver resection (LLR).<br>
Methods This retrospective study included 105 patients who underwent limited RLR (n = 56) or LLR (n = 49) at our institution between January 2018 and December 2024. After comparing outcomes of RLR and LLR, multivariate analyses were performed to examine effect of LTD on surgical difficulty (defined as prolonged operative time). Moreover, outcomes stratified by LTD cut-off values were compared between the groups.<br>
Results Median LTD was similar between groups (RLR vs. LLR: 2.6 vs. 2.6 cm, P = 0.77). LTD was significantly correlated with operative time for both procedures (RLR, R² = 0.07, P = 0.042; LLR, R² = 0.08, P = 0.046). Multivariate analyses demonstrated that LLR (odds ratio, 6.9; P < 0.001) and LTD (odds ratio, 2.0; P = 0.004) were significant risk factors of surgical difficulty. Among patients with deeper LTD (> 2.5 cm), the RLR group had significantly shorter operative time (145 vs. 231 min, P < 0.001), less blood loss (nil vs. 100 mL, P = 0.006), and a higher rate of textbook outcomes (76.7% vs. 42.3%, P = 0.01).<br>
Conclusion This study investigated impact of LTD on surgical outcomes in patients who underwent limited RLR compared to those who underwent limited LLR. LTD may be a useful parameter for estimating surgical difficulty in limited RLR. Moreover, robotic surgery may be favorable for deeper and limited liver resections.
en-copyright=
kn-copyright=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=ItoAtene
en-aut-sei=Ito
en-aut-mei=Atene
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=NishiyamaTakeyoshi
en-aut-sei=Nishiyama
en-aut-mei=Takeyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=NagaiYasuo
en-aut-sei=Nagai
en-aut-mei=Yasuo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=YokoyamaShohei
en-aut-sei=Yokoyama
en-aut-mei=Shohei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=
en-keyword=Robotic surgery
kn-keyword=Robotic surgery
en-keyword=Laparoscopic surgery
kn-keyword=Laparoscopic surgery
en-keyword=Limited liver resection
kn-keyword=Limited liver resection
en-keyword=Textbook outcome
kn-keyword=Textbook outcome
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20250828
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Early C-reactive protein as a predictive biomarker for postoperative complications following robot-assisted surgery for rectal cancer
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This retrospective cohort study aimed to assess the predictive value of early postoperative C-reactive protein (CRP) levels for complications following robot-assisted rectal surgery (RARS) for rectal cancer. We analyzed data from 117 consecutive patients who underwent elective RARS at Okayama University Hospital between September 2020 and January 2025. Serum CRP levels were routinely measured preoperatively and on postoperative days (POD) 1 and 4. The primary outcome was the occurrence of any postoperative complication within 30 days, classified according to the Clavien–Dindo grading system. Postoperative complications were observed in 26 patients, representing 22.2% of the cohort. Univariate analysis revealed that several factors were significantly associated with complications, including older age, higher ASA score, neoadjuvant therapy, stoma creation, prolonged operative time, and elevated CRP levels on POD1 and POD4. Notably, multivariate logistic regression analysis identified POD1 CRP as a robust independent predictor of overall postoperative complications (adjusted odds ratio 0.77, 95% confidence interval (CI) [0.63–0.93], p < 0.01). In the ROC analysis, the AUC was 0.735 (bootstrap bias-corrected 95% CI 0.544–0.848). The optimal cutoff value of POD1 CRP was 5.63 mg/dl, at which Youden’s index, yielding a sensitivity of 0.615 and specificity of 0.868. In conclusion, early postoperative measurement of CRP on POD1 serves as a valuable and independent biomarker for predicting complications following RARS for rectal cancer. Incorporating POD1 CRP into postoperative surveillance may facilitate the early identification of high-risk patients, thereby facilitating timely interventions and ultimately improving surgical outcomes in this patient population.
en-copyright=
kn-copyright=

en-aut-name=TeraishiFuminori
en-aut-sei=Teraishi
en-aut-mei=Fuminori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TakahashiRyusei
en-aut-sei=Takahashi
en-aut-mei=Ryusei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=OkabayashiHiroki
en-aut-sei=Okabayashi
en-aut-mei=Hiroki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=UtsumiMasashi
en-aut-sei=Utsumi
en-aut-mei=Masashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=MiyasoHideaki
en-aut-sei=Miyaso
en-aut-mei=Hideaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=ShojiRyohei
en-aut-sei=Shoji
en-aut-mei=Ryohei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=MitsuhashiToshiharu
en-aut-sei=Mitsuhashi
en-aut-mei=Toshiharu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=InagakiMasaru
en-aut-sei=Inagaki
en-aut-mei=Masaru
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Surgery, NHO Fukuyama Medical Center
kn-affil=

affil-num=3
en-affil=Department of Surgery, NHO Fukuyama Medical Center
kn-affil=

affil-num=4
en-affil=Department of Surgery, NHO Fukuyama Medical Center
kn-affil=

affil-num=5
en-affil=Department of Surgery, NHO Fukuyama Medical Center
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Center for Innovative Clinical Medicine, Okayama University Hospital
kn-affil=

affil-num=9
en-affil=Department of Surgery, NHO Fukuyama Medical Center
kn-affil=
en-keyword=Robot-assisted surgery
kn-keyword=Robot-assisted surgery
en-keyword=Rectal cancer
kn-keyword=Rectal cancer
en-keyword=Postoperative complication
kn-keyword=Postoperative complication
en-keyword=C-reactive protein
kn-keyword=C-reactive protein
END

start-ver=1.4
cd-journal=joma
no-vol=14
cd-vols=
no-issue=
article-no=
start-page=17960
end-page=17970
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2026
dt-pub=2026
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=FEM-Based Design and Characterization of a Millimeter-Scale Piezoelectric Resonance Force Sensor
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper presents a millimeter-scale piezoelectric effect-based force sensor that uses the change in its resonant frequency as the detection principle for high sensitivity and a wide measurement range. Such characteristics are suited for robot hand applications that not only detect small forces but also handle large payloads. We develop a methodology to estimate the relationship between applied force and resonant frequency shift by combining classical contact theory and finite element method (FEM) analysis. Although this relationship is non-linear, the designability of sensitivity and measurement range is demonstrated by the simulation. The simulation results based on the method are verified, showing good agreement with the experimental results. The static characteristics, including sensitivity, standard deviation, and resolution, are evaluated using prototype sensors with characteristic lengths ranging from 1 mm to 4 mm. The 4-mm model has a measurement range of 77 mN to 300 N, and the smallest model, which is one of the smallest force sensors suitable for practical implementation, has a measurement range of 9 mN to 20 N.
en-copyright=
kn-copyright=

en-aut-name=YamazakiAoto
en-aut-sei=Yamazaki
en-aut-mei=Aoto
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=AkidukiTakuma
en-aut-sei=Akiduki
en-aut-mei=Takuma
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=HonnaAtsuo
en-aut-sei=Honna
en-aut-mei=Atsuo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=KitazakiMichiteru
en-aut-sei=Kitazaki
en-aut-mei=Michiteru
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=MashimoTomoaki
en-aut-sei=Mashimo
en-aut-mei=Tomoaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=Department of Mechanical Engineering, Toyohashi University of Technology
kn-affil=

affil-num=2
en-affil=Department of Mechanical Engineering, Toyohashi University of Technology
kn-affil=

affil-num=3
en-affil=Riccoh Company Ltd.
kn-affil=

affil-num=4
en-affil=Department of Computer Science and Engineering, Toyohashi University of Technology
kn-affil=

affil-num=5
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=
en-keyword=Force sensors
kn-keyword=Force sensors
en-keyword=piezoelectric effect
kn-keyword=piezoelectric effect
en-keyword=resonators
kn-keyword=resonators
en-keyword=transducers
kn-keyword=transducers
en-keyword=ultrasonics
kn-keyword=ultrasonics
END

start-ver=1.4
cd-journal=joma
no-vol=32
cd-vols=
no-issue=12
article-no=
start-page=8903
end-page=8905
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20250818
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Mesenteric Route Superior Mesenteric Artery First Approach in Robot-Assisted Pancreatoduodenectomy
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Background. The superior mesenteric artery (SMA) approach is crucial for the successful implementation of robot-assisted pancreatoduodenectomy (RPD). Herein, we present a novel technique, the mesenteric route SMA-first approach, for RPD.<br>
Patients and Methods. A 20-year-old woman with a 50 mm intraductal papillary mucinous neoplasm underwent RPD. As the tumor was large and located close to the mesenteric vessels, we developed the mesenteric route SMA-first approach.<br>
Results. Following the mesenteric Kocher maneuver, the mesenteric route SMA-first approach was applied. With appropriate retraction of the pancreatic head, dissection around the mesenteric vessels was performed and their branches were divided. The uncinate process dissection (PL, ph II) was performed via the mesenteric route. This approach facilitated dorsal dissection, particularly around the large tumor. After dissection of the hepatoduodenal ligament, the remaining pancreatic nerve plexus (PL ph I) was dissected. Finally, the pancreas was divided on the superior mesenteric vein, and the specimen was resected. Operative time was 390 min with minimal blood loss.<br>
Conclusions. The mesenteric route SMA-first approach enables uncinate process dissection via the mesenteric route. This technique may be a safe and feasible option for selected patients, such as nonobese individuals with a large pancreatic head tumor near major vessels.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=ItoAtene
en-aut-sei=Ito
en-aut-mei=Atene
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=NishiyamaTakeyoshi
en-aut-sei=Nishiyama
en-aut-mei=Takeyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=YanagiharaTsubasa
en-aut-sei=Yanagihara
en-aut-mei=Tsubasa
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=Robotic pancreaticoduodenectomy
kn-keyword=Robotic pancreaticoduodenectomy
en-keyword=Superior mesenteric artery approach
kn-keyword=Superior mesenteric artery approach
en-keyword=Mesenteric route
kn-keyword=Mesenteric route
END

start-ver=1.4
cd-journal=joma
no-vol=133
cd-vols=
no-issue=
article-no=
start-page=111546
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=202508
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Robotic pancreatoduodenectomy for a giant duodenal leiomyoma: A case report and literature review
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Introduction: Duodenal leiomyomas are rare mesenchymal tumors. To date, several studies have reported on the safety and feasibility of surgical intervention for duodenal leiomyomas. However, minimally invasive surgery has rarely been performed in cases with duodenal leiomyomas. Herein, we present a case of a giant duodenal leiomyoma successfully treated with robotic pancreatoduodenectomy (RPD).<br>
Presentation of case: A 74-year-old man was referred to our hospital with a 6.5 cm duodenal tumor accompanied by gastrointestinal bleeding. The tumor was located in the second portion of the duodenum. Considering the tumor size and location, RPD was performed. Using the mesenteric Kocker maneuver, the posterior side of the duodenum was safely dissected, and the tumor was resected. The operative time was 373 min, with an estimated blood loss of 10 mL. The patient was followed up for 7 months with no recurrence.<br>
Discussion: To the best of our knowledge, this is the first to highlight the clinicopathological findings of a patient with duodenal leiomyoma undergoing RPD. To date, there have been 19 cases, including our case, reporting surgically treated duodenal leiomyoma. Treatment strategies should be decided depending on tumor characteristics, including the size, location, and histology of the tumor.<br>
Conclusion: We present a rare case of a giant duodenal leiomyoma that was successfully treated with RPD. Minimally invasive surgery can be safe and an alternative for the treatment of large duodenal tumors.
en-copyright=
kn-copyright=

en-aut-name=DoitaSusumu
en-aut-sei=Doita
en-aut-mei=Susumu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YamadaMotohiko
en-aut-sei=Yamada
en-aut-mei=Motohiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=Duodenal leiomyomas
kn-keyword=Duodenal leiomyomas
en-keyword=Robotic surgery
kn-keyword=Robotic surgery
en-keyword=Pancreatoduodenectomy
kn-keyword=Pancreatoduodenectomy
END

start-ver=1.4
cd-journal=joma
no-vol=410
cd-vols=
no-issue=1
article-no=
start-page=171
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20250602
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Robotic distal pancreatectomy using two-surgeon technique (TAKUMI-4): a technical note and initial outcomes
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Purpose With the increasing use of minimally invasive distal pancreatectomy, the use of robotic distal pancreatectomy (RDP) is also increasing worldwide. Standardized surgical protocols are essential for safe implementation of RDP. In this study, we present our surgical protocol and initial outcomes of RDP using “two-surgeon technique”.<br>
Methods Our standard RDP protocol included a two-surgeon technique for cooperation, rationality, and education. Short-term outcomes of RDP were also investigated. This retrospective study included 77 consecutive patients who underwent RDP at our institution between April 2021 and January 2025.<br>
Results The median operative time, estimated blood loss, and postoperative hospital stay were 214 min (interquartile range [IQR], 176–253), 10 mL (IQR, 0–50), and 9 days (IQR, 8–10), respectively. A textbook outcome was achieved in 84.4% of patients. Moreover, superior outcomes of RDP (n = 77) compared with those of laparoscopic distal pancreatectomy (n = 62) were confirmed in this study.<br>
Conclusion Using the two-surgeon technique, we successfully standardized and introduced the RDP program. The two-surgeon technique can contribute to the safe introduction of RDP and expansion of the program.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=Distal pancreatectomy
kn-keyword=Distal pancreatectomy
en-keyword=Robotic surgery: minimally invasive surgery
kn-keyword=Robotic surgery: minimally invasive surgery
en-keyword=Training
kn-keyword=Training
en-keyword=Outcomes
kn-keyword=Outcomes
END

start-ver=1.4
cd-journal=joma
no-vol=39
cd-vols=
no-issue=5
article-no=
start-page=3137
end-page=3145
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20250404
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Impact of visceral fat area on surgical difficulty during robotic distal pancreatectomy (TAKUMI-2)
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Background: Difficulty scoring systems (DSS) have been developed to quantify the surgical complexity of laparoscopic distal pancreatectomy (LDP). However, few studies have validated these systems in the context of robotic distal pancreatectomy (RDP). Moreover, the impact of body composition on RDP outcomes remains unexplored. This study aimed to investigate the risk factors of surgical difficulty in RDP, including body composition.<br>
Methods: This retrospective study included 72 consecutive patients who underwent RDP at our institution between April 2021 and October 2024. Using a modified DSS for LDP, patients were divided into three difficulty index groups. The association between the difficulty index and outcomes was investigated. Multivariate analyses were performed to identify risk factors associated with surgical difficulty (prolonged operative time) in RDP.<br>
Results: Patients were classified into three difficulty index groups: low (n = 28), intermediate (n = 25), and high (n = 19). Operative time was significantly associated with the surgical index (P = 0.01). Moreover, visceral fat area (VFA) was significantly correlated with operative time (r2 = 0.10, P = 0.008). The multivariate analyses found that VFA (≥ 100 cm2) (odds ratio [OR] 5.03, 95% confidence interval [CI] 1.32–22.4, P = 0.02), malignancy (OR 4.92, 95% CI 1.50–18.9, P = 0.01), and pancreatic resection on the portal vein (OR 4.14, 95% CI 1.24–15.9, P = 0.02) were significant risk factors associated with surgical difficulty.<br>
Conclusion: VFA could be a novel and useful factor for assessing the surgical difficulty associated with RDP.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=YamadaMotohiko
en-aut-sei=Yamada
en-aut-mei=Motohiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=NishiyamaTakeyoshi
en-aut-sei=Nishiyama
en-aut-mei=Takeyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=NagaiYasuo
en-aut-sei=Nagai
en-aut-mei=Yasuo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=KanehiraNoriyuki
en-aut-sei=Kanehira
en-aut-mei=Noriyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=Robotic distal pancreatectomy
kn-keyword=Robotic distal pancreatectomy
en-keyword=Difficulty score
kn-keyword=Difficulty score
en-keyword=Visceral fat area
kn-keyword=Visceral fat area
END

start-ver=1.4
cd-journal=joma
no-vol=18
cd-vols=
no-issue=1
article-no=
start-page=e70069
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=202501
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Metachronous Pancreatic Metastasis of Myxoid Liposarcoma Successfully Treated With Robotic Spleen‐Preserving Distal Pancreatectomy With Splenic Vessels Resections: A Case Report
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Pancreatic metastasis of myxoid liposarcoma (MLS) after primary resection is extremely rare. Herein, we present a case of metachronous pancreatic metastasis of MLS that was successfully treated with robotic spleen-preserving distal pancreatectomy (SPDP) using the Warshaw technique. A 60-year-old woman underwent radical resection of a 25-cm MLS in the right thigh after receiving neoadjuvant radiotherapy. The patient developed a 6-cm solitary pancreatic metastasis of the MLS 2 years later. Because no other distant metastases were detected, robotic SPDP (Warshaw technique) was performed. The operative time was 140 min with minimal blood loss. Follow-up at 3 months showed no recurrence. To our knowledge, this is the first report of a case of metachronous pancreatic metastasis of MLS successfully treated with robotic SPDP. Curative resection using minimally invasive surgery should be performed for solitary pancreatic metastases from MLS.
en-copyright=
kn-copyright=

en-aut-name=SotaYumi
en-aut-sei=Sota
en-aut-mei=Yumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YamadaMotohiko
en-aut-sei=Yamada
en-aut-mei=Motohiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=NishiyamaTakeyoshi
en-aut-sei=Nishiyama
en-aut-mei=Takeyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=NagaiYasuo
en-aut-sei=Nagai
en-aut-mei=Yasuo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=KanehiraNoriyuki
en-aut-sei=Kanehira
en-aut-mei=Noriyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=MasunagaAkari
en-aut-sei=Masunaga
en-aut-mei=Akari
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=9
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=10
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=myxoid liposarcoma
kn-keyword=myxoid liposarcoma
en-keyword=pancreatic metastasis
kn-keyword=pancreatic metastasis
en-keyword=robotic surgery
kn-keyword=robotic surgery
END

start-ver=1.4
cd-journal=joma
no-vol=17
cd-vols=
no-issue=11
article-no=
start-page=e97931
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20251127
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Perioperative Multidisciplinary Intervention Led to Complete Minimally Invasive Transthoracic Esophagectomy for a Patient With Severe Lung Dysfunction: A Case Report
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Risk factors for postoperative pneumonia after esophagectomy include smoking, severe lung dysfunction, and sarcopenia. Heavy smokers often have chronic obstructive pulmonary disease (COPD), which is associated with poor physical activity and low muscle strength. Sarcopenia is also associated with decreased physical function and malnutrition. These factors lead to a close relationship between COPD and sarcopenia. This report describes the case of a 74-year-old man who presented with dysphagia and was diagnosed with advanced esophageal cancer with lymph node metastasis. Preoperative respiratory function testing showed a forced expiratory volume in one second (FEV1) of 0.76 L because of his past smoking and COPD. Multidisciplinary intervention was started, along with neoadjuvant chemotherapy. Preoperative management improved his physical function. Robot-assisted thoracoscopic subtotal esophagectomy with the patient in the prone position was performed with curative resection and no severe postoperative complications. The perioperative multidisciplinary intervention improved physical functions and enabled safe robot-assisted thoracoscopic esophagectomy for the patient with severe lung dysfunction in the prone position. This case highlights that not only respiratory status but also physical parameters should be taken into account when considering whether a patient can tolerate surgery safely.
en-copyright=
kn-copyright=

en-aut-name=MatsumotoMakoto
en-aut-sei=Matsumoto
en-aut-mei=Makoto
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=HashimotoMasashi
en-aut-sei=Hashimoto
en-aut-mei=Masashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=KawasakiKento
en-aut-sei=Kawasaki
en-aut-mei=Kento
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=KunitomoTomoyoshi
en-aut-sei=Kunitomo
en-aut-mei=Tomoyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=MaedaNaoaki
en-aut-sei=Maeda
en-aut-mei=Naoaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=TanabeShunsuke
en-aut-sei=Tanabe
en-aut-mei=Shunsuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=NomaKazuhiro
en-aut-sei=Noma
en-aut-mei=Kazuhiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=copd
kn-keyword=copd
en-keyword=esophagectomy
kn-keyword=esophagectomy
en-keyword=perioperative multidisciplinary intervention
kn-keyword=perioperative multidisciplinary intervention
en-keyword=perioperative rehabilitation
kn-keyword=perioperative rehabilitation
en-keyword=respiratory function training and rehabilitation
kn-keyword=respiratory function training and rehabilitation
en-keyword=sarcopenia
kn-keyword=sarcopenia
en-keyword=severe pulmonary dysfunction
kn-keyword=severe pulmonary dysfunction
END

start-ver=1.4
cd-journal=joma
no-vol=137
cd-vols=
no-issue=3
article-no=
start-page=132
end-page=136
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20251201
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Advances in and future perspectives on robot-assisted surgery in the field of thoracic surgery
kn-title=呼吸器外科領域におけるロボット支援手術の進化と展望
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=OkazakiMikio
en-aut-sei=Okazaki
en-aut-mei=Mikio
kn-aut-name=岡﨑幹生
kn-aut-sei=岡﨑
kn-aut-mei=幹生
aut-affil-num=1
ORCID=

en-aut-name=ToyookaShinichi
en-aut-sei=Toyooka
en-aut-mei=Shinichi
kn-aut-name=豊岡伸一
kn-aut-sei=豊岡
kn-aut-mei=伸一
aut-affil-num=2
ORCID=

affil-num=1
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Faculty of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=岡山大学学術研究院医歯薬学域　呼吸器・乳腺内分泌学

affil-num=2
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Faculty of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=岡山大学学術研究院医歯薬学域　呼吸器・乳腺内分泌学
en-keyword=ロボット支援下手術
kn-keyword=ロボット支援下手術
en-keyword=RATS
kn-keyword=RATS
END

start-ver=1.4
cd-journal=joma
no-vol=13
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=2025
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Adaptive Topological Mapping With Free Area-Based Node Deletion for Autonomous Mobile Robots
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper proposes an adaptive topological map building method, called Adaptive Resonance Theory-based Topological Clustering with Different Topologies (ATC-DT), for autonomous mobile robots using 3D point cloud data. ATC-DT framework integrates a novel node deletion mechanism that detects layout changes through free area detection. This allows the robot to update topological maps dynamically, removing outdated nodes caused by environmental changes. Experiments in real environments validate the ability of the method to perform global path planning, free area estimation, and adaptive navigation. The approach significantly improves navigation performance by improving map relevance and reducing redundancy of paths.
en-copyright=
kn-copyright=

en-aut-name=OzakiHaruka
en-aut-sei=Ozaki
en-aut-mei=Haruka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TodaYuichiro
en-aut-sei=Toda
en-aut-mei=Yuichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=MasuyamaNaoki
en-aut-sei=Masuyama
en-aut-mei=Naoki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=FujiKai
en-aut-sei=Fuji
en-aut-mei=Kai
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=MatsunoTakayuki
en-aut-sei=Matsuno
en-aut-mei=Takayuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=Graduate School of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=

affil-num=2
en-affil=Graduate School of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=

affil-num=3
en-affil=Graduate School of Informatics, Osaka Metropolitan University
kn-affil=

affil-num=4
en-affil=Graduate School of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=

affil-num=5
en-affil=Graduate School of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=
en-keyword=Topological map building
kn-keyword=Topological map building
en-keyword=navigation system
kn-keyword=navigation system
en-keyword=autonomous mobile robot
kn-keyword=autonomous mobile robot
END

start-ver=1.4
cd-journal=joma
no-vol=37
cd-vols=
no-issue=6
article-no=
start-page=1392
end-page=1399
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20251220
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Directed Poisoning Attacks on FRIT in Adaptive Cruise Control
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Recent advances in connected-vehicle technologies have enabled the large-scale collection of driving data, facilitating the deployment of data-driven control schemes. Although these methods offer advantages by eliminating the need for explicit modeling, they also introduce vulnerabilities due to their reliance on stored data. This study investigates a class of targeted data poisoning attacks on fictitious reference iterative tuning, a widely used data-driven controller tuning approach. We present a method that allows an adversary to influence closed-loop dynamics by manipulating the training data so that the resulting controller behavior matches a maliciously defined reference response. This strategy differs from conventional poisoning attacks, which aim only to the degrade control performance. Instead, it enables deliberate alteration of control characteristics such as overshoot and convergence time. The proposed attack is formulated as a constrained optimization problem under bounded tampering signals. Through a numerical study involving adaptive cruise control with stop functionality, we show that minor data modifications, indistinguishable from sensor noise, can cause significant degradation in control behavior. These findings highlight the need for robust security mechanisms in data-driven control implementation.
en-copyright=
kn-copyright=

en-aut-name=IkezakiTaichi
en-aut-sei=Ikezaki
en-aut-mei=Taichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=SawadaKenji
en-aut-sei=Sawada
en-aut-mei=Kenji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=KanekoOsamu
en-aut-sei=Kaneko
en-aut-mei=Osamu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=Faculty of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=

affil-num=2
en-affil=Graduate school of Mechanical Engineering, The University of Osaka
kn-affil=

affil-num=3
en-affil=Graduate School of Informatics and Engineering, The University of Electro-Communications
kn-affil=
en-keyword=cyberattack
kn-keyword=cyberattack
en-keyword=data-driven control
kn-keyword=data-driven control
en-keyword=cruise control
kn-keyword=cruise control
en-keyword=FRIT
kn-keyword=FRIT
en-keyword=poisoning attack
kn-keyword=poisoning attack
END

start-ver=1.4
cd-journal=joma
no-vol=134
cd-vols=
no-issue=
article-no=
start-page=111782
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=202509
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Robotic posterior radical antegrade modular pancreatosplenectomy for left-sided pancreatic cancer using the ligament of Treitz first approach: A case report and technical note
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Introduction: Radical antegrade modular pancreatosplenectomy (RAMPS) is the standardized open surgical technique for treating left-sided pancreatic cancer. However, studies reporting the surgical approaches for robotic RAMPS are limited. Here, we present a robotic posterior RAMPS using the ligament of Treitz first approach.<br>
Presentation of case: A 46-year-old male patient with initially unresectable pancreatic body cancer underwent robotic posterior RAMPS as a conversion surgery after 1-year of chemotherapy with modified FOLFIRINOX.<br>
Discussion: Following evaluation of resectability, the ligament of Treitz first approach was applied. The transverse colon was lifted cranially, and the left renal vein was exposed after dissection around the ligament of Treitz. The left adrenal vein was divided, and the left adrenal gland was resected with special caution to avoid injury to the left renal artery. Retroperitoneal dissection was performed with lymphadenectomy around the superior mesenteric and celiac arteries using the ligament of Treitz first approach. After repositioning the transverse colon, the gastrocolic and gastrosplenic ligaments were dissected. Following the division of the pancreas and splenic vessels, the retroperitoneal dissection line was connected with those of the ligament of Treitz first approach. The operative time was 303 min, and the estimated blood loss was 150 mL.<br>
Conclusion: The ligament of Treitz first approach may be an option for robotic RAMPS for left-sided pancreatic cancer. Surgeons should select the best approach for performing robotic RAMPS.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=MatsumotoKazuyuki
en-aut-sei=Matsumoto
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterology, Okayama University Hospital
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=Radical antegrade modular pancreatosplenectomy
kn-keyword=Radical antegrade modular pancreatosplenectomy
en-keyword=Distal pancreatectomy
kn-keyword=Distal pancreatectomy
en-keyword=Robotic surgery
kn-keyword=Robotic surgery
en-keyword=Ligament of Treitz
kn-keyword=Ligament of Treitz
en-keyword=Surgical approach
kn-keyword=Surgical approach
END

start-ver=1.4
cd-journal=joma
no-vol=150
cd-vols=
no-issue=
article-no=
start-page=110530
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=202506
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Surrogate-assisted motion planning and layout design of robotic cellular manufacturing systems
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=A surrogate-assisted multi-objective evolutionary algorithm is proposed for simultaneous optimization of robot motion planning and layout design in robotic cellular manufacturing systems. A sequence-pair is used to represent the layout of components in a robotic cell to avoid overlapping in the evolutionary computation. The robot motion planning with Rapidly exploring Random Trees Star (RRT*) is applied to compute the total operation time of a robot arm for each layout. Non-dominated Sorting Genetic Algorithm II (NSGA-II) is used to minimize the total required layout area and the operation time for a robot arm. The proposed surrogate model can estimate the robot’s operation time with 98% of accuracy without explicit computations of the motion planning algorithm. The experimental results with a physical 6 Degree of Freedom (DOF) manipulator show that the total computation time is approximately 1/400, significantly shorter than the conventional methods.
en-copyright=
kn-copyright=

en-aut-name=KawabeTomoya
en-aut-sei=Kawabe
en-aut-mei=Tomoya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NishiTatsushi
en-aut-sei=Nishi
en-aut-mei=Tatsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=LiuZiang
en-aut-sei=Liu
en-aut-mei=Ziang
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=FujiwaraTomofumi
en-aut-sei=Fujiwara
en-aut-mei=Tomofumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=Graduate School of Environmental, Life and Natural Science and Technology, Okayama University
kn-affil=

affil-num=2
en-affil=Graduate School of Environmental, Life and Natural Science and Technology, Okayama University
kn-affil=

affil-num=3
en-affil=Graduate School of Environmental, Life and Natural Science and Technology, Okayama University
kn-affil=

affil-num=4
en-affil=Graduate School of Environmental, Life and Natural Science and Technology, Okayama University
kn-affil=
en-keyword=Robotics
kn-keyword=Robotics
en-keyword=Cellular manufacturing
kn-keyword=Cellular manufacturing
en-keyword=Layout design
kn-keyword=Layout design
en-keyword=Sequence-pair
kn-keyword=Sequence-pair
en-keyword=Motion planning
kn-keyword=Motion planning
en-keyword=Surrogate optimization
kn-keyword=Surrogate optimization
en-keyword=Machine learning
kn-keyword=Machine learning
en-keyword=Artificial intelligence
kn-keyword=Artificial intelligence
END

start-ver=1.4
cd-journal=joma
no-vol=79
cd-vols=
no-issue=5
article-no=
start-page=393
end-page=398
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=202510
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Gastroduodenal Artery-Preserving Pancreatoduodenectomy after Esophagectomy with Gastric Conduit Reconstruction
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Pancreatoduodenectomy (PD) after esophagectomy with gastric conduit reconstruction is technically challenging. Preserving the blood supply of the gastric conduit is crucial in performing PD after esophagectomy. We report the case of a 66-year-old man who underwent gastroduodenal artery-preserving PD after esophagectomy with gastric conduit reconstruction for intraductal papillary mucinous neoplasm. The patient developed pseudoaneurysm rupture postoperatively, but was successfully treated with interventional radiology. Precise assessment is important in developing a surgical strategy depending on the patient’s specific anatomy and tumor characteristics. Moreover, special attention should be paid to avoid accidental injuries of the gastric conduit and gastric vessels during surgery.
en-copyright=
kn-copyright=

en-aut-name=MasunagaAkari
en-aut-sei=Masunaga
en-aut-mei=Akari
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=NagaiYasuo
en-aut-sei=Nagai
en-aut-mei=Yasuo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=YamadaMotohiko
en-aut-sei=Yamada
en-aut-mei=Motohiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=NishiyamaTakeyoshi
en-aut-sei=Nishiyama
en-aut-mei=Takeyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=KanehiraNoriyuki
en-aut-sei=Kanehira
en-aut-mei=Noriyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=SotaYumi
en-aut-sei=Sota
en-aut-mei=Yumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=9
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=10
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
en-keyword=pancreatoduodenectomy
kn-keyword=pancreatoduodenectomy
en-keyword=esophagectomy
kn-keyword=esophagectomy
en-keyword=gastric conduit
kn-keyword=gastric conduit
en-keyword=fluorescence imaging
kn-keyword=fluorescence imaging
END

start-ver=1.4
cd-journal=joma
no-vol=9
cd-vols=
no-issue=9
article-no=
start-page=660
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20250921
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Application of LMM-Derived Prompt-Based AIGC in Low-Altitude Drone-Based Concrete Crack Monitoring
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=In recent years, large multimodal models (LMMs), such as ChatGPT 4o and DeepSeek R1—artificial intelligence systems capable of multimodal (e.g., image and text) human–computer interaction—have gained traction in industrial and civil engineering applications. Concurrently, insufficient real-world drone-view data (specifically close-distance, high-resolution imagery) for civil engineering scenarios has heightened the importance of artificially generated content (AIGC) or synthetic data as supplementary inputs. AIGC is typically produced via text-to-image generative models (e.g., Stable Diffusion, DALL-E) guided by user-defined prompts. This study leverages LMMs to interpret key parameters for drone-based image generation (e.g., color, texture, scene composition, photographic style) and applies prompt engineering to systematize these parameters. The resulting LMM-generated prompts were used to synthesize training data for a You Only Look Once version 8 segmentation model (YOLOv8-seg). To address the need for detailed crack-distribution mapping in low-altitude drone-based monitoring, the trained YOLOv8-seg model was evaluated on close-distance crack benchmark datasets. The experimental results confirm that LMM-prompted AIGC is a viable supplement for low-altitude drone crack monitoring, achieving >80% classification accuracy (images with/without cracks) at a confidence threshold of 0.5.
en-copyright=
kn-copyright=

en-aut-name=PanShijun
en-aut-sei=Pan
en-aut-mei=Shijun
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=FanZhun
en-aut-sei=Fan
en-aut-mei=Zhun
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YoshidaKeisuke
en-aut-sei=Yoshida
en-aut-mei=Keisuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=QinShujia
en-aut-sei=Qin
en-aut-mei=Shujia
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=KojimaTakashi
en-aut-sei=Kojima
en-aut-mei=Takashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=NishiyamaSatoshi
en-aut-sei=Nishiyama
en-aut-mei=Satoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=Shenzhen Institute for Advanced Study, UESTC, University of Electronic Science and Technology of China
kn-affil=

affil-num=2
en-affil=Shenzhen Institute for Advanced Study, UESTC, University of Electronic Science and Technology of China
kn-affil=

affil-num=3
en-affil=Graduate School of Environmental and Life Science, Okayama University
kn-affil=

affil-num=4
en-affil=Shenzhen Academy of Robotics
kn-affil=

affil-num=5
en-affil=TOKEN C.E.E. Consultants Co., Ltd.
kn-affil=

affil-num=6
en-affil=Graduate School of Environmental and Life Science, Okayama University
kn-affil=
en-keyword=artificial intelligence
kn-keyword=artificial intelligence
en-keyword=large multimodal model
kn-keyword=large multimodal model
en-keyword=unmanned aerial vehicle
kn-keyword=unmanned aerial vehicle
en-keyword=crack
kn-keyword=crack
END

start-ver=1.4
cd-journal=joma
no-vol=137
cd-vols=
no-issue=2
article-no=
start-page=65
end-page=71
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20250801
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Robotic surgery in gastrointestinal surgery: Current trends and future directions
kn-title=消化器外科領域におけるロボット支援手術の現状と今後の展望
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=KurodaShinji
en-aut-sei=Kuroda
en-aut-mei=Shinji
kn-aut-name=黒田新士
kn-aut-sei=黒田
kn-aut-mei=新士
aut-affil-num=1
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=藤原俊義
kn-aut-sei=藤原
kn-aut-mei=俊義
aut-affil-num=2
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Faculty of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=岡山大学学術研究院医歯薬学域　消化器外科学

affil-num=2
en-affil=Department of Gastroenterological Surgery, Faculty of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=岡山大学学術研究院医歯薬学域　消化器外科学
en-keyword=ロボット支援手術
kn-keyword=ロボット支援手術
en-keyword=遠隔手術
kn-keyword=遠隔手術
en-keyword=人工知能
kn-keyword=人工知能
en-keyword=内視鏡外科手術
kn-keyword=内視鏡外科手術
en-keyword=消化器外科
kn-keyword=消化器外科
END

start-ver=1.4
cd-journal=joma
no-vol=410
cd-vols=
no-issue=1
article-no=
start-page=20
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=20241228
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=An effective surgical educational system in the era of robotic surgery: “Double-Surgeon Technique” in robotic gastrectomy for minimally invasive surgery
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Purpose Gastric cancer (GC) remains a major malignancy. Robotic gastrectomy (RG) has gained popularity due to various advantages. Despite those advantages, many hospitals lack the necessary equipment for RG and are still performing laparoscopic gastrectomy (LG) due to its established minimal invasiveness and safety.<br>
Methods This study assessed the effectiveness of the “Double-Surgeon Technique” (DST) for improving surgical education and proficiency with LG. The DST involves both a console-side surgeon and a patient-side surgeon working actively in RG, enhancing the skill acquisition needed for LG and potentially reducing surgical time. Assessment of this method was performed by surgical time, and cases were divided into three groups: first half (Phase 1: P1) and second half (P2) before the introduction of DST, and after the introduction of DST (P3).<br>
Results Two surgical trainees were trained using the DST. The learning curve in both reached a plateau in P2, but descended again in P3. For one trainee, surgical time for P3 was significantly reduced compared to P1 (p = 0.001) and P2 (p = 0.0027) despite the intervals between laparoscopic distal gastrectomy as the main surgeon in P3 being significantly longer than in P2 (p = 0.0094). Other surgical results in both trainees did not differ significantly. Further, no difference in induction phase results of RG were evident between surgeons and trainees with or without DST experience.<br>
Conclusion Surgical education using the DST could be effective in the current context of the need for RG and LG.
en-copyright=
kn-copyright=

en-aut-name=KakiuchiYoshihiko
en-aut-sei=Kakiuchi
en-aut-mei=Yoshihiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KurodaShinji
en-aut-sei=Kuroda
en-aut-mei=Shinji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YoshidaYusuke
en-aut-sei=Yoshida
en-aut-mei=Yusuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=KanayaNobuhiko
en-aut-sei=Kanaya
en-aut-mei=Nobuhiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=KashimaHajime
en-aut-sei=Kashima
en-aut-mei=Hajime
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=KikuchiSatoru
en-aut-sei=Kikuchi
en-aut-mei=Satoru
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=KagawaShunsuke
en-aut-sei=Kagawa
en-aut-mei=Shunsuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
en-keyword=Surgical education
kn-keyword=Surgical education
en-keyword=Gastrectomy
kn-keyword=Gastrectomy
en-keyword=Minimally invasive surgery
kn-keyword=Minimally invasive surgery
en-keyword=Robotic gastrectomy
kn-keyword=Robotic gastrectomy
en-keyword=Endoscopic surgical skill qualification system qualification
kn-keyword=Endoscopic surgical skill qualification system qualification
END

start-ver=1.4
cd-journal=joma
no-vol=390
cd-vols=
no-issue=
article-no=
start-page=116594
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=202508
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Extension-type flexible pneumatic actuator with a large extension force using a cross-link mechanism based on pantographs
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=In this study, we propose an extension-type flexible pneumatic actuator (EFPA) with a high extension force and no buckling. In a previous study, soft actuators that extended in the axial direction by applying a supply pressure were unable to generate the extension’s pushing force because the actuators buckled owing to their high flexibility. To generate a pushing force, the circumferential stiffness of an extension-type flexible soft actuator must be reinforced. Therefore, a cross-linked EFPA (CL-EFPA) was developed, inspired by a pantograph that restrains the EFPA three-dimensionally using the proposed link mechanism. The proposed CL-EFPA consists of three EFPAs and a cross-linking mechanism for integrating each EFPA circumference. The pushing force of the CL-EFPA is approximately 3.0 times compared with that generated by the previous EFPA with plates to restrain its plane. To perform various bending motions, attitude control was performed using an analytical model and a system that included valves, sensors, and controllers.
en-copyright=
kn-copyright=

en-aut-name=ShimookaSo
en-aut-sei=Shimooka
en-aut-mei=So
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TadachiKazuma
en-aut-sei=Tadachi
en-aut-mei=Kazuma
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=KamegawaTetsushi
en-aut-sei=Kamegawa
en-aut-mei=Tetsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=Faculty of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=

affil-num=2
en-affil=Mechanical and Systems Engineering Program, School of Engineering, Okayama University
kn-affil=

affil-num=3
en-affil=Faculty of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=
en-keyword=Soft robot
kn-keyword=Soft robot
en-keyword=Extension soft actuator
kn-keyword=Extension soft actuator
en-keyword=Link mechanism
kn-keyword=Link mechanism
en-keyword=Pantograph
kn-keyword=Pantograph
en-keyword=Attitude control
kn-keyword=Attitude control
END

start-ver=1.4
cd-journal=joma
no-vol=37
cd-vols=
no-issue=1
article-no=
start-page=43
end-page=53
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20250220
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Fan-Shaped Pneumatic Soft Actuator that Can Operate Bending Motion for Ankle-Joint Rehabilitation Device
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Nowadays, owing to declining birthrates and an aging population, patients and the elderly requiring rehabilitation are not getting enough physical activity. In addressing this issue, devices for rehabilitating them have been researched and developed. However, rehabilitation devices are almost exclusively used for patients who can get up, rather than those who are bedridden. In this study, we aim to develop a rehabilitation device that can provide passive exercise for bedridden patients. The ankle joint was selected as the target joint because the patients who have undergone surgery for cerebrovascular disease remain bedridden, and early recovery in the acute stage is highly desirable. We proposed and tested a fan-shaped pneumatic soft actuator (FPSA) that can expand and bend stably at angles when supply pressure is applied as an actuator for a rehabilitation device to encourage patient exercise. However, the previous FPSA’s movement deviates from the arch of the foot owing to increased supply pressure. In the ideal case, FPSA should push the arch of the foot in an arc motion. This study proposes and tests the FPSA that can operate a bending motion to provide passive exercise to the ankle joint using tensile springs and a winding mechanism powered by a servo motor. The proposed FPSA has a significant advantage of exhibiting no hysteresis in its pressure-displacement characteristics. The configuration and static analytical model of the improved FPSA are described.
en-copyright=
kn-copyright=

en-aut-name=ShimookaSo
en-aut-sei=Shimooka
en-aut-mei=So
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=YokoyaHirosato
en-aut-sei=Yokoya
en-aut-mei=Hirosato
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=HamadaMasanori
en-aut-sei=Hamada
en-aut-mei=Masanori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=ShiomiShun
en-aut-sei=Shiomi
en-aut-mei=Shun
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=UeharaTakenori
en-aut-sei=Uehara
en-aut-mei=Takenori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=HirayamaTakahiro
en-aut-sei=Hirayama
en-aut-mei=Takahiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=KamegawaTetsushi
en-aut-sei=Kamegawa
en-aut-mei=Tetsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

affil-num=1
en-affil=Faculty of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=

affil-num=2
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=

affil-num=3
en-affil=Department of Rehabilitation Medicine, Okayama University Hospital
kn-affil=

affil-num=4
en-affil=Department of Rehabilitation Medicine, Okayama University Hospital
kn-affil=

affil-num=5
en-affil=Department of Orthopaedic Surgery, NHO Okayama Medical Center
kn-affil=

affil-num=6
en-affil=Department of Emergency, Critical Care and Disaster Medicine, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=7
en-affil=Faculty of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=
en-keyword=fan-shaped pneumatic soft actuator
kn-keyword=fan-shaped pneumatic soft actuator
en-keyword=ankle-joint rehabilitation device
kn-keyword=ankle-joint rehabilitation device
en-keyword=hysteresis
kn-keyword=hysteresis
en-keyword=range of motion
kn-keyword=range of motion
END

start-ver=1.4
cd-journal=joma
no-vol=31
cd-vols=
no-issue=13
article-no=
start-page=8741
end-page=8743
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=20240927
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Robot-Assisted Pancreaticoduodenectomy Using the Anterior Superior Mesenteric Artery-First Approach for Pancreatic Cancer
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Background. The superior mesenteric artery (SMA)-first approach for pancreatic cancer (PC) is common surgical technique in pancreaticoduodenectomy. To date, few studies have reported SMA-first approach in robot-assisted pancreaticoduodenectomy (RPD). Herein, we present the anterior SMA-first approach for PC during RPD.<br>
Patient and Method. A 75-year-old man with resectable PC underwent RPD after neoadjuvant chemotherapy. As pancreatic head tumor contacted with the superior mesenteric vein (SMV), the anterior SMA approach was applied. After the mesenteric Kocher maneuver, the jejunum was divided and the left side of the SMA was dissected. Subsequently, the anterior plane of the SMA was dissected. Following the division of branches from the mesenteric vessels, the SMA was taped, and the circumferential dissection around the SMA was performed to detach the pancreatic neck from the SMA completely. Finally, the dissection between the SMV and the tumor was performed under vascular control to remove the specimen.<br>
Conclusions. The anterior SMA-first approach can be optional in patients with PC undergoing RPD. This unique approach allows for the circumferential dissection around the SMA during RPD.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=YamadaMotohiko
en-aut-sei=Yamada
en-aut-mei=Motohiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=NishiyamaTakeyoshi
en-aut-sei=Nishiyama
en-aut-mei=Takeyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=NagaiYasuo
en-aut-sei=Nagai
en-aut-mei=Yasuo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=KanehiraNoriyuki
en-aut-sei=Kanehira
en-aut-mei=Noriyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=Robotic pancreaticoduodenectomy
kn-keyword=Robotic pancreaticoduodenectomy
en-keyword=Superior mesenteric artery approach
kn-keyword=Superior mesenteric artery approach
en-keyword=Pancreatic cancer
kn-keyword=Pancreatic cancer
END

start-ver=1.4
cd-journal=joma
no-vol=13
cd-vols=
no-issue=8
article-no=
start-page=1344-
end-page=1348
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=202408
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=The state of robotic vs. open pancreatoduodenectomy
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=YamadaMotohiko
en-aut-sei=Yamada
en-aut-mei=Motohiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=NishiyamaTakeyoshi
en-aut-sei=Nishiyama
en-aut-mei=Takeyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=NagaiYasuo
en-aut-sei=Nagai
en-aut-mei=Yasuo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=KanehiraNoriyuki
en-aut-sei=Kanehira
en-aut-mei=Noriyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=Robotic surgery
kn-keyword=Robotic surgery
en-keyword=open surgery
kn-keyword=open surgery
en-keyword=pancreatoduodenectomy (PD)
kn-keyword=pancreatoduodenectomy (PD)
en-keyword=outcomes
kn-keyword=outcomes
END

start-ver=1.4
cd-journal=joma
no-vol=27
cd-vols=
no-issue=3
article-no=
start-page=121
end-page=127
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=2024
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Association Between Early Mobilization and Postoperative Pneumonia Following Robot-assisted Minimally Invasive Esophagectomy in Patients with Thoracic Esophageal Squamous Cell Carcinoma
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Objective: The objective of this study was to confirm that early mobilization (EM) could reduce pneumonia in patients undergoing robot-assisted minimally invasive esophagectomy (RAMIE) for thoracic esophageal squamous cell carcinoma (TESCC). Methods: Postoperative pneumonia was defined as physician-diagnosed pneumonia using the Esophagectomy Complications Consensus Group definition of pneumonia with a Clavien–Dindo classification grade II–V on postoperative day (POD) 3–5. EM was defined as achieving an ICU Mobility Scale (IMS) ≥7 by POD 2. Patients were divided into EM (n = 36) and non-EM (n = 35) groups. Barriers to EM included pain, orthostatic intolerance (OI), and orthostatic hypotension. Results: The overall incidence of postoperative pneumonia was 12.7%, with a significant difference between the EM (2.8%) and non-EM (22.9%) groups (P = 0.014). The odds ratio was 0.098 in the EM group compared to the non-EM group. A significant difference was found between the two groups in terms of the barriers to EM at POD 2 only for OI, with a higher incidence in the non-EM group. Multivariate logistic regression analysis showed that patients with OI were more likely to be unable to achieve EM than those without OI (odds ratio, 7.030; P = 0.006). Conclusion: EM within POD 2 may reduce the incidence of postoperative pneumonia in patients undergoing RAMIE for TESCC. Furthermore, it was suggested that OI can have a negative impact on the EM after RAMIE.
en-copyright=
kn-copyright=

en-aut-name=NOZAWAYasuaki
en-aut-sei=NOZAWA
en-aut-mei=Yasuaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=HARADAKazuhiro
en-aut-sei=HARADA
en-aut-mei=Kazuhiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=NOMAKazuhiro
en-aut-sei=NOMA
en-aut-mei=Kazuhiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=KATAYAMAYoshimi
en-aut-sei=KATAYAMA
en-aut-mei=Yoshimi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=HAMADAMasanori
en-aut-sei=HAMADA
en-aut-mei=Masanori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=OZAKIToshifumi
en-aut-sei=OZAKI
en-aut-mei=Toshifumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=Division of Physical Medicine and Rehabilitation, Okayama University Hospital
kn-affil=

affil-num=2
en-affil=Graduate School of Health Science Studies, Kibi International University
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=4
en-affil=Division of Physical Medicine and Rehabilitation, Okayama University Hospital
kn-affil=

affil-num=5
en-affil=Division of Physical Medicine and Rehabilitation, Okayama University Hospital
kn-affil=

affil-num=6
en-affil=Division of Physical Medicine and Rehabilitation, Okayama University Hospital
kn-affil=
en-keyword=Early mobilization
kn-keyword=Early mobilization
en-keyword=Postoperative pneumonia
kn-keyword=Postoperative pneumonia
en-keyword=Orthostatic intolerance
kn-keyword=Orthostatic intolerance
en-keyword=Thoracic esophageal squamous cell carcinoma
kn-keyword=Thoracic esophageal squamous cell carcinoma
en-keyword=Robot-assisted minimally invasive esophagectomy
kn-keyword=Robot-assisted minimally invasive esophagectomy
END

start-ver=1.4
cd-journal=joma
no-vol=30
cd-vols=
no-issue=8
article-no=
start-page=1621
end-page=1630
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20250606
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Percutaneous cryoablation versus robot-assisted partial nephrectomy for small renal cell carcinoma: a retrospective cost analysis at Japanese single-institution
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Background: No direct cost comparison has been conducted between percutaneous cryoablation (PCA) and robot-assisted partial nephrectomy (RAPN) for clinical T1a renal cell carcinoma (RCC) in Japan. This study aimed to compare their costs.<br>
Methods: We retrospectively analyzed data from 212 PCAs (including 155 with transcatheter arterial embolization) and 119 RAPN cases performed between December 2017 and May 2022.<br>
Results: PCA patients were older with higher American Society of Anesthesiologists scores, Charlson Comorbidity Index, and history of previous RCC treatment, cardiovascular disease, and antithrombotic drug use than RAPN patients. PCA was associated with a significantly shorter procedure time and hospitalization duration with fewer major complications than those associated with RAPN. While PCA incurred a slightly lower total cost (1,123,000 vs. 1,155,000 yen), it had a significantly higher procedural cost (739,000 vs. 693,000 yen) and markedly worse total (− 93,000 vs. 249,000 yen) and procedural income-expenditure balance (− 189,000 vs. 231,000 yen) than those of RAPN. After statistical adjustment, PCA demonstrated significantly higher total (difference: 114,000 yen) and procedural costs (difference: 72,000 yen), alongside significantly worse total (difference: − 358,000 yen) and procedural income-expenditure balances (difference: − 439,000 yen). The incremental cost-effectiveness ratio was more favorable for PCA than for RAPN.<br>
Conclusion: For high- risk patients, PCA demonstrated a safer option with shorter hospitalization duration than those of RAPN. Although PCA was more cost-effective, its higher procedural cost and unfavorable income-expenditure balance require careful evaluation, especially for large tumors that require three or more needles.
en-copyright=
kn-copyright=

en-aut-name=UkaMayu
en-aut-sei=Uka
en-aut-mei=Mayu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=IguchiToshihiro
en-aut-sei=Iguchi
en-aut-mei=Toshihiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=BekkuKensuke
en-aut-sei=Bekku
en-aut-mei=Kensuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=YamanoiTomoaki
en-aut-sei=Yamanoi
en-aut-mei=Tomoaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=MitsuhashiToshiharu
en-aut-sei=Mitsuhashi
en-aut-mei=Toshiharu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=GobaraHideo
en-aut-sei=Gobara
en-aut-mei=Hideo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=UmakoshiNoriyuki
en-aut-sei=Umakoshi
en-aut-mei=Noriyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=KawabataTakahiro
en-aut-sei=Kawabata
en-aut-mei=Takahiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=TomitaKoji
en-aut-sei=Tomita
en-aut-mei=Koji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=MatsuiYusuke
en-aut-sei=Matsui
en-aut-mei=Yusuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

en-aut-name=ArakiMotoo
en-aut-sei=Araki
en-aut-mei=Motoo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=11
ORCID=

en-aut-name=HirakiTakao
en-aut-sei=Hiraki
en-aut-mei=Takao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=12
ORCID=

affil-num=1
en-affil=Department of Radiology, Okayama University Hospital
kn-affil=

affil-num=2
en-affil=Department of Radiology, Okayama University Hospital
kn-affil=

affil-num=3
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Center for Innovative Clinical Medicine, Okayama University Hospital
kn-affil=

affil-num=6
en-affil=Division of Medical Informatics, Okayama University Hospital
kn-affil=

affil-num=7
en-affil=Department of Radiology, Okayama University Hospital
kn-affil=

affil-num=8
en-affil=Department of Radiology, Okayama University Hospital
kn-affil=

affil-num=9
en-affil=Department of Radiology, Okayama University Hospital
kn-affil=

affil-num=10
en-affil=Department of Radiology, Faculty of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=11
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=12
en-affil=Department of Radiology, Faculty of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=
en-keyword=Renal cancer
kn-keyword=Renal cancer
en-keyword=Cryoablation
kn-keyword=Cryoablation
en-keyword=Robot-assisted partial nephrectomy
kn-keyword=Robot-assisted partial nephrectomy
en-keyword=Cost
kn-keyword=Cost
en-keyword=Cost effectiveness
kn-keyword=Cost effectiveness
END

start-ver=1.4
cd-journal=joma
no-vol=32
cd-vols=
no-issue=3
article-no=
start-page=258
end-page=263
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=20241118
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Postoperative infections after robotic‐assisted radical prostatectomy in a single large institution: Effect of type and duration of prophylactic antibiotic administration
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Objective: We evaluated the incidence of and risk factors for postoperative infections after robotic-assisted radical prostatectomy (RARP) according to the type and duration of prophylactic antibiotic administration.<br>
Methods: A total of 1038 patients underwent RARP at our institution from 2010 to 2021; 1026 patients (201 in the cefazolin [CEZ] group and 825 in the ampicillin/sulbactam [ABPC/SBT] group) were analyzed, and 12 who used other antibiotics were excluded. The primary endpoint was the incidence of urinary tract infection (UTI), surgical site infection (SSI), and remote infection (RI). T-tests, propensity score matching (PSM) and inverse probability of treatment weighting (IPTW) were performed. Multivariate logistic regression analysis was performed to evaluate the effect of type and duration of prophylactic antibiotic administration.<br>
Results: The incidence of UTI was 2.5% (5/201) in the CEZ group and 3.2% (26/825) in the ABPC/SBT group, with no significant difference between groups (p = 0.622). The rates of SSI and RI were comparable between groups (p = 0.680 and 0.906, respectively). Although the duration of antimicrobial therapy was longer in the ABPC/SBT group (p < 0.001), there was no significant difference in the incidence of UTI/SSI/RI after PSM and IPTW (all p > 0.05). Multivariate logistic regression analysis showed that neither the type of antibiotic nor the duration of administration affected the incidence of UTI/SSI/RI.<br>
Conclusion: The risk of postoperative UTI/SSI/RI after RARP did not change with the type and duration of antimicrobial therapy.
en-copyright=
kn-copyright=

en-aut-name=MitsuiMasao
en-aut-sei=Mitsui
en-aut-mei=Masao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=SadahiraTakuya
en-aut-sei=Sadahira
en-aut-mei=Takuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=NagasakiNaoya
en-aut-sei=Nagasaki
en-aut-mei=Naoya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=MaruyamaYuki
en-aut-sei=Maruyama
en-aut-mei=Yuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=SekitoTakanori
en-aut-sei=Sekito
en-aut-mei=Takanori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=IwataTakehiro
en-aut-sei=Iwata
en-aut-mei=Takehiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=KatayamaSatoshi
en-aut-sei=Katayama
en-aut-mei=Satoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=BekkuKensuke
en-aut-sei=Bekku
en-aut-mei=Kensuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=ArakiMotoo
en-aut-sei=Araki
en-aut-mei=Motoo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

affil-num=1
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=
kn-affil=

affil-num=5
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=9
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
en-keyword=cefazolin
kn-keyword=cefazolin
en-keyword=postoperative infections
kn-keyword=postoperative infections
en-keyword=prophylactic antibiotics
kn-keyword=prophylactic antibiotics
en-keyword=prostate
kn-keyword=prostate
en-keyword=robotic-assisted radical prostatectomy
kn-keyword=robotic-assisted radical prostatectomy
END

start-ver=1.4
cd-journal=joma
no-vol=79
cd-vols=
no-issue=3
article-no=
start-page=177
end-page=184
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=202506
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Investigation of Cup Placement Position in Total Hip Arthroplasty with Cup-side Implant Placement in Computed Tomography Horizontal Sections
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The position attained in total hip arthroplasty (THA) is ideally in the center of the horizontal plane of the acetabulum. However, central placement is not always possible. We hypothesized that differences in approach result in individual differences in cup positioning; thus, we investigated the cup positions of 217 hips that underwent THA. The acetabulum’s anteroposterior diameter was measured, and the cups placed within 2 mm of the line perpendicular to the center as a central placement (central). Of the 217 hips, 68, 114, and 35 hips were anterior, central, and posterior, respectively. In 21 hips, anteroposterior deviation was noted. Among patients operated using the anterolateral approach, 48, 93, and 30 hips were anterior, central, and posterior, respectively. Among those operated using the posterolateral approach, 16, 20, and 4 hips were anterior, central, and posterior, respectively. The cup position shifted either anteriorly or posteriorly to the acetabulum in approximately half of all hips operated using both approaches and tended to shift anteriorly in the hips operated using the posterolateral approach. During THA surgery, it is important to operate with awareness of the center of the acetabulum.
en-copyright=
kn-copyright=

en-aut-name=FuruichiShuro
en-aut-sei=Furuichi
en-aut-mei=Shuro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=MitaniShigeru
en-aut-sei=Mitani
en-aut-mei=Shigeru
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=EndoHirosuke
en-aut-sei=Endo
en-aut-mei=Hirosuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=NambaYoshifumi
en-aut-sei=Namba
en-aut-mei=Yoshifumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=KawamotoToyohiro
en-aut-sei=Kawamoto
en-aut-mei=Toyohiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=Department of Bone and Joint Surgery, Kawasaki Medical School
kn-affil=

affil-num=2
en-affil=Department of Bone and Joint Surgery, Kawasaki Medical School
kn-affil=

affil-num=3
en-affil=Department of Bone and Joint Surgery, Kawasaki Medical School
kn-affil=

affil-num=4
en-affil=Department of Bone and Joint Surgery, Kawasaki Medical School
kn-affil=

affil-num=5
en-affil=Department of Bone and Joint Surgery, Kawasaki Medical School
kn-affil=
en-keyword=total hip arthroplasty
kn-keyword=total hip arthroplasty
en-keyword=cup horizontal position
kn-keyword=cup horizontal position
en-keyword=total hip arthroplasty approach
kn-keyword=total hip arthroplasty approach
en-keyword=navigation system
kn-keyword=navigation system
en-keyword=computed tomography
kn-keyword=computed tomography
END

start-ver=1.4
cd-journal=joma
no-vol=137
cd-vols=
no-issue=1
article-no=
start-page=25
end-page=29
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20250401
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=The advances in robot-assisted surgery in the field of urology and future perspective
kn-title=泌尿器科領域におけるロボット手術の進化と未来
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=BekkuKensuke
en-aut-sei=Bekku
en-aut-mei=Kensuke
kn-aut-name=別宮謙介
kn-aut-sei=別宮
kn-aut-mei=謙介
aut-affil-num=1
ORCID=

en-aut-name=NagasakiNaoya
en-aut-sei=Nagasaki
en-aut-mei=Naoya
kn-aut-name=長﨑直也
kn-aut-sei=長﨑
kn-aut-mei=直也
aut-affil-num=2
ORCID=

en-aut-name=OkamotoYusuke
en-aut-sei=Okamoto
en-aut-mei=Yusuke
kn-aut-name=岡本悠佑
kn-aut-sei=岡本
kn-aut-mei=悠佑
aut-affil-num=3
ORCID=

en-aut-name=ShiraishiHiromasa
en-aut-sei=Shiraishi
en-aut-mei=Hiromasa
kn-aut-name=白石裕雅
kn-aut-sei=白石
kn-aut-mei=裕雅
aut-affil-num=4
ORCID=

en-aut-name=TairaAya
en-aut-sei=Taira
en-aut-mei=Aya
kn-aut-name=平良彩
kn-aut-sei=平良
kn-aut-mei=彩
aut-affil-num=5
ORCID=

en-aut-name=InoueShota
en-aut-sei=Inoue
en-aut-mei=Shota
kn-aut-name=井上翔太
kn-aut-sei=井上
kn-aut-mei=翔太
aut-affil-num=6
ORCID=

en-aut-name=KawagoYuya
en-aut-sei=Kawago
en-aut-mei=Yuya
kn-aut-name=川合裕也
kn-aut-sei=川合
kn-aut-mei=裕也
aut-affil-num=7
ORCID=

en-aut-name=WatanabeTomofumi
en-aut-sei=Watanabe
en-aut-mei=Tomofumi
kn-aut-name=渡部智文
kn-aut-sei=渡部
kn-aut-mei=智文
aut-affil-num=8
ORCID=

en-aut-name=MitsuiMasao
en-aut-sei=Mitsui
en-aut-mei=Masao
kn-aut-name=三井將雄
kn-aut-sei=三井
kn-aut-mei=將雄
aut-affil-num=9
ORCID=

en-aut-name=HoriiSatoshi
en-aut-sei=Horii
en-aut-mei=Satoshi
kn-aut-name=堀井聡
kn-aut-sei=堀井
kn-aut-mei=聡
aut-affil-num=10
ORCID=

en-aut-name=MoriwakeTakatoshi
en-aut-sei=Moriwake
en-aut-mei=Takatoshi
kn-aut-name=森分貴俊
kn-aut-sei=森分
kn-aut-mei=貴俊
aut-affil-num=11
ORCID=

en-aut-name=YoshinagaKasumi
en-aut-sei=Yoshinaga
en-aut-mei=Kasumi
kn-aut-name=吉永香澄
kn-aut-sei=吉永
kn-aut-mei=香澄
aut-affil-num=12
ORCID=

en-aut-name=MitsuiYosuke
en-aut-sei=Mitsui
en-aut-mei=Yosuke
kn-aut-name=光井洋介
kn-aut-sei=光井
kn-aut-mei=洋介
aut-affil-num=13
ORCID=

en-aut-name=YamanoiTomoaki
en-aut-sei=Yamanoi
en-aut-mei=Tomoaki
kn-aut-name=山野井友昭
kn-aut-sei=山野井
kn-aut-mei=友昭
aut-affil-num=14
ORCID=

en-aut-name=KawadaTatsushi
en-aut-sei=Kawada
en-aut-mei=Tatsushi
kn-aut-name=河田達志
kn-aut-sei=河田
kn-aut-mei=達志
aut-affil-num=15
ORCID=

en-aut-name=SadahiraTakuya
en-aut-sei=Sadahira
en-aut-mei=Takuya
kn-aut-name=定平卓也
kn-aut-sei=定平
kn-aut-mei=卓也
aut-affil-num=16
ORCID=

en-aut-name=TominagaYusuke
en-aut-sei=Tominaga
en-aut-mei=Yusuke
kn-aut-name=富永悠介
kn-aut-sei=富永
kn-aut-mei=悠介
aut-affil-num=17
ORCID=

en-aut-name=IwataTakehiro
en-aut-sei=Iwata
en-aut-mei=Takehiro
kn-aut-name=岩田健宏
kn-aut-sei=岩田
kn-aut-mei=健宏
aut-affil-num=18
ORCID=

en-aut-name=KatayamaSatoshi
en-aut-sei=Katayama
en-aut-mei=Satoshi
kn-aut-name=片山聡
kn-aut-sei=片山
kn-aut-mei=聡
aut-affil-num=19
ORCID=

en-aut-name=NishimuraShingo
en-aut-sei=Nishimura
en-aut-mei=Shingo
kn-aut-name=西村慎吾
kn-aut-sei=西村
kn-aut-mei=慎吾
aut-affil-num=20
ORCID=

en-aut-name=EdamuraKohei
en-aut-sei=Edamura
en-aut-mei=Kohei
kn-aut-name=枝村康平
kn-aut-sei=枝村
kn-aut-mei=康平
aut-affil-num=21
ORCID=

en-aut-name=KobayashiTomoko
en-aut-sei=Kobayashi
en-aut-mei=Tomoko
kn-aut-name=小林知子
kn-aut-sei=小林
kn-aut-mei=知子
aut-affil-num=22
ORCID=

en-aut-name=ArakiMotoo
en-aut-sei=Araki
en-aut-mei=Motoo
kn-aut-name=荒木元朗
kn-aut-sei=荒木
kn-aut-mei=元朗
aut-affil-num=23
ORCID=

affil-num=1
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=2
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=3
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=4
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=5
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=6
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=7
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=8
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=9
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=10
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=11
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=12
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=13
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=14
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=15
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=16
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=17
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=18
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=19
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=20
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=21
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=22
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学

affil-num=23
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学
en-keyword=ロボット手術
kn-keyword=ロボット手術
en-keyword=ダビンチ
kn-keyword=ダビンチ
en-keyword=泌尿器科領域
kn-keyword=泌尿器科領域
END

start-ver=1.4
cd-journal=joma
no-vol=23
cd-vols=
no-issue=1
article-no=
start-page=124
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20250407
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Surgical protocol of robotic liver resection using a two-surgeon technique (TAKUMI-3): a technical note and initial outcomes
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Background Internationally, evidence supporting robotic liver resection (RLR) has gradually increased in recent years. However, a standardized protocol for RLR remains lacking. This study describes a surgical protocol and the initial outcomes of RLR in a high-volume center for robotic hepatopancreatobiliary surgery in Japan.<br>
Methods Patients were placed in the reverse Trendelenburg position, with a supine position for anterolateral tumors and left lateral position for posterosuperior tumors. Our standard RLR protocol involved a two-surgeon technique. Liver parenchymal transection was performed by an assistant using the clamp crush technique with a console, with or without a laparoscopic Cavitron ultrasonic surgical aspirator (CUSA). Surgical techniques, including the tips, tricks, and pitfalls of RLR, are also demonstrated.<br>
Results We performed 113 RLR at our institution for common primary diseases, including hepatocellular carcinoma (n = 52, 46.0%) and metastatic tumors (n = 48, 42.5%) between July 2022 and December 2024. The median operative time and estimated blood loss were 156 min (interquartile range [IQR], 121-209 min) and 20 mL (IQR, 0-100 mL), respectively. During liver parenchymal transection, a laparoscopic CUSA was used in 59 patients (52.2%), and a water-jet scalpel was used in 12 patients (10.6%). The incidence of mortality, major complications, and bile leakage was 0%, 6.2%, and 2.7%, respectively. The median hospital stay was 7 days (IQR, 6-9 days).<br>
Conclusions We successfully introduced an RLR program using the two-surgeon technique. Safe implementation of RLR can be achieved upon completion of the training program and thorough understanding of the surgical protocols.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=UmedaYuzo
en-aut-sei=Umeda
en-aut-mei=Yuzo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=YamadaMotohiko
en-aut-sei=Yamada
en-aut-mei=Motohiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=NishiyamaTakeyoshi
en-aut-sei=Nishiyama
en-aut-mei=Takeyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=NagaiYasuo
en-aut-sei=Nagai
en-aut-mei=Yasuo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=KanehiraNoriyuki
en-aut-sei=Kanehira
en-aut-mei=Noriyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=

affil-num=4
en-affil=Department of Hepatobiliary Pancreatic Surgery, Ehime University Graduate School of Medicine
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=

affil-num=9
en-affil=Department of Gastroenterological Surgery, Dentistry, and Pharmaceutical Sciences, Okayama University Graduate School of Medicine
kn-affil=
en-keyword=Liver resection
kn-keyword=Liver resection
en-keyword=Robotic surgery
kn-keyword=Robotic surgery
en-keyword=Training
kn-keyword=Training
en-keyword=Outcomes
kn-keyword=Outcomes
END

start-ver=1.4
cd-journal=joma
no-vol=18
cd-vols=
no-issue=2
article-no=
start-page=376
end-page=382
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2025
dt-pub=20250205
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A case of pancreatic ductal adenocarcinoma growing within the pancreatic duct mimicking an intraductal tubulopapillary neoplasm
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=We herein report a case of pancreatic ductal adenocarcinoma (PDAC) that developed within the pancreatic duct and was initially diagnosed as an intraductal tubulopapillary neoplasm (ITPN). A 76-year-old man presented with weight loss and main pancreatic duct dilation. The imaging studies revealed a 30-mm hypovascular tumor within the main duct of the pancreatic head. An endoscopic examination with a biopsy revealed high-grade atypical epithelial cells with immunostaining patterns suggestive of ITPN. Following robot-assisted pancreaticoduodenectomy, postoperative pathology revealed conflicting features: nodular/cribriform infiltrations typical of ITPN and non-lobular replacement with scattered infiltrations characteristic of PDAC. A comprehensive genomic profiling test detected KRAS and TP53 mutations, leading to the final diagnosis of PDAC (fT3N1aM0, stage IIB). The patient received adjuvant S-1 chemotherapy and remained recurrence-free for 15 months post-surgery. This case highlights the diagnostic challenges of differentiating intraductal pancreatic tumors and demonstrates the utility of integrating genetic testing with conventional diagnostic modalities for an accurate diagnosis and appropriate treatment selection.
en-copyright=
kn-copyright=

en-aut-name=SatoRyosuke
en-aut-sei=Sato
en-aut-mei=Ryosuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=MatsumotoKazuyuki
en-aut-sei=Matsumoto
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=UkaMayu
en-aut-sei=Uka
en-aut-mei=Mayu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=NishidaKenji
en-aut-sei=Nishida
en-aut-mei=Kenji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=TanakaTakehiro
en-aut-sei=Tanaka
en-aut-mei=Takehiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=FujiiYuki
en-aut-sei=Fujii
en-aut-mei=Yuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=TsutsumiKoichiro
en-aut-sei=Tsutsumi
en-aut-mei=Koichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=HoriguchiShigeru
en-aut-sei=Horiguchi
en-aut-mei=Shigeru
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=OtsukaMotoyuki
en-aut-sei=Otsuka
en-aut-mei=Motoyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

affil-num=1
en-affil=Department of Gastroenterology and Hepatology, Okayama University Hospital
kn-affil=

affil-num=2
en-affil=Department of Gastroenterology and Hepatology, Okayama University Hospital
kn-affil=

affil-num=3
en-affil=Department of Radiology, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Pathology, Dentistry and Pharmaceutical Science, Okayama University Graduate School of Medicine
kn-affil=

affil-num=6
en-affil=Department of Pathology, Dentistry and Pharmaceutical Science, Okayama University Graduate School of Medicine
kn-affil=

affil-num=7
en-affil=Department of Gastroenterology and Hepatology, Okayama University Hospital
kn-affil=

affil-num=8
en-affil=Department of Gastroenterology and Hepatology, Okayama University Hospital
kn-affil=

affil-num=9
en-affil=Department of Gastroenterology and Hepatology, Okayama University Hospital
kn-affil=

affil-num=10
en-affil=Department of Gastroenterology and Hepatology, Okayama University Hospital
kn-affil=
en-keyword=Pancreatic intraductal neoplasms
kn-keyword=Pancreatic intraductal neoplasms
en-keyword=Pancreatic carcinoma
kn-keyword=Pancreatic carcinoma
en-keyword=Intraductal tubulopapillary neoplasm
kn-keyword=Intraductal tubulopapillary neoplasm
en-keyword=Genetic testing
kn-keyword=Genetic testing
END

start-ver=1.4
cd-journal=joma
no-vol=35
cd-vols=
no-issue=1
article-no=
start-page=65
end-page=73
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=20230220
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of Automatic Inspection Systems for WRS2020 Plant Disaster Prevention Challenge Using Image Processing
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=In this article, an approach used for the inspection tasks in the WRS2020 Plant Disaster Prevention Challenge is explained. The tasks were categorized into three categories: reading pressure gauges, inspecting rust on a tank, and inspecting cracks in a tank. For reading pressure gauges, the “you only look once” algorithm was used to focus on a specific pressure gauge and check the pressure gauge range strings on the gauge using optical character recognition algorithm. Finally, a previously learned classifier was used to read the values shown in the gauge. For rust inspection, image processes were used to focus on a target plate that may be rusted for rust detection. In particular, it was necessary to report the rust area and distribution type. Thus, the pixel ratio and grouping of rust were used to count the rust. The approach for crack inspection was similar to that for rust. The target plate was focused on first, and then the length of the crack was measured using image processing. Its width was not measured but was calculated using the crack area and length. For each system developed to approach each task, the results of the preliminary experiment and those of WRS2020 are shown. Finally, the approaches are summarized, and planned future work is discussed.
en-copyright=
kn-copyright=

en-aut-name=ShimizuYuya
en-aut-sei=Shimizu
en-aut-mei=Yuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KamegawaTetsushi
en-aut-sei=Kamegawa
en-aut-mei=Tetsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=WangYongdong
en-aut-sei=Wang
en-aut-mei=Yongdong
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=TamuraHajime
en-aut-sei=Tamura
en-aut-mei=Hajime
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=TeshimaTaiga
en-aut-sei=Teshima
en-aut-mei=Taiga
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=NakanoSota
en-aut-sei=Nakano
en-aut-mei=Sota
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=TadaYuki
en-aut-sei=Tada
en-aut-mei=Yuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=NakanoDaiki
en-aut-sei=Nakano
en-aut-mei=Daiki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=SasakiYuichi
en-aut-sei=Sasaki
en-aut-mei=Yuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=SekitoTaiga
en-aut-sei=Sekito
en-aut-mei=Taiga
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

en-aut-name=UtsumiKeisuke
en-aut-sei=Utsumi
en-aut-mei=Keisuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=11
ORCID=

en-aut-name=NagaoRai
en-aut-sei=Nagao
en-aut-mei=Rai
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=12
ORCID=

en-aut-name=SembaMizuki
en-aut-sei=Semba
en-aut-mei=Mizuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=13
ORCID=

affil-num=1
en-affil=Okayama University
kn-affil=

affil-num=2
en-affil=Okayama University
kn-affil=

affil-num=3
en-affil=Okayama University
kn-affil=

affil-num=4
en-affil=Okayama University
kn-affil=

affil-num=5
en-affil=Okayama University
kn-affil=

affil-num=6
en-affil=Okayama University
kn-affil=

affil-num=7
en-affil=Okayama University
kn-affil=

affil-num=8
en-affil=Okayama University
kn-affil=

affil-num=9
en-affil=Okayama University
kn-affil=

affil-num=10
en-affil=Okayama University
kn-affil=

affil-num=11
en-affil=Okayama University
kn-affil=

affil-num=12
en-affil=Okayama University
kn-affil=

affil-num=13
en-affil=Okayama University
kn-affil=
en-keyword=WRS2020
kn-keyword=WRS2020
en-keyword=image processing
kn-keyword=image processing
en-keyword=auto inspection
kn-keyword=auto inspection
en-keyword=YOLO
kn-keyword=YOLO
en-keyword=OCR
kn-keyword=OCR
END

start-ver=1.4
cd-journal=joma
no-vol=78
cd-vols=
no-issue=6
article-no=
start-page=475
end-page=483
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=202412
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=C-arm Free Unilateral Biportal Endoscopic Discectomy: A Technical Note
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This report presents a new unilateral biportal endoscopic (UBE) technique for lumbar disc herniation without C-arm guidance. Lumbar disc herniation requires surgical intervention when conservative methods fail. Shifts towards minimally invasive percutaneous endoscopic lumbar discectomy, including uniportal and biportal approaches, have been hindered by challenges such as steep learning curves and reliance on radiation-intensive C-arm guidance. We here describe the use of standard intraoperative navigation in UBE to reduce radiation exposure and increase surgical accuracy. A 24-year-old man with low back and bilateral leg pain with gait disturbance was referred to our hospital. He had had conservative treatment for 12 months in another hospital before admission, but this proved unsuccessful. On admission he had low back pain (VAS 4/10) and bilateral leg pain (VAS 8/10), muscle weakness of the bilateral legs (manual muscle testing (MMT) grade of the extensor hallucis longus: 4/4), and numbness of the bilateral lower legs. Preoperative lumbar MRI showed L4/5 large central disc herniation. He underwent C-arm free UBE discectomy under the guidance of O-arm navigation. The surgery was successful, with postoperative lumbar MRI showing good decompression of the dural sac and bilateral L5 nerve roots. The MMT grade and sensory function of both legs had recovered fully on final follow-up at one year. The new UBE technique under navigation guidance was shown to be useful for lumbar disc herniation. This innovative technique was safe and accurate for the treatment of lumbar intervertebral disc herniation, and minimized radiation exposure to surgeons.
en-copyright=
kn-copyright=

en-aut-name=XiangHongfei
en-aut-sei=Xiang
en-aut-mei=Hongfei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=LatkaKajetan
en-aut-sei=Latka
en-aut-mei=Kajetan
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=MastePraful
en-aut-sei=Maste
en-aut-mei=Praful
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=TanakaMasato
en-aut-sei=Tanaka
en-aut-mei=Masato
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=KumawatChetan
en-aut-sei=Kumawat
en-aut-mei=Chetan
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=AratakiShinya
en-aut-sei=Arataki
en-aut-mei=Shinya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=FujiwaraYoshihiro
en-aut-sei=Fujiwara
en-aut-mei=Yoshihiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=TaokaTakuya
en-aut-sei=Taoka
en-aut-mei=Takuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=MiyamotoAkiyoshi
en-aut-sei=Miyamoto
en-aut-mei=Akiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

affil-num=1
en-affil=Department of Orthopaedic Surgery, Okayama Rosai Hospital
kn-affil=

affil-num=2
en-affil=Department of Orthopaedic Surgery, Okayama Rosai Hospital
kn-affil=

affil-num=3
en-affil=Department of Orthopaedic Surgery, Okayama Rosai Hospital
kn-affil=

affil-num=4
en-affil=Department of Orthopaedic Surgery, Okayama Rosai Hospital
kn-affil=

affil-num=5
en-affil=Department of Orthopaedic Surgery, Okayama Rosai Hospital
kn-affil=

affil-num=6
en-affil=Department of Orthopaedic Surgery, Okayama Rosai Hospital
kn-affil=

affil-num=7
en-affil=Department of Orthopaedic Surgery, Okayama Rosai Hospital
kn-affil=

affil-num=8
en-affil=Department of Orthopaedic Surgery, Okayama Rosai Hospital
kn-affil=

affil-num=9
en-affil=Department of Orthopaedic Surgery, Okayama Rosai Hospital
kn-affil=
en-keyword=lumbar disc herniation
kn-keyword=lumbar disc herniation
en-keyword=unilateral biportal endoscopic technique
kn-keyword=unilateral biportal endoscopic technique
en-keyword=navigation
kn-keyword=navigation
en-keyword=O-arm
kn-keyword=O-arm
en-keyword=minimally invasive spine surgery (MISS)
kn-keyword=minimally invasive spine surgery (MISS)
END

start-ver=1.4
cd-journal=joma
no-vol=78
cd-vols=
no-issue=6
article-no=
start-page=429
end-page=437
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=202412
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Partial versus Radical Nephrectomy for Small Renal Cancer: Comparative Propensity Score-Matching Analysis of Cardiovascular Event Risk
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Although partial nephrectomy (PN) is preferred over radical nephrectomy (RN) for preserving renal function in patients with cT1 renal cancer, its impact on cardiovascular events (CVe) remains controversial. This study aimed to compare PN and RN in regard to the occurrence of CVe, including cerebrovascular events and exacerbation of hypertension (HT). We retrospectively analyzed 418 consecutive patients who underwent PN or RN for cT1 renal cancer. Propensity score-matching analysis was used to adjust for imbalances between patients who underwent PN and RN, leaving 102 patients in each group. The 5-year probability of cumulative CVe incidence was 6% in the PN group and 12% in the RN group (p=0.03), with a median follow-up of 73.5 months. The statistical significance was retained after propensity score matching for patients without preoperative proteinuria (p=0.03). For all CVe including cerebrovascular events and exacerbation of HT analyzed, PN provided a lower probability of occurrence than RN in patients with small renal cancers.
en-copyright=
kn-copyright=

en-aut-name=KubotaRisa
en-aut-sei=Kubota
en-aut-mei=Risa
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=BekkuKensuke
en-aut-sei=Bekku
en-aut-mei=Kensuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=KatayamaSatoshi
en-aut-sei=Katayama
en-aut-mei=Satoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=IwataTakehiro
en-aut-sei=Iwata
en-aut-mei=Takehiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=NishimuraShingo
en-aut-sei=Nishimura
en-aut-mei=Shingo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=EdamuraKohei
en-aut-sei=Edamura
en-aut-mei=Kohei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=KobayashiTomoko
en-aut-sei=Kobayashi
en-aut-mei=Tomoko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=KobayashiYasuyuki
en-aut-sei=Kobayashi
en-aut-mei=Yasuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=ArakiMotoo
en-aut-sei=Araki
en-aut-mei=Motoo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

affil-num=1
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=9
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
en-keyword=chronic kidney disease
kn-keyword=chronic kidney disease
en-keyword=hypertension
kn-keyword=hypertension
en-keyword=nephrectomy
kn-keyword=nephrectomy
en-keyword=proteinuria
kn-keyword=proteinuria
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=20240925
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=ロボット操作のための視覚情報処理を用いた不定形ひもの状態認識手法
kn-title=Recognition Methodology of Deformable String State Using Visual Information Processing for Robotic Manipulation
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=WANGJUNXIANG
en-aut-sei=WANG
en-aut-mei=JUNXIANG
kn-aut-name=王俊祥
kn-aut-sei=王
kn-aut-mei=俊祥
aut-affil-num=1
ORCID=

affil-num=1
en-affil=Graduate School of Natural Science and Technology, Okayama university
kn-affil=岡山大学大学院自然科学研究科
END

start-ver=1.4
cd-journal=joma
no-vol=12
cd-vols=
no-issue=
article-no=
start-page=171824
end-page=171835
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=2024
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Passability-Based Local Planner Using Growing Neural Gas for an Autonomous Mobile Robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=3D spatial perception is one of the most important abilities for autonomous mobile robots. In environments with unknown objects, the ability to perform a local planner, which modifies the global path based on the perception results, is also required as an indispensable capability. In this paper, we propose a method based on Growing Neural Gas with Different Topologies (GNG-DT), which can be applied to unknown data, as a method for 3D spatial perception and local planner in unknown environments. First, we propose a method for extracting travelability perceptions from the features estimated by the topological structure of the GNG-DT. Next, we learn the topological structure of passability information based on the size of the robot from the extracted traversability percepts. Furthermore, we propose a local planner that uses the topological structure of traversability and passability learned from the point cloud currently perceived by the robot. In the experiments, we compared the cases where only traversability was used and where passability information was used in actual environments, and showed that the proposed method can plan a route that determines the area that the robot can actually pass through.
en-copyright=
kn-copyright=

en-aut-name=OzasaKoki
en-aut-sei=Ozasa
en-aut-mei=Koki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TodaYuichiro
en-aut-sei=Toda
en-aut-mei=Yuichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=NakamuraYoshimasa
en-aut-sei=Nakamura
en-aut-mei=Yoshimasa
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=MasudaToshiki
en-aut-sei=Masuda
en-aut-mei=Toshiki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=KonishiHirohide
en-aut-sei=Konishi
en-aut-mei=Hirohide
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=MatsunoTakayuki
en-aut-sei=Matsuno
en-aut-mei=Takayuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=Graduate School of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=

affil-num=2
en-affil=Graduate School of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=

affil-num=3
en-affil=Tokyo Metropolitan Industrial Technology Research Institute
kn-affil=

affil-num=4
en-affil=Tokyo Metropolitan Industrial Technology Research Institute
kn-affil=

affil-num=5
en-affil=NSK Ltd.
kn-affil=

affil-num=6
en-affil=Graduate School of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=
en-keyword=Autonomous mobile robot
kn-keyword=Autonomous mobile robot
en-keyword=growing neural gas
kn-keyword=growing neural gas
en-keyword=local planner
kn-keyword=local planner
END

start-ver=1.4
cd-journal=joma
no-vol=33
cd-vols=
no-issue=4
article-no=
start-page=294
end-page=301
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=202307
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Role of lymphadenectomy during primary surgery for kidney cancer
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Purpose of review <br>
Lymph node dissection (LND) during radical nephrectomy (RN) for renal cell carcinoma (RCC) is not considered as a standard. The emergence of robot-assisted surgery and effective immune checkpoint inhibitors (ICI) in recent years may change this and lymph node (LN) staging has become easier and has a clinical impact. In this review, we aimed to reconsider the role of LND today.<br>
<br>
Recent findings <br>
Although the extent of LND has still not been well established, removal of more LN seems to provide better oncologic outcomes for a select group of patients with high-risk factors such as clinical T3-4. Adjuvant therapy using pembrolizumab has been shown to improve disease free survival if complete resection of metastatic lesions as well as the primary site is obtained in combination. Robot assisted RN for localized RCC has been widespread and the studies regarding LND for RCC has been recently appeared.<br>
<br>
Summary <br>
The staging and surgical benefits and its extent of LND during RN for RCC remains unclear, but it is becoming increasingly important. Technologies that allow an easier LND and adjuvant ICI that improve survival in LN-positive patients are engaging the role of LND, a procedure that was needed, but almost never done, is now indicated sometimes. Now, the goal is to identify the clinical and molecular imaging tools that can help identify with sufficient accuracy who needs a LND and which LNs to remove in a targeted personalized approach.
en-copyright=
kn-copyright=

en-aut-name=BekkuKensuke
en-aut-sei=Bekku
en-aut-mei=Kensuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KawadaTatsushi
en-aut-sei=Kawada
en-aut-mei=Tatsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YanagisawaTakafumi
en-aut-sei=Yanagisawa
en-aut-mei=Takafumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=KarakiewiczPierre I.
en-aut-sei=Karakiewicz
en-aut-mei=Pierre I.
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=ShariatShahrokh F.
en-aut-sei=Shariat
en-aut-mei=Shahrokh F.
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Urology, Comprehensive Cancer Center, Medical University of Vienna
kn-affil=

affil-num=4
en-affil=Cancer Prognostic and Health Outcomes Unit, Division of Urology, University of Montreal Health Center
kn-affil=

affil-num=5
en-affil=Department of Urology, Comprehensive Cancer Center, Medical University of Vienna
kn-affil=
en-keyword=lymph node dissection
kn-keyword=lymph node dissection
en-keyword=lymph node metastasis
kn-keyword=lymph node metastasis
en-keyword=lymphadenectomy
kn-keyword=lymphadenectomy
en-keyword=lymphadenopathy
kn-keyword=lymphadenopathy
en-keyword=Renal cell carcinoma
kn-keyword=Renal cell carcinoma
END

start-ver=1.4
cd-journal=joma
no-vol=38
cd-vols=
no-issue=1
article-no=
start-page=2398895
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=2024
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Surrogate-Assisted Multi-Objective Optimization for Simultaneous Three-Dimensional Packing and Motion Planning Problems Using the Sequence-Triple Representation
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Packing problems are classical optimization problems with wide-ranging applications. With the advancement of robotic manipulation, there are growing demands for the automation of packing tasks. However, the simultaneous optimization of packing and the robot's motion planning is challenging because these two decisions are interconnected, and no previous study has addressed this optimization problem. This paper presents a framework to simultaneously determine the robot's motion planning and packing decision to minimize the robot's processing time and the container's volume. This framework comprises three key components: solution encoding, surrogate modeling, and evolutionary computation. The sequence-triple representation encodes complex packing solutions by a sequence of integers. A surrogate model is trained to predict the processing time for a given packing solution to reduce the computational burden. Training data is generated by solving the motion planning problem for a set of packing solutions using the rapidly exploring random tree algorithm. The Non-Dominated Sorting Genetic Algorithm II searches for the Pareto solutions. Experimental evaluations are conducted using a 6-DOF robot manipulator. The experimental results suggest that implementing the surrogate model can reduce the computational time by 91.1%. The proposed surrogate-assisted optimization method can obtain significantly better solutions than the joint angular velocity-based estimation method.
en-copyright=
kn-copyright=

en-aut-name=LiuZiang
en-aut-sei=Liu
en-aut-mei=Ziang
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KawabeTomoya
en-aut-sei=Kawabe
en-aut-mei=Tomoya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=NishiTatsushi
en-aut-sei=Nishi
en-aut-mei=Tatsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=ItoShun
en-aut-sei=Ito
en-aut-mei=Shun
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=FujiwaraTomofumi
en-aut-sei=Fujiwara
en-aut-mei=Tomofumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=Faculty of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=

affil-num=2
en-affil=Faculty of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=

affil-num=3
en-affil=Faculty of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=

affil-num=4
en-affil=Faculty of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=

affil-num=5
en-affil=Faculty of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=
en-keyword=Packing problem
kn-keyword=Packing problem
en-keyword=sequence-triple
kn-keyword=sequence-triple
en-keyword=motion planning
kn-keyword=motion planning
en-keyword=surrogate model
kn-keyword=surrogate model
en-keyword=multi-objective optimization
kn-keyword=multi-objective optimization
END

start-ver=1.4
cd-journal=joma
no-vol=12
cd-vols=
no-issue=
article-no=
start-page=111371
end-page=111385
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=20240812
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Adaptive Resonance Theory-Based Global Topological Map Building for an Autonomous Mobile Robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=3D space perception is one of the key technologies for autonomous mobile robots that perform tasks in unknown environments. Among these, building global topological maps for autonomous mobile robots is a challenging task. In this study, we propose a method for learning topological structures from unknown data distributions based on competitive learning, a type of unsupervised learning. For this purpose, adaptive resonance theory-based Topological Clustering (ATC), which can avoid catastrophic forgetting of previously measured point clouds, is applied as a learning method. Furthermore, by extending ATC with Different Topologies (ATC-DT) with multiple topological structures for extracting the traversable information of terrain environments, a path planning method is realized that can reach target points set in an unknown environment. Path planning experiments in unknown environments show that, compared to other methods, ATC-DT can build a global topology map with high accuracy and stability using only measured 3D point cloud and robot position information.
en-copyright=
kn-copyright=

en-aut-name=TodaYuichiro
en-aut-sei=Toda
en-aut-mei=Yuichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=MasuyamaNaoki
en-aut-sei=Masuyama
en-aut-mei=Naoki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=Faculty of Environmental, Life, Natural Science and Technology, Okayama University
kn-affil=

affil-num=2
en-affil=Graduate School of Informatics, Osaka Metropolitan University
kn-affil=
en-keyword=Adaptive resonance theory
kn-keyword=Adaptive resonance theory
en-keyword=autonomous mobile robot
kn-keyword=autonomous mobile robot
en-keyword=topological map
kn-keyword=topological map
END

start-ver=1.4
cd-journal=joma
no-vol=78
cd-vols=
no-issue=4
article-no=
start-page=307
end-page=312
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=202408
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Can Pelvic Lymph Node Dissection in Prostate Cancer Patients with a 5% Briganti Nomogram Cut-off Value Provide an Oncological Benefit? A Large Multi-Institutional Cohort Study in Japan
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The Briganti nomogram (cut-off value 5%) is commonly used to determine the indications for pelvic lymph node dissection (PLND) in patients with prostate cancer. We retrospectively analyzed the potential oncological benefit of PLND based on the 5% cut-off value on the Briganti nomogram. We obtained the data from the Medical Investigation Cancer Network (MICAN) Study, which included 3,463 patients who underwent a radical prostatectomy (RP) at nine institutions in Japan between 2010 and 2020. We included patients with Briganti scores ≥ 5% and a follow-up period ≥6 months and excluded patients categorized in the very high-risk group (based on NCCN categories); a final total of the cases of 1,068 patients were analyzed. The biochemical recurrence (BCR)-free survival was significantly worse in the patients who underwent PLND compared to those who did not (p=0.019). A multivariate analysis showed that high prostate-specific antigen (PSA) levels (p<0.001) and an advanced T-stage (p=0.018) were significant prognostic factors for BCR, whereas PLND had no effect on BCR (p=0.059). Thus, PLND in patients with prostate cancer whose Briganti score was 5% did not provide any oncological benefit. Further research is necessary to determine the indication criteria for conducting PLND.
en-copyright=
kn-copyright=

en-aut-name=SugiharaNaoya
en-aut-sei=Sugihara
en-aut-mei=Naoya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=HashineKatsuyoshi
en-aut-sei=Hashine
en-aut-mei=Katsuyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YamashitaNatsumi
en-aut-sei=Yamashita
en-aut-mei=Natsumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=SakamotoMiki
en-aut-sei=Sakamoto
en-aut-mei=Miki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=TerashitaMasato
en-aut-sei=Terashita
en-aut-mei=Masato
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=FunakiKeisuke
en-aut-sei=Funaki
en-aut-mei=Keisuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=SaikiKaori
en-aut-sei=Saiki
en-aut-mei=Kaori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=SawadaTakatora
en-aut-sei=Sawada
en-aut-mei=Takatora
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=KakudaToshio
en-aut-sei=Kakuda
en-aut-mei=Toshio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=NishimuraKenichi
en-aut-sei=Nishimura
en-aut-mei=Kenichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

en-aut-name=FukumotoTetsuya
en-aut-sei=Fukumoto
en-aut-mei=Tetsuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=11
ORCID=

en-aut-name=MiuraNoriyosi
en-aut-sei=Miura
en-aut-mei=Noriyosi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=12
ORCID=

en-aut-name=MiyauchiYuki
en-aut-sei=Miyauchi
en-aut-mei=Yuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=13
ORCID=

en-aut-name=KikugawaTadahiko
en-aut-sei=Kikugawa
en-aut-mei=Tadahiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=14
ORCID=

en-aut-name=SaikaTakashi
en-aut-sei=Saika
en-aut-mei=Takashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=15
ORCID=

affil-num=1
en-affil=Department of Urology, Ehime University
kn-affil=

affil-num=2
en-affil=Department of Urology, National Hospital Organization Shikoku Cancer Center
kn-affil=

affil-num=3
en-affil=Division of Epidemiology, National Hospital Organization Shikoku Cancer Center
kn-affil=

affil-num=4
en-affil=Department of Urology, Ehime University
kn-affil=

affil-num=5
en-affil=Department of Urology, Ehime University
kn-affil=

affil-num=6
en-affil=Department of Urology, Ehime University
kn-affil=

affil-num=7
en-affil=Department of Urology, Ehime University
kn-affil=

affil-num=8
en-affil=Department of Urology, Ehime University
kn-affil=

affil-num=9
en-affil=Department of Urology, Ehime University
kn-affil=

affil-num=10
en-affil=Department of Urology, Ehime University
kn-affil=

affil-num=11
en-affil=Department of Urology, Ehime University
kn-affil=

affil-num=12
en-affil=Department of Urology, Ehime University
kn-affil=

affil-num=13
en-affil=Department of Urology, Ehime University
kn-affil=

affil-num=14
en-affil=Department of Urology, Ehime University
kn-affil=

affil-num=15
en-affil=Department of Urology, Ehime University
kn-affil=
en-keyword=Briganti nomogram
kn-keyword=Briganti nomogram
en-keyword=pelvic lymph node dissection
kn-keyword=pelvic lymph node dissection
en-keyword=prostate cancer
kn-keyword=prostate cancer
en-keyword=radical prostatectomy
kn-keyword=radical prostatectomy
END

start-ver=1.4
cd-journal=joma
no-vol=78
cd-vols=
no-issue=3
article-no=
start-page=215
end-page=225
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=202406
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Assessment of a New Elbow Joint Positioning Method Using Area Detector Computed Tomography
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=We propose a sitting position that achieves both high image quality and a reduced radiation dose in elbow joint imaging by area detector computed tomography (ADCT), and we compared it with the ‘superman’ and supine positions. The volumetric CT dose index (CTDIvol) for the sitting, superman, and supine positions were 2.7, 8.0, and 20.0 mGy and the dose length products (DLPs) were 43.4, 204.7, and 584.8 mGy • cm, respectively. In the task-based transfer function (TTF), the highest value was obtained for the sitting position in both bone and soft tissue images. The noise power spectrum (NPS) of bone images showed that the superman position had the lowest value up to approx. 1.1 cycles/mm or lower, whereas the sitting position had the lowest value when the NPS was greater than approx. 1.1 cycles/mm. The overall image quality in an observer study resulted in the following median Likert scores for Readers 1 and 2: 5.0 and 5.0 for the sitting position, 4.0 and 3.5 for the superman position, and 4.0 and 2.0 for the supine position. These results indicate that our proposed sitting position with ADCT of the elbow joint can provide superior image quality and allow lower radiation doses compared to the superman and supine positions.
en-copyright=
kn-copyright=

en-aut-name=AkagawaTakuya
en-aut-sei=Akagawa
en-aut-mei=Takuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=FukuiRyohei
en-aut-sei=Fukui
en-aut-mei=Ryohei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=KidaKatsuhiro
en-aut-sei=Kida
en-aut-mei=Katsuhiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=MatsuuraRyutaro
en-aut-sei=Matsuura
en-aut-mei=Ryutaro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=ShimadaMakoto
en-aut-sei=Shimada
en-aut-mei=Makoto
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=KinoshitaMitsuhiro
en-aut-sei=Kinoshita
en-aut-mei=Mitsuhiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=AkagawaYoko
en-aut-sei=Akagawa
en-aut-mei=Yoko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=GotoSachiko
en-aut-sei=Goto
en-aut-mei=Sachiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

affil-num=1
en-affil=Department of Radiological Technology, Tokushima Red Cross Hospital
kn-affil=

affil-num=2
en-affil=Department of Radiological Technology, Faculty of Health Sciences, Okayama University
kn-affil=

affil-num=3
en-affil=Department of Radiological Technology, Faculty of Health Sciences, Okayama University
kn-affil=

affil-num=4
en-affil=Department of Radiological Technology, Faculty of Health Sciences, Okayama University
kn-affil=

affil-num=5
en-affil=Department of Radiology, Osaka International Cancer Institute
kn-affil=

affil-num=6
en-affil=Department of Radiology, Tokushima Red Cross Hospital
kn-affil=

affil-num=7
en-affil=Department of Radiology, Tokushima Red Cross Hospital
kn-affil=

affil-num=8
en-affil=Department of Radiological Technology, Faculty of Health Sciences, Okayama University
kn-affil=
en-keyword=area detector computed tomography
kn-keyword=area detector computed tomography
en-keyword=elbow joint
kn-keyword=elbow joint
en-keyword=sitting position
kn-keyword=sitting position
en-keyword=dose reduction
kn-keyword=dose reduction
en-keyword=image quality assessment
kn-keyword=image quality assessment
END

start-ver=1.4
cd-journal=joma
no-vol=10
cd-vols=
no-issue=1
article-no=
start-page=128
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=20240522
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Subtotal esophagectomy and concurrent reconstruction with free jejunal flap for primary esophageal cancer after pancreatoduodenectomy
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Background Pancreatoduodenectomy and subtotal esophagectomy are widely considered the most invasive and difficult surgical procedures in gastrointestinal surgery. Subtotal esophagectomy after pancreatoduodenectomy is expected to be extremely difficult due to complicated anatomical changes, and selecting an appropriate intestinal reconstruction method will also be a difficult task. Therefore, perhaps because the method is considered impossible, there have been few reports of subtotal esophagectomy after pancreatoduodenectomy.<br>
Case presentation A 73-year-old man with a history of pancreatoduodenectomy was diagnosed with superficial thoracic esophageal squamous cell carcinoma. Definitive chemoradiation therapy was recommended at another hospital; however, he visited our department to undergo surgery. We performed the robot-assisted thoracoscopic subtotal esophagectomy. There were some difficulties with the reconstruction: the gastric tube could not be used, the reconstruction was long, and the organs reconstructed in the previous surgery had to be preserved. However, the concurrent reconstruction was achieved with the help of a free jejunal flap and vascular reconstruction. All reconstructions from the previous surgery, including the remnant stomach, were preserved via regional abdominal lymph node dissection. After reconstruction, intravenous indocyanine green showed that circulation in the reconstructed intestines was preserved. On postoperative day 1, no recurrent nerve paralysis was observed during laryngoscopy. The patient could start oral intake smoothly 2 weeks after surgery and did not exhibit any postoperative complications related to the reconstruction. The patient was transferred to another hospital on postoperative day 21.<br>
Conclusions Owing to the free jejunal flap interposition method, we safely performed one stage subtotal esophagectomy and concurrent reconstruction, preservation of the remnant stomach, and pancreaticobiliary reconstruction in patients with a history of pancreatoduodenectomy. We believe that this method is acceptable and useful for patients undergoing complicated reconstruction.
en-copyright=
kn-copyright=

en-aut-name=MoriwakeKazuya
en-aut-sei=Moriwake
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NomaKazuhiro
en-aut-sei=Noma
en-aut-mei=Kazuhiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=KawasakiKento
en-aut-sei=Kawasaki
en-aut-mei=Kento
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=MatsumotoTasuku
en-aut-sei=Matsumoto
en-aut-mei=Tasuku
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=HashimotoMasashi
en-aut-sei=Hashimoto
en-aut-mei=Masashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=KatoTakuya
en-aut-sei=Kato
en-aut-mei=Takuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=MaedaNaoaki
en-aut-sei=Maeda
en-aut-mei=Naoaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=TanabeShunsuke
en-aut-sei=Tanabe
en-aut-mei=Shunsuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=ShirakawaYasuhiro
en-aut-sei=Shirakawa
en-aut-mei=Yasuhiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate  School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate  School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate  School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate  School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate  School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate  School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate  School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate  School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=9
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate  School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=10
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate  School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
en-keyword=Reconstruction with the free jejunum flap
kn-keyword=Reconstruction with the free jejunum flap
en-keyword=Subtotal esophagectomy
kn-keyword=Subtotal esophagectomy
en-keyword=After pancreatoduodenectomy
kn-keyword=After pancreatoduodenectomy
END

start-ver=1.4
cd-journal=joma
no-vol=54
cd-vols=
no-issue=11
article-no=
start-page=1319
end-page=1328
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2024
dt-pub=20240418
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Effective division of the intersegmental plane using a robotic stapler in robotic pulmonary segmentectomy
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Purposes Robot-assisted thoracoscopic (RATS) segmentectomy is becoming increasingly common because of the expanded indications for segmentectomy and the widespread adoption of robotic surgery. The precise division of the intersegmental plane is necessary to ensure oncologic margins from the tumor and to preserve the lung function. In this study, we present a strategy for accurately dividing the intersegmental plane using a robotic stapler and review the surgical outcomes.<br>
Methods RATS portal segmentectomy was performed using the Da Vinci Xi system and the intersegmental plane was dissected using a robotic stapler. We evaluated the perioperative outcomes in 92 patients who underwent RATS portal segmentectomy between May 2020 and January 2023. These results were compared with those of 82 patients who underwent complete video-assisted thoracoscopic surgery (CVATS) during the same period.<br>
Results The operative and console times were 162 and 97 min, respectively. No intraoperative complications occurred, and postoperative complications were observed in four cases (4.3%). The operative time, blood loss, postoperative complications, and maximum incision size were significantly lower in the RATS group than in the CVATS group. However, RATS requires a significantly higher number of staplers than CVATS.<br>
Conclusions The division of the intersegmental plane using a robotic stapler in RATS portal segmentectomy was, therefore, found to be safe and effective.
en-copyright=
kn-copyright=

en-aut-name=OkazakiMikio
en-aut-sei=Okazaki
en-aut-mei=Mikio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=SuzawaKen
en-aut-sei=Suzawa
en-aut-mei=Ken
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=ShienKazuhiko
en-aut-sei=Shien
en-aut-mei=Kazuhiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=HashimotoKohei
en-aut-sei=Hashimoto
en-aut-mei=Kohei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=TanakaShin
en-aut-sei=Tanaka
en-aut-mei=Shin
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=MiyoshiKentaroh
en-aut-sei=Miyoshi
en-aut-mei=Kentaroh
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=YamamotoHiromasa
en-aut-sei=Yamamoto
en-aut-mei=Hiromasa
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=SugimotoSeiichiro
en-aut-sei=Sugimoto
en-aut-mei=Seiichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=ToyookaShinichi
en-aut-sei=Toyooka
en-aut-mei=Shinichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

affil-num=1
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=2
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=3
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=4
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=5
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=6
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=7
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=8
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=9
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=
en-keyword=Pulmonary segmentectomy
kn-keyword=Pulmonary segmentectomy
en-keyword=Robot-assisted thoracic surgery
kn-keyword=Robot-assisted thoracic surgery
en-keyword=Robotic segmentectomy
kn-keyword=Robotic segmentectomy
en-keyword=Robotic stapler
kn-keyword=Robotic stapler
END

start-ver=1.4
cd-journal=joma
no-vol=408
cd-vols=
no-issue=1
article-no=
start-page=284
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=20230720
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Innovative suture technique for robotic hepaticojejunostomy: double-layer interrupted sutures
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Purpose Biliary reconstruction remains a technically demanding and complicated procedure in minimally invasive hepatopancreatobiliary surgeries. No optimal hepaticojejunostomy (HJ) technique has been demonstrated to be superior for preventing biliary complications. This study aimed to investigate the feasibility of our unique technique of posterior double-layer interrupted sutures in robotic HJ.<br>
Methods We performed a retrospective analysis of a prospectively collected database. Forty-two patients who underwent robotic pancreatoduodenectomy using this technique between September 2020 and November 2022 at our center were reviewed. In the posterior double-layer interrupted technique, sutures were placed to bite the bile duct, posterior seromuscular layer of the jejunum, and full thickness of the jejunum.<br>
Results The median operative time was 410 (interquartile range [IQR], 388–478) min, and the median HJ time was 30 (IQR, 28–39) min. The median bile duct diameter was 7 (IQR, 6–10) mm. Of the 42 patients, one patient (2.4%) had grade B bile leakage. During the median follow-up of 12.6 months, one patient (2.4%) with bile leakage developed anastomotic stenosis. Perioperative mortality was not observed. A surgical video showing the posterior double-layer interrupted sutures in the robotic HJ is included.<br>
Conclusions Posterior double-layer interrupted sutures in robotic HJ provided a simple and feasible method for biliary reconstruction with a low risk of biliary complications.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=UmedaYuzo
en-aut-sei=Umeda
en-aut-mei=Yuzo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YoshidaRyuichi
en-aut-sei=Yoshida
en-aut-mei=Ryuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=YagiTakahito
en-aut-sei=Yagi
en-aut-mei=Takahito
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=Hepaticojejunostomy
kn-keyword=Hepaticojejunostomy
en-keyword=Robotic surgery
kn-keyword=Robotic surgery
en-keyword=Pancreatoduodenectomy
kn-keyword=Pancreatoduodenectomy
en-keyword=Biliary complications
kn-keyword=Biliary complications
END

start-ver=1.4
cd-journal=joma
no-vol=17
cd-vols=
no-issue=4
article-no=
start-page=1547
end-page=1553
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=20230311
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Impact of educational video on performance in robotic simulation training (TAKUMI-1): a randomized controlled trial
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The use of virtual reality for simulations plays an important role in the initial training for robotic surgery. This randomized controlled trial aimed to investigate the impact of educational video on the performance of robotic simulation. Participants were randomized into the intervention (video) group that received an educational video and robotic simulation training or the control group that received only simulation training. The da Vinci® Skills Simulator was used for the basic course, including nine drills. The primary endpoint was the overall score of nine drills in cycles 1–10. Secondary endpoints included overall, efficiency, and penalty scores in each cycle, as well as the learning curves evaluated by the cumulative sum (CUSUM) analysis. Between September 2021 and May 2022, 20 participants were assigned to the video (n = 10) and control (n = 10) groups. The video group had significantly higher overall scores than the control group (90.8 vs. 72.4, P < 0.001). Significantly higher overall scores and lower penalty scores were confirmed, mainly in cycles 1–5. CUSUM analysis revealed a shorter learning curve in the video group. The present study demonstrated that educational video training can be effective in improving the performance of robotic simulation training and shortening the learning curve.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=HataNanako
en-aut-sei=Hata
en-aut-mei=Nanako
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=KimuraJiro
en-aut-sei=Kimura
en-aut-mei=Jiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=KikuchiSatoru
en-aut-sei=Kikuchi
en-aut-mei=Satoru
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=NomaKazuhiro
en-aut-sei=Noma
en-aut-mei=Kazuhiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=YoshidaRyuichi
en-aut-sei=Yoshida
en-aut-mei=Ryuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=UmedaYuzo
en-aut-sei=Umeda
en-aut-mei=Yuzo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=YagiTakahito
en-aut-sei=Yagi
en-aut-mei=Takahito
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=11
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=9
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=10
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=11
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=Virtual reality
kn-keyword=Virtual reality
en-keyword=Robotic simulations
kn-keyword=Robotic simulations
en-keyword=Educational video
kn-keyword=Educational video
en-keyword=Robotic surgery
kn-keyword=Robotic surgery
en-keyword=Learning curve
kn-keyword=Learning curve
en-keyword=Cumulative sum analysis
kn-keyword=Cumulative sum analysis
END

start-ver=1.4
cd-journal=joma
no-vol=46
cd-vols=
no-issue=10
article-no=
start-page=4399
end-page=4402
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=202310
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Robotic surgery for congenital biliary dilatation using the scope switch technique (with video)
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Technique: Minimally invasive congenital biliary dilatation (CBD) surgery is technically demanding. However, few studies have reported surgical approaches of robotic surgery for CBD. This report presents robotic CBD surgery using a scope-switch technique. Our robotic surgery technique for CBD consisted of four steps: step 1, Kocher's maneuver; step 2, dissection of the hepatoduodenal ligament using the scope switch technique; step 3, preparation for the Roux-en-Y loop; and step 4, hepaticojejunostomy. <br>
Results: The scope switch technique can provide different surgical approaches for dissecting the bile duct, including anterior approach by the standard position and right approach by the scope switch position. When approaching the ventral and left side of the bile duct, anterior approach with the standard position is suitable. In contrast, the lateral view by the scope switch position is preferable for approaching the bile duct laterally and dorsally. Using this technique, the dilated bile duct can be dissected circumferentially from four directions: anterior, medial, lateral, and posterior. Thereafter, complete resection of the choledochal cyst can be achieved. <br>
Conclusions: The scope switch technique in robotic surgery for CBD can be useful for dissecting around the bile duct with different surgical views, leading to the complete resection of the choledochal cyst.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=UmedaYuzo
en-aut-sei=Umeda
en-aut-mei=Yuzo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YoshidaRyuichi
en-aut-sei=Yoshida
en-aut-mei=Ryuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=YagiTakahito
en-aut-sei=Yagi
en-aut-mei=Takahito
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=Choledochal cyst
kn-keyword=Choledochal cyst
en-keyword=Congenital biliary dilatation
kn-keyword=Congenital biliary dilatation
en-keyword=Robot
kn-keyword=Robot
en-keyword=Surgical approach
kn-keyword=Surgical approach
END

start-ver=1.4
cd-journal=joma
no-vol=42
cd-vols=
no-issue=9
article-no=
start-page=4471
end-page=4476
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2022
dt-pub=20220823
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Surgical Strategies to Approaching the Splenic Artery in Robotic Distal Pancreatectomy
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Background/Aim: Understanding different surgical approaches and anatomical landmarks adjacent to the splenic artery (SpA) is important for safe robotic distal pancreatectomy (RDP). Herein, we propose our standardized RDP techniques, focusing on these issues. Patients and Methods: Between April 2021 and April 2022, 19 patients who underwent RDP at our Institution were reviewed. Anatomical patterns of the SpA were classified into three types: Type 1, no pancreatic parenchyma on the root of the SpA; type 2, any pancreatic parenchyma on the root of the SpA; and type 3, dorsal pancreatic artery around the bifurcation of the common hepatic artery and SpA. Next, the surgical strategy for approaching the SPA was determined according to the location of the pancreatic transection line: On the superior mesenteric vein (SMV) or on the left side of the root of the SpA. Results: There were seven cases of type 1, nine cases of type 2, and three cases of type 3. When transecting the pancreas on the SMV, the SpA-first ligation technique was used for type 1 SpA anatomy, and the pancreas-first division technique was applied for types 2 and 3. In patients in whom the pancreas was transected at the left side of the root of the SpA, the SpA-first ligation technique was used. Conclusion: Our standardized surgical strategy based on anatomical landmarks and focusing on the approach to the SpA in RDP is demonstrated. Our strategy should help trainees approach the SpA and perform RDP safely.
en-copyright=
kn-copyright=

en-aut-name=TAKAGIKOSEI
en-aut-sei=TAKAGI
en-aut-mei=KOSEI
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KUMANOKENJIRO
en-aut-sei=KUMANO
en-aut-mei=KENJIRO
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=UMEDAYUZO
en-aut-sei=UMEDA
en-aut-mei=YUZO
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=YOSHIDARYUICHI
en-aut-sei=YOSHIDA
en-aut-mei=RYUICHI
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=FUJITOMOKAZU
en-aut-sei=FUJI
en-aut-mei=TOMOKAZU
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=YASUIKAZUYA
en-aut-sei=YASUI
en-aut-mei=KAZUYA
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=YAGITAKAHITO
en-aut-sei=YAGI
en-aut-mei=TAKAHITO
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=FUJIWARATOSHIYOSHI
en-aut-sei=FUJIWARA
en-aut-mei=TOSHIYOSHI
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=Robot
kn-keyword=Robot
en-keyword=distal pancreatectomy
kn-keyword=distal pancreatectomy
en-keyword=surgical approach
kn-keyword=surgical approach
en-keyword=splenic artery
kn-keyword=splenic artery
en-keyword=pancreatic cancer
kn-keyword=pancreatic cancer
END

start-ver=1.4
cd-journal=joma
no-vol=34
cd-vols=
no-issue=2
article-no=
start-page=373
end-page=381
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2022
dt-pub=20220420
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of a Spiral Shaped Soft Holding Actuator Using Extension Type Flexible Pneumatic Actuators
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Recently, several pneumatic soft actuators have been applied to wearable and welfare devices to provide nursing care and physical support for the elderly and disabled. In this study, as a wearable soft actuator for holding body, a spiral shaped soft holding actuator that can wrap a user according to their body shape was proposed and tested. The construction and operating principle of the tested soft actuator with circumferential restraint mechanism using three extension type flexible pneumatic actuators (EFPAs) has been discussed. As a result, it was found that the tested actuator could hold elbows and knees when the joint is in motion. An analytical model of the spiral actuator was also proposed to achieve an optimal design. It can be confirmed that the proposed analytical model can predict the shape of the actuator when various EFPAs are pressurized.
en-copyright=
kn-copyright=

en-aut-name=ShimookaSo
en-aut-sei=Shimooka
en-aut-mei=So
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=AkagiTetsuya
en-aut-sei=Akagi
en-aut-mei=Tetsuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=DohtaShujiro
en-aut-sei=Dohta
en-aut-mei=Shujiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=ShinoharaTakashi
en-aut-sei=Shinohara
en-aut-mei=Takashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=KobayashiTakumi
en-aut-sei=Kobayashi
en-aut-mei=Takumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=2
en-affil=Department of Intelligent Mechanical Engineering, Okayama University of Science
kn-affil=

affil-num=3
en-affil=Department of Intelligent Mechanical Engineering, Okayama University of Science
kn-affil=

affil-num=4
en-affil=Design and Manufacturing Center, Organization for Research Development and Outreach, Okayama University of Science
kn-affil=

affil-num=5
en-affil=Department of Intelligent Mechanical Engineering, Okayama University of Science
kn-affil=
en-keyword=spiral shaped soft holding actuator
kn-keyword=spiral shaped soft holding actuator
en-keyword=extension type flexible pneumatic actuator
kn-keyword=extension type flexible pneumatic actuator
en-keyword=circumference restraint mechanism
kn-keyword=circumference restraint mechanism
en-keyword=analytical model
kn-keyword=analytical model
END

start-ver=1.4
cd-journal=joma
no-vol=360
cd-vols=
no-issue=
article-no=
start-page=114524
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=20230711
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Fabrication and characterization of a submillimeter-scale ultrasonic motor
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Submillimeter-scale electrically driven micromotors have the potential to revolutionize micro-robotic systems, but difficulties in their fabrication processes and unknown physical phenomena prevent their development. In this paper, we propose a submillimeter-scale rotary piezoelectric ultrasonic motor with the smallest stator (0.41 mm × 0.41 mm × 0.25 mm) reported to date. The micromachining technologies enable the creation of tiny components. A micromanipulator that can control a small amount of adhesive of sub-milligram order engenders success in manufacture of the stator. Several experiments clarify the submillimeter-scale physical behaviors, such as the admittance and the quality factor. With appropriate piezoelectric materials, submillimeter-scale ultrasonic motors are built and characterized using a rotor with 0.15 mm diameter. The motor with typical hard PZTs demonstrated maximum torque of 5.4 nNm and a maximum angular velocity of 714 rad/s at an applied voltage with amplitude of 44.8 Vp-p. Furthermore, another motor with single-crystal PMN-PT piezoelectric elements presented the possibility of low-voltage actuation. These submillimeter-scale ultrasonic motors were compared with existing comparable-size micromotors.
en-copyright=
kn-copyright=

en-aut-name=KikuchiKohei
en-aut-sei=Kikuchi
en-aut-mei=Kohei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=HussainMudassir
en-aut-sei=Hussain
en-aut-mei=Mudassir
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=MashimoTomoaki
en-aut-sei=Mashimo
en-aut-mei=Tomoaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=Okayama University
kn-affil=

affil-num=2
en-affil=Okayama University
kn-affil=

affil-num=3
en-affil=Okayama University
kn-affil=
en-keyword=Actuators
kn-keyword=Actuators
en-keyword=Ferroelectricity
kn-keyword=Ferroelectricity
en-keyword=Microfabrication
kn-keyword=Microfabrication
en-keyword=Micromotors
kn-keyword=Micromotors
en-keyword=Piezoelectricity
kn-keyword=Piezoelectricity
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2005
dt-pub=20050930
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=初心操作者指向の捜索レスキューロボットのインターフェース
kn-title=Novice-oriented human interface for a search and rescue robot system
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=YangZhixiao
en-aut-sei=Yang
en-aut-mei=Zhixiao
kn-aut-name=楊志曉
kn-aut-sei=楊
kn-aut-mei=志曉
aut-affil-num=1
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=20230324
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=密集配管環境を移動するヘビ型ロボットのモーション設計
kn-title=Motion planning of a snake robot in crowded pipe environments
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=WANGYongdong
en-aut-sei=WANG
en-aut-mei=Yongdong
kn-aut-name=王永東
kn-aut-sei=王
kn-aut-mei=永東
aut-affil-num=1
ORCID=

affil-num=1
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=岡山大学大学院ヘルスシステム統合科学研究科
END

start-ver=1.4
cd-journal=joma
no-vol=10
cd-vols=
no-issue=
article-no=
start-page=1138019
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=20230329
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Parameter search of a CPG network using a genetic algorithm for a snake robot with tactile sensors moving on a soft floor
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=When a snake robot explores a collapsed house as a rescue robot, it needs to move through various obstacles, some of which may be made of soft materials, such as mattresses. In this study, we call mattress-like environment as a soft floor, which deforms when some force is added to it. We focused on the central pattern generator (CPG) network as a control for the snake robot to propel itself on the soft floor and constructed a CPG network that feeds back contact information between the robot and the floor. A genetic algorithm was used to determine the parameters of the CPG network suitable for the soft floor. To verify the obtained parameters, comparative simulations were conducted using the parameters obtained for the soft and hard floor, and the parameters were confirmed to be appropriate for each environment. By observing the difference in snake robot's propulsion depending on the presence or absence of the tactile sensor feedback signal, we confirmed the effectiveness of the tactile sensor considered in the parameter search.
en-copyright=
kn-copyright=

en-aut-name=TamuraHajime
en-aut-sei=Tamura
en-aut-mei=Hajime
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KamegawaTetsushi
en-aut-sei=Kamegawa
en-aut-mei=Tetsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=

affil-num=2
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
en-keyword=snake robot
kn-keyword=snake robot
en-keyword=tactile sensor
kn-keyword=tactile sensor
en-keyword=CPG network
kn-keyword=CPG network
en-keyword=soft floor
kn-keyword=soft floor
en-keyword=genetic algorithm
kn-keyword=genetic algorithm
END

start-ver=1.4
cd-journal=joma
no-vol=77
cd-vols=
no-issue=2
article-no=
start-page=121
end-page=129
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=202304
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Complications of Percutaneous Cryoablation for Renal Tumors and Methods for Avoiding Them
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Percutaneous cryoablation of renal tumors is widely used because of its high efficacy and safety. This high safety can be attributed, at least in part, to the visibility of the ablated area as an “ice ball”. This therapy has fewer complications (incidence, 0-7.2%) and is less invasive than surgery. Minor bleeding is inevitable in most kidney-related procedures, and indeed the most common complication of this therapy is bleeding (hematoma and hematuria). However, patients require treatment such as transfusion or transarterial embolization in only 0-4% of bleeding cases. Various other complications such as ureteral or collecting system injury, bowel injury, nerve injury, skin injury, infection, pneumothorax, and tract seeding also occur, but they are usually minor and asymptomatic. However, operators should know and avoid the various complications associated with this therapy. This study aimed to summarize the complications of percutaneous cryoablation for renal tumors and provide some techniques for achieving safe procedures.
en-copyright=
kn-copyright=

en-aut-name=IguchiToshihiro
en-aut-sei=Iguchi
en-aut-mei=Toshihiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=MatsuiYusuke
en-aut-sei=Matsui
en-aut-mei=Yusuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=TomitaKoji
en-aut-sei=Tomita
en-aut-mei=Koji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=UkaMayu
en-aut-sei=Uka
en-aut-mei=Mayu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=UmakoshiNoriyuki
en-aut-sei=Umakoshi
en-aut-mei=Noriyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=KawabataTakahiro
en-aut-sei=Kawabata
en-aut-mei=Takahiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=MunetomoKazuaki
en-aut-sei=Munetomo
en-aut-mei=Kazuaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=NagataShoma
en-aut-sei=Nagata
en-aut-mei=Shoma
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=ArakiMotoo
en-aut-sei=Araki
en-aut-mei=Motoo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=HirakiTakao
en-aut-sei=Hiraki
en-aut-mei=Takao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

affil-num=1
en-affil=Department of Radiology, Okayama University Hospital
kn-affil=

affil-num=2
en-affil=Department of Radiology, Okayama University Hospital
kn-affil=

affil-num=3
en-affil=Department of Radiology, Okayama University Hospital
kn-affil=

affil-num=4
en-affil=Department of Radiology, Okayama University Hospital
kn-affil=

affil-num=5
en-affil=Department of Radiology, Okayama University Hospital
kn-affil=

affil-num=6
en-affil=Department of Radiology, Okayama University Hospital
kn-affil=

affil-num=7
en-affil=Department of Radiology, Okayama University Hospital
kn-affil=

affil-num=8
en-affil=Department of Radiology, Okayama University Hospital
kn-affil=

affil-num=9
en-affil=Department of Radiology, Faculty of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=10
en-affil=Department of Radiology, Okayama University Hospital
kn-affil=
en-keyword=cryosurgery
kn-keyword=cryosurgery
en-keyword=kidney neoplasms
kn-keyword=kidney neoplasms
en-keyword=carcinoma
kn-keyword=carcinoma
en-keyword=renal cell
kn-keyword=renal cell
en-keyword=complication
kn-keyword=complication
END

start-ver=1.4
cd-journal=joma
no-vol=12
cd-vols=
no-issue=5
article-no=
start-page=1971
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=20230302
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Role of the Pfannenstiel Incision in Robotic Hepato-Pancreato-Biliary Surgery
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Studies remain limited on the role of the Pfannenstiel incision in minimally invasive hepato-pancreato-biliary (HPB) surgery, especially robotic surgery. The role of various extraction sites in robotic HPB surgery should be understood. Herein, we describe the surgical techniques, outcomes, advantages, and disadvantages of the Pfannenstiel incision in robotic pancreatic surgery. Seventy patients underwent robotic pancreatectomy at our institution between September 2020 and October 2022. The Pfannenstiel incision was used for specimen retrieval in 55 patients. Advantages of the Pfannenstiel incision include less pain, cosmetic benefits, and a lower incidence of complications. Moreover, the specimen could be removed using the robotic system docked. However, all complex reconstructions should be performed intra-abdominally during robotic pancreatoduodenectomies. The incidence of mortality and postoperative pancreatic fistula (grade B) was 0% and 9.1%, respectively. During the median follow-up (11.2 months) after surgery, complications at the Pfannenstiel incision site included surgical site infection (n = 1, 1.8%) and incisional hernia (n = 1, 1.8%). The Pfannenstiel incision can be a useful option for specimen retrieval in minimally invasive HPB surgery, according to the surgeon's preferences and the patient's condition.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=UmedaYuzo
en-aut-sei=Umeda
en-aut-mei=Yuzo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YoshidaRyuichi
en-aut-sei=Yoshida
en-aut-mei=Ryuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=KimuraJiro
en-aut-sei=Kimura
en-aut-mei=Jiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=HataNanako
en-aut-sei=Hata
en-aut-mei=Nanako
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=YagiTakahito
en-aut-sei=Yagi
en-aut-mei=Takahito
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=9
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=robotic surgery
kn-keyword=robotic surgery
en-keyword=minimally invasive surgery
kn-keyword=minimally invasive surgery
en-keyword=hepato-pancreato-biliary surgery
kn-keyword=hepato-pancreato-biliary surgery
en-keyword=Pfannenstiel incision
kn-keyword=Pfannenstiel incision
END

start-ver=1.4
cd-journal=joma
no-vol=170
cd-vols=
no-issue=
article-no=
start-page=132
end-page=138
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2022
dt-pub=202212
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Simplified PADUA REnal (SPARE) Nephrometry System can Describe the Surgical Difficulty of Renal Masses With High Accuracy Even Without 3D Renal Models
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Objective: To evaluate whether a 2-dimensional(2D) model describes the surgical difficulty of a renal mass accurately comparable to that obtained using a 3D model with the Simplified PADUA REnal nephrometry system (SPARE).<br>
Methods: A total of 100 patients underwent RAPN in our hospital between October 2018 and May 2021. We excluded patients with CT images inappropriate for evaluation or for construction of 3D models, patients with multiple tumors, and those who underwent preoperative transcatheter arterial embolization. We conducted a retrospective analysis of the remaining patients using SPARE predictions from CT images (2D-SPARE) and SPARE predictions from 3D models (3D-SPARE). We evaluated the difference between the 2 nephrometry scores and compared them by their ability to predict the achievement of the desired surgical outcome: absence of positive margins, absence of ischemia, and absence of significant complications.<br>
Results: A total of 87 patients were included in this study. Total score, and risk categorization using 3D-SPARE was significantly different from those using 2D-SPARE (P <.05), but in their areas under the curve (AUC), the scores and categorizations were not significantly different (score, 0.763 vs 0.742; P = .501; categorization, 0.711 vs 0.701; P = .755).<br>
Conclusion: The SPARE system can describe the surgical difficulty of renal masses with high accuracy even without the use of 3D renal models.
en-copyright=
kn-copyright=

en-aut-name=WatanabeTomofumi
en-aut-sei=Watanabe
en-aut-mei=Tomofumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=SadahiraTakuya
en-aut-sei=Sadahira
en-aut-mei=Takuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=SekitoTakanori
en-aut-sei=Sekito
en-aut-mei=Takanori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=MaruyamaYuki
en-aut-sei=Maruyama
en-aut-mei=Yuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=EdamuraKohei
en-aut-sei=Edamura
en-aut-mei=Kohei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=KobayashiYasuyuki
en-aut-sei=Kobayashi
en-aut-mei=Yasuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=ArakiMotoo
en-aut-sei=Araki
en-aut-mei=Motoo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

affil-num=1
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
en-keyword=renal cell carcinoma
kn-keyword=renal cell carcinoma
en-keyword=robot-assisted surgery
kn-keyword=robot-assisted surgery
en-keyword=three-dimensional imaging
kn-keyword=three-dimensional imaging
END

start-ver=1.4
cd-journal=joma
no-vol=13
cd-vols=
no-issue=3
article-no=
start-page=1879
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=20230131
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Flexible Route Planning for Multiple Mobile Robots by Combining Q-Learning and Graph Search Algorithm
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The use of multiple mobile robots has grown significantly over the past few years in logistics, manufacturing and public services. Conflict-free route planning is one of the major research challenges for such mobile robots. Optimization methods such as graph search algorithms are used extensively to solve route planning problems. Those methods can assure the quality of solutions, however, they are not flexible to deal with unexpected situations. In this article, we propose a flexible route planning method that combines the reinforcement learning algorithm and a graph search algorithm for conflict-free route planning problems for multiple robots. In the proposed method, Q-learning, a reinforcement algorithm, is applied to avoid collisions using off-line learning with a limited state space to reduce the total learning time. Each vehicle independently finds the shortest route using the A* algorithm, and Q-learning is used to avoid collisions. The effectiveness of the proposed method is examined by comparing it with conventional methods in terms of computation time and the quality of solutions. Computational results show that for dynamic transportation problems, the proposed method can generate the solutions with approximately 10% of the computation time compared to the conventional Q-learning approach. We found that the required computation time is linearly increased with respect to the number of vehicles and nodes in the problems.
en-copyright=
kn-copyright=

en-aut-name=KawabeTomoya
en-aut-sei=Kawabe
en-aut-mei=Tomoya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NishiTatsushi
en-aut-sei=Nishi
en-aut-mei=Tatsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=LiuZiang
en-aut-sei=Liu
en-aut-mei=Ziang
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=2
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=3
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=
en-keyword=Automated Guided Vehicles
kn-keyword=Automated Guided Vehicles
en-keyword=route planning
kn-keyword=route planning
en-keyword=Q-learning
kn-keyword=Q-learning
en-keyword=reinforcement learning
kn-keyword=reinforcement learning
en-keyword=transportation
kn-keyword=transportation
END

start-ver=1.4
cd-journal=joma
no-vol=77
cd-vols=
no-issue=1
article-no=
start-page=71
end-page=74
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=202302
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Ipsilateral Periprosthetic Fractures above and below the Knee Associated with Navigation Tracker Pin and Bone Fragility
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=We report a case of ipsilateral periprosthetic fractures above and below the knee that occurred at different times due to navigation tracker pin and bone fragility. A 66-year-old Japanese woman with rheumatoid arthritis (RA) underwent a total knee arthroplasty. Four months post-surgery, a periprosthetic fracture above the knee at the navigation pin hole was detected. She underwent osteosynthesis and could walk independently, but she developed an ipsilateral tibial component fracture. Conservative treatment with a splint was followed by bone union. Patients with RA treated with oral steroids tend to develop ipsilateral periprosthetic fractures around the knee due to bone fragility.
en-copyright=
kn-copyright=

en-aut-name=YamakawaYasuaki
en-aut-sei=Yamakawa
en-aut-mei=Yasuaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KamatsukiYusuke
en-aut-sei=Kamatsuki
en-aut-mei=Yusuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=NodaTomoyuki
en-aut-sei=Noda
en-aut-mei=Tomoyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=KureMiho
en-aut-sei=Kure
en-aut-mei=Miho
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=MiyazawaShinichi
en-aut-sei=Miyazawa
en-aut-mei=Shinichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=OzakiToshifumi
en-aut-sei=Ozaki
en-aut-mei=Toshifumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=Department of Orthopedic Surgery, Kochi Health Sciences Center
kn-affil=

affil-num=2
en-affil=Department of Orthopedic Surgery, Kochi Health Sciences Center
kn-affil=

affil-num=3
en-affil=Department of Orthopaedic Surgery, Okayama University Hospital
kn-affil=

affil-num=4
en-affil=Department of Orthopaedic Surgery, Okayama University Hospital
kn-affil=

affil-num=5
en-affil=Department of Orthopaedic Surgery, Okayama University Hospital
kn-affil=

affil-num=6
en-affil=Department of Orthopaedic Surgery, Okayama University Hospital
kn-affil=
en-keyword=periprosthetic fracture
kn-keyword=periprosthetic fracture
en-keyword=total knee arthroplasty
kn-keyword=total knee arthroplasty
en-keyword=navigation system
kn-keyword=navigation system
en-keyword=bone fragility
kn-keyword=bone fragility
END

start-ver=1.4
cd-journal=joma
no-vol=12
cd-vols=
no-issue=2
article-no=
start-page=732
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2023
dt-pub=20230116
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Surgical Techniques of Gastrojejunostomy in Robotic Pancreatoduodenectomy: Robot-Sewn versus Stapled Gastrojejunostomy Anastomosis
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Background: Delayed gastric emptying (DGE) is a major complication of pancreatoduodenectomy (PD). Several efforts have been made to decrease the incidence of DGE. However, the optimal anastomotic method for gastro/duodenojejunostomy (GJ) remains debatable. Moreover, few studies have reported the impact of GJ surgical techniques on outcomes following robotic pancreatoduodenectomy (RPD). This study aimed to investigate the surgical outcomes of robot-sewn and stapled GJ anastomoses in RPD. Methods: Forty patients who underwent RPD at the Okayama University Hospital between September 2020 and October 2022 were included. The outcomes between robot-sewn and stapled anastomoses were compared. Results: The mean [standard deviation (SD)] operative and GJ time were 428 (63.5) and 34.0 (15.0) minutes, respectively. Postoperative outcomes included an overall incidence of DGE of 15.0%, and the mean postoperative hospital stays were 11.6 (5.3) days in length. The stapled group (n = 21) had significantly shorter GJ time than the robot-sewn group (n = 19) (22.7 min versus 46.5 min, p < 0.001). Moreover, stapled GJ cases were significantly associated with a lower incidence of DGE (0% versus 21%, p = 0.01). Although not significant, the stapled group tended to have shorter postoperative hospital stays (9.9 days versus 13.5 days, p = 0.08). Conclusions: Our findings suggest that stapled GJ anastomosis might decrease anastomotic GJ time and incidence of DGE after RPD. Surgeons should select a suitable method for GJ anastomosis based on their experiences with RPD.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=UmedaYuzo
en-aut-sei=Umeda
en-aut-mei=Yuzo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YoshidaRyuichi
en-aut-sei=Yoshida
en-aut-mei=Ryuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=KimuraJiro
en-aut-sei=Kimura
en-aut-mei=Jiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=HataNanako
en-aut-sei=Hata
en-aut-mei=Nanako
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=YagiTakahito
en-aut-sei=Yagi
en-aut-mei=Takahito
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=9
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=pancreatoduodenectomy
kn-keyword=pancreatoduodenectomy
en-keyword=robotic surgery
kn-keyword=robotic surgery
en-keyword=gastrojejunostomy
kn-keyword=gastrojejunostomy
en-keyword=delayed gastric emptying
kn-keyword=delayed gastric emptying
END

start-ver=1.4
cd-journal=joma
no-vol=28
cd-vols=
no-issue=1
article-no=
start-page=76
end-page=88
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2022
dt-pub=20221109
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Growing neural gas based navigation system in unknown terrain environment for an autonomous mobile robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Recently, various types of autonomous robots have been expected in many fields such as a disaster site, forest, and so on. The autonomous robots are assumed to be utilized in unknown environments. In such environments, a path planning to a target point set in the unknown area is a fundamental capability for efficiently executing tasks. To realize the 3D space perception, GNG with Different Topologies (GNG-DT) proposed in our previous work can learn the multiple topological structures with in the framework of learning algorithm. This paper proposes a GNG-DT based 3D perception method by utilizing the multiple topological structures for perceiving the 3D unknown terrain environment and a path planning method to the target point set in the unknown area. Especially, a traversability property of the robot is added to GNG-DT as a new property of the topological structures for clustering the 3D terrain environment from the 3D point cloud measured by 3D Lidar. Furthermore, this paper proposes a path planning method utilizing the multiple topological structures. Next, this paper shows several experimental results of the proposed method using simulation terrain environments for verifying the effectiveness of our proposed method. Finally, we summarize our proposed method and discuss the future direction on this research.
en-copyright=
kn-copyright=

en-aut-name=TodaYuichiro
en-aut-sei=Toda
en-aut-mei=Yuichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=OzasaKoki
en-aut-sei=Ozasa
en-aut-mei=Koki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=MatsunoTakayuki
en-aut-sei=Matsuno
en-aut-mei=Takayuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=Graduate school of natural science and technology, Okayama University
kn-affil=

affil-num=2
en-affil=Graduate school of natural science and technology, Okayama University
kn-affil=

affil-num=3
en-affil=Graduate school of natural science and technology, Okayama University
kn-affil=
en-keyword=Growing neural gas
kn-keyword=Growing neural gas
en-keyword=3D perception
kn-keyword=3D perception
en-keyword=Navigation system
kn-keyword=Navigation system
END

start-ver=1.4
cd-journal=joma
no-vol=11
cd-vols=
no-issue=23
article-no=
start-page=7112
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2022
dt-pub=20221130
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Surgical Strategies to Dissect around the Superior Mesenteric Artery in Robotic Pancreatoduodenectomy
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The concept of the superior mesenteric artery (SMA)-first approach has been widely accepted in pancreatoduodenectomy. However, few studies have reported surgical approaches to the SMA in robotic pancreatoduodenectomy (RPD). Herein, we present our surgical strategies to dissect around the SMA in RPD. Among the various approaches, our standard protocol for RPD included the right approach to the SMA, which can result in complete tumor resection in most cases. In patients with malignant diseases requiring lymphadenectomy around the SMA, we developed a novel approach by combining the left and right approaches in RPD. Using this approach, circumferential dissection around the SMA can be achieved through both the left and right sides. This approach can also be helpful in patients with obesity or intra-abdominal adhesions. The present study summarizes the advantages and disadvantages of both the approaches during RPD. To perform RPD safely, surgeons should understand the different surgical approaches and select the best approach or a combination of different approaches, depending on demographic, anatomical, and oncological factors.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=UmedaYuzo
en-aut-sei=Umeda
en-aut-mei=Yuzo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YoshidaRyuichi
en-aut-sei=Yoshida
en-aut-mei=Ryuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=FujiTomokazu
en-aut-sei=Fuji
en-aut-mei=Tomokazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=KimuraJiro
en-aut-sei=Kimura
en-aut-mei=Jiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=HataNanako
en-aut-sei=Hata
en-aut-mei=Nanako
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=MishimaKento
en-aut-sei=Mishima
en-aut-mei=Kento
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=YagiTakahito
en-aut-sei=Yagi
en-aut-mei=Takahito
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=9
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=10
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=robotic surgery
kn-keyword=robotic surgery
en-keyword=pancreatoduodenectomy
kn-keyword=pancreatoduodenectomy
en-keyword=surgical approach
kn-keyword=surgical approach
en-keyword=superior mesenteric artery
kn-keyword=superior mesenteric artery
en-keyword=pancreatic cancer
kn-keyword=pancreatic cancer
END

start-ver=1.4
cd-journal=joma
no-vol=22
cd-vols=
no-issue=22
article-no=
start-page=9016
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2022
dt-pub=202211
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Realization of Crowded Pipes Climbing Locomotion of Snake Robot Using Hybrid Force-Position Control Method
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The movement capabilities of snake robots allow them to be applied in a variety of applications. We realized a snake robot climbing in crowded pipes. In this paper, we implement a sinusoidal curve control method that allows the snake robot to move faster. The control method is composed of a hybrid force-position controller that allows the snake robot to move more stably. We conducted experiments to confirm the effectiveness of the proposed method. The experimental results show that the proposed method is stable and effective compared to the previous control method that we had implemented in the snake robot.
en-copyright=
kn-copyright=

en-aut-name=WangYongdong
en-aut-sei=Wang
en-aut-mei=Yongdong
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KamegawaTetsushi
en-aut-sei=Kamegawa
en-aut-mei=Tetsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=

affil-num=2
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=
en-keyword=snake robot
kn-keyword=snake robot
en-keyword=crowded pipes
kn-keyword=crowded pipes
en-keyword=hybrid force-position control
kn-keyword=hybrid force-position control
en-keyword=sinusoidal curve
kn-keyword=sinusoidal curve
END

start-ver=1.4
cd-journal=joma
no-vol=76
cd-vols=
no-issue=5
article-no=
start-page=577
end-page=584
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2022
dt-pub=202210
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Hip Function Was Not Associated with the Incidence of Preoperative Deep Vein Thrombosis in Patients Undergoing Primary Total Hip Arthroplasty
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The prevalence of preoperative deep vein thrombosis (DVT) has been reported to be relatively high in patients undergoing total hip arthroplasty. We investigated the prevalence of DVT, the association between hip function and preoperative DVT, and the effect of a history of surgery in patients who underwent primary total hip arthroplasty. We retrospectively analyzed the cases of the patients who underwent primary total hip arthroplasty between April 2013 and February 2020 at our institution. We evaluated the prevalence of preoperative DVT based on the results of the patients’ ultrasound screening. We performed univariate and multivariate analyses to investigate the association between the incidence of DVT and patient factors including age, sex, hip function, medical histories, and American Society of Anesthesiologists Physical Status classification. We analyzed 451 patients (494 hips). The prevalence of DVT was 14.2% (64 patients). The multivariate analysis demonstrated that increased age was an independent significant risk factor for DVT. The prevalence of preoperative DVT was relatively high among patients who underwent primary total hip arthroplasty. Preoperative DVT tended to be more prevalent in older patients. Hip function was not associated with the incidence of DVT.
en-copyright=
kn-copyright=

en-aut-name=OkutaniYuki
en-aut-sei=Okutani
en-aut-mei=Yuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=FujitaHiroshi
en-aut-sei=Fujita
en-aut-mei=Hiroshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=HaradaHideto
en-aut-sei=Harada
en-aut-mei=Hideto
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=KataokaMasanao
en-aut-sei=Kataoka
en-aut-mei=Masanao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=MurotaniYoshiki
en-aut-sei=Murotani
en-aut-mei=Yoshiki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=ShimizuYu
en-aut-sei=Shimizu
en-aut-mei=Yu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=Department of Orthopaedic Surgery, Kyoto Katsura Hospital
kn-affil=

affil-num=2
en-affil=Center for Hip and Knee reconstruction, Rakuyo Hospital
kn-affil=

affil-num=3
en-affil=Department of Orthopaedic Surgery, Kyoto Katsura Hospital
kn-affil=

affil-num=4
en-affil=Department of Orthopaedic Surgery, Kyoto Katsura Hospital
kn-affil=

affil-num=5
en-affil=Department of Orthopaedic Surgery, Faculty of Medicine, Kyoto University
kn-affil=

affil-num=6
en-affil=Department of Orthopaedic Surgery, Kyoto City Hospital
kn-affil=
en-keyword=total hip arthroplasty
kn-keyword=total hip arthroplasty
en-keyword=deep vein thrombosis
kn-keyword=deep vein thrombosis
en-keyword=hip function
kn-keyword=hip function
en-keyword=ultrasound screening
kn-keyword=ultrasound screening
END

start-ver=1.4
cd-journal=joma
no-vol=12
cd-vols=
no-issue=8
article-no=
start-page=1195
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2022
dt-pub=20220722
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Robotic Mediastinal Tumor Resections: Position and Port Placement
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This study aimed to determine the optimal position and port placement during robotic resection for various mediastinal tumors. For anterior mediastinal tumors, total or extended thymectomy is commonly performed in the supine position using the lateral or subxiphoid approach. Although it is unclear which approach is better during robotic thymectomy, technical advantages of subxiphoid approach are beneficial for patients with myasthenia who require extended thymectomy. Partial thymectomy is performed in the supine position using a lateral approach. Superior, middle, and posterior mediastinal tumors are resected in the decubitus position using the lateral approach, whereas dumbbell tumor resection, which requires a posterior approach, can be performed in the prone position. The position and port placement should be chosen depending on the size, location, and aggressiveness of the tumor. In this study, we describe how to choose which of these different robotic approaches can be used based on our experience and previous reports.
en-copyright=
kn-copyright=

en-aut-name=OkazakiMikio
en-aut-sei=Okazaki
en-aut-mei=Mikio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=ShienKazuhiko
en-aut-sei=Shien
en-aut-mei=Kazuhiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=SuzawaKen
en-aut-sei=Suzawa
en-aut-mei=Ken
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=SugimotoSeiichiro
en-aut-sei=Sugimoto
en-aut-mei=Seiichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=ToyookaShinichi
en-aut-sei=Toyooka
en-aut-mei=Shinichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Science
kn-affil=

affil-num=2
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Science
kn-affil=

affil-num=3
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Science
kn-affil=

affil-num=4
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Science
kn-affil=

affil-num=5
en-affil=Department of General Thoracic Surgery and Breast and Endocrinological Surgery, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Science
kn-affil=
en-keyword=robot
kn-keyword=robot
en-keyword=robot-assisted thoracic surgery
kn-keyword=robot-assisted thoracic surgery
en-keyword=mediastinal tumor
kn-keyword=mediastinal tumor
en-keyword=thymectomy
kn-keyword=thymectomy
en-keyword=port placement
kn-keyword=port placement
END

start-ver=1.4
cd-journal=joma
no-vol=15
cd-vols=
no-issue=6
article-no=
start-page=2074
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2022
dt-pub=20220311
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Energy-Efficient Robot Configuration and Motion Planning Using Genetic Algorithm and Particle Swarm Optimization
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The implementation of Industry 5.0 necessitates a decrease in the energy consumption of industrial robots. This research investigates energy optimization for optimal motion planning for a dual-arm industrial robot. The objective function for the energy minimization problem is stated based on the execution time and total energy consumption of the robot arm configurations in its workspace for pick-and-place operation. Firstly, the PID controller is being used to achieve the optimal parameters. The parameters of PID are then fine-tuned using metaheuristic algorithms such as Genetic Algorithms and Particle Swarm Optimization methods to create a more precise robot motion trajectory, resulting in an energy-efficient robot configuration. The results for different robot configurations were compared with both motion planning algorithms, which shows better compatibility in terms of both execution time and energy efficiency. The feasibility of the algorithms is demonstrated by conducting experiments on a dual-arm robot, named as duAro. In terms of energy efficiency, the results show that dual-arm motions can save more energy than single-arm motions for an industrial robot. Furthermore, combining the robot configuration problem with metaheuristic approaches saves energy consumption and robot execution time when compared to motion planning with PID controllers alone.
en-copyright=
kn-copyright=

en-aut-name=NonoyamaKazuki
en-aut-sei=Nonoyama
en-aut-mei=Kazuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=LiuZiang
en-aut-sei=Liu
en-aut-mei=Ziang
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=FujiwaraTomofumi
en-aut-sei=Fujiwara
en-aut-mei=Tomofumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=AlamMd Moktadir
en-aut-sei=Alam
en-aut-mei=Md Moktadir
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=NishiTatsushi
en-aut-sei=Nishi
en-aut-mei=Tatsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=2
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=3
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=4
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=5
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=
en-keyword=robot motion planning
kn-keyword=robot motion planning
en-keyword=robot placement
kn-keyword=robot placement
en-keyword=optimization
kn-keyword=optimization
en-keyword=PID
kn-keyword=PID
en-keyword=genetic algorithm
kn-keyword=genetic algorithm
en-keyword=particle swarm optimization
kn-keyword=particle swarm optimization
END

start-ver=1.4
cd-journal=joma
no-vol=10
cd-vols=
no-issue=
article-no=
start-page=21109
end-page=21119
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2022
dt-pub=2022
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Two-Dimensional RSSI-Based Indoor Localization Using Multiple Leaky Coaxial Cables With a Probabilistic Neural Network
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Received signal strength indicator (RSSI) based indoor localization technology has its irreplaceable advantages for many location-aware applications. It is becoming obvious that in the development of fifth-generation (5G) and future communication technology, indoor localization technology will play a key role in location-based application scenarios including smart home systems, manufacturing automation, health care, and robotics. Compared with wireless coverage using conventional monopole antenna, leaky coaxial cables (LCX) can generate a uniform and stable wireless coverage over a long-narrow linear-cell or irregular environment such as railway station and underground shopping-mall, especially for some manufacturing factories with wireless zone areas from a large number of mental machines. This paper presents a localization method using multiple leaky coaxial cables (LCX) for an indoor multipath-rich environment. Different from conventional localization methods based on time of arrival (TOA) or time difference of arrival (TDOA), we consider improving the localization accuracy by machine learning RSSI from LCX. We will present a probabilistic neural network (PNN) approach by utilizing RSSI from LCX. The proposal is aimed at the two-dimensional (2-D) localization in a trajectory. In addition, we also compared the performance of the RSSI-based PNN (RSSI-PNN) method and conventional TDOA method over the same environment. The results show the RSSI-PNN method is promising and more than 90% of the localization errors in the RSSI-PNN method are within 1 m. Compared with the conventional TDOA method, the RSSI-PNN method has better localization performance especially in the middle area of the wireless coverage of LCXs in the indoor environment.
en-copyright=
kn-copyright=

en-aut-name=ZhuJunjie
en-aut-sei=Zhu
en-aut-mei=Junjie
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=HouPengcheng
en-aut-sei=Hou
en-aut-mei=Pengcheng
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=NagayamaKenta
en-aut-sei=Nagayama
en-aut-mei=Kenta
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=HouYafei
en-aut-sei=Hou
en-aut-mei=Yafei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=DennoSatoshi
en-aut-sei=Denno
en-aut-mei=Satoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=FerdianRian
en-aut-sei=Ferdian
en-aut-mei=Rian
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=2
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=3
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=4
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=5
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=6
en-affil=Faculty of Information Technology, Andalas University
kn-affil=
en-keyword=Leaky coaxial cable(LCX)
kn-keyword=Leaky coaxial cable(LCX)
en-keyword=localization
kn-keyword=localization
en-keyword=RSSI
kn-keyword=RSSI
en-keyword=neural network
kn-keyword=neural network
END

start-ver=1.4
cd-journal=joma
no-vol=12
cd-vols=
no-issue=
article-no=
start-page=287
end-page=299
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2022
dt-pub=20220330
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Identifying Key Points to Consider in the Implementation of Programming Education for Students with Intellectual Disabilities
kn-title=知的障害教育におけるプログラミング教育実施上の留意点 ―プログラミングロボットを使用した算数科の授業実践を通して―
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=知的障害のある児童生徒に対する指導内容としての妥当性の検証と実施上の留意点を得ることを目的として，知的障害特別支援学校において６名を対象にプログラミングロボットを使用し，「進む方向や進む距離を正しく表現できる」をねらいとして授業実践を行った。アンプラグド学習を組み合わせた指導を実施し，その結果，個人差はあるものの全員前後左右の理解が促進された。また，プログラミング的思考の評価は，小学校や保育等の評価基準に関する先行研究を参考にして作成した「プログラミング的思考段階表（試案）」から目標を設定し，評価を行った。評価の結果，プログラミング的思考の育成にも実践の効果が示唆された。以上のことから，知的障害教育における実施上の留意点として「目標設定」「指導計画の作成」「指導・支援」「評価」の４つに整理することができた。今後は段階表や留意点の内容や活用方法，有用性についてさらに検証が必要である。
en-copyright=
kn-copyright=

en-aut-name=TanifujiTakayuki
en-aut-sei=Tanifuji
en-aut-mei=Takayuki
kn-aut-name=谷藤隆行
kn-aut-sei=谷藤
kn-aut-mei=隆行
aut-affil-num=1
ORCID=

en-aut-name=MiyazakiYoshio
en-aut-sei=Miyazaki
en-aut-mei=Yoshio
kn-aut-name=宮﨑善郎
kn-aut-sei=宮﨑
kn-aut-mei=善郎
aut-affil-num=2
ORCID=

affil-num=1
en-affil=Graduate School of Education (Professional Degree Course), Okayama University
kn-affil=岡山大学大学院教育学研究科

affil-num=2
en-affil=Graduate School of Education, Okayama University
kn-affil=岡山大学大学院教育学研究科
en-keyword=プログラミング教育(Programming Education)
kn-keyword=プログラミング教育(Programming Education)
en-keyword=知的障害教育(Intellectual Disability Education)
kn-keyword=知的障害教育(Intellectual Disability Education)
en-keyword=前後左右の理解(Understanding Front Back Left Right)
kn-keyword=前後左右の理解(Understanding Front Back Left Right)
en-keyword= プログラミング的思考段階表(Programming Thinking Stage Table)
kn-keyword= プログラミング的思考段階表(Programming Thinking Stage Table)
en-keyword=プログラミングロボット(Programming Robot)
kn-keyword=プログラミングロボット(Programming Robot)
END

start-ver=1.4
cd-journal=joma
no-vol=12
cd-vols=
no-issue=3
article-no=
start-page=1705
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2022
dt-pub=20220207
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Growing Neural Gas with Different Topologies for 3D Space Perception
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Three-dimensional space perception is one of the most important capabilities for an autonomous mobile robot in order to operate a task in an unknown environment adaptively since the autonomous robot needs to detect the target object and estimate the 3D pose of the target object for performing given tasks efficiently. After the 3D point cloud is measured by an RGB-D camera, the autonomous robot needs to reconstruct a structure from the 3D point cloud with color information according to the given tasks since the point cloud is unstructured data. For reconstructing the unstructured point cloud, growing neural gas (GNG) based methods have been utilized in many research studies since GNG can learn the data distribution of the point cloud appropriately. However, the conventional GNG based methods have unsolved problems about the scalability and multi-viewpoint clustering. In this paper, therefore, we propose growing neural gas with different topologies (GNG-DT) as a new topological structure learning method for solving the problems. GNG-DT has multiple topologies of each property, while the conventional GNG method has a single topology of the input vector. In addition, the distance measurement in the winner node selection uses only the position information for preserving the environmental space of the point cloud. Next, we show several experimental results of the proposed method using simulation and RGB-D datasets measured by Kinect. In these experiments, we verified that our proposed method almost outperforms the other methods from the viewpoint of the quantization and clustering errors. Finally, we summarize our proposed method and discuss the future direction on this research.
en-copyright=
kn-copyright=

en-aut-name=TodaYuichiro
en-aut-sei=Toda
en-aut-mei=Yuichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=WadaAkimasa
en-aut-sei=Wada
en-aut-mei=Akimasa
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=MiyaseHikari
en-aut-sei=Miyase
en-aut-mei=Hikari
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=OzasaKoki
en-aut-sei=Ozasa
en-aut-mei=Koki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=MatsunoTakayuki
en-aut-sei=Matsuno
en-aut-mei=Takayuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=MinamiMamoru
en-aut-sei=Minami
en-aut-mei=Mamoru
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=2
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=3
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=4
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=5
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=6
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=
en-keyword=3D space perception
kn-keyword=3D space perception
en-keyword=growing neural gas
kn-keyword=growing neural gas
en-keyword=topological structure learning method
kn-keyword=topological structure learning method
END

start-ver=1.4
cd-journal=joma
no-vol=2021
cd-vols=
no-issue=8
article-no=
start-page=rjab336
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2021
dt-pub=20210814
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Robot-assisted thoracoscopic lobectomy for severe incomplete interlober fissure
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=An incomplete interlobar fissure makes thoracoscopic lobectomy difficult and is predictive of morbidity after thoracoscopic lobectomy. This report demonstrates the robot-assisted thoracoscopic (RATS) lobectomy technique for patients with severe incomplete interlobar fissures. A fissureless approach was chosen for pulmonary resection. Near-infrared fluorescence imaging with intravenous indocyanine green (ICG) was used to detect the interlobar line after transection of the bronchus, pulmonary artery and vein. Interlobar fissure was identified and divided by robotic staplers. This combined technique using ICG and fissureless lobectomy made RATS lobectomy safe for patients with severe incomplete interlobar fissures.
en-copyright=
kn-copyright=

en-aut-name=OkazakiMikio
en-aut-sei=Okazaki
en-aut-mei=Mikio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=SuzawaKen
en-aut-sei=Suzawa
en-aut-mei=Ken
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=ShienKazuhiko
en-aut-sei=Shien
en-aut-mei=Kazuhiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=MiyoshiKentaroh
en-aut-sei=Miyoshi
en-aut-mei=Kentaroh
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=OtaniShinji
en-aut-sei=Otani
en-aut-mei=Shinji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=YamamotoHiromasa
en-aut-sei=Yamamoto
en-aut-mei=Hiromasa
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=SugimotoSeiichiro
en-aut-sei=Sugimoto
en-aut-mei=Seiichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=YamaneMasaomi
en-aut-sei=Yamane
en-aut-mei=Masaomi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=ToyookaShinichi
en-aut-sei=Toyooka
en-aut-mei=Shinichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

affil-num=1
en-affil=Department of Thoracic, Breast and Endocrinological Surgery, Okayama University Graduate School of Medicine
kn-affil=

affil-num=2
en-affil=Department of Thoracic, Breast and Endocrinological Surgery, Okayama University Graduate School of Medicine
kn-affil=

affil-num=3
en-affil=Department of Thoracic, Breast and Endocrinological Surgery, Okayama University Graduate School of Medicine
kn-affil=

affil-num=4
en-affil=Department of Thoracic, Breast and Endocrinological Surgery, Okayama University Graduate School of Medicine
kn-affil=

affil-num=5
en-affil=Department of Thoracic, Breast and Endocrinological Surgery, Okayama University Graduate School of Medicine
kn-affil=

affil-num=6
en-affil=Department of Thoracic, Breast and Endocrinological Surgery, Okayama University Graduate School of Medicine
kn-affil=

affil-num=7
en-affil=Department of Thoracic, Breast and Endocrinological Surgery, Okayama University Graduate School of Medicine
kn-affil=

affil-num=8
en-affil=Department of Thoracic, Breast and Endocrinological Surgery, Okayama University Graduate School of Medicine
kn-affil=

affil-num=9
en-affil=Department of Thoracic, Breast and Endocrinological Surgery, Okayama University Graduate School of Medicine
kn-affil=
END

start-ver=1.4
cd-journal=joma
no-vol=10
cd-vols=
no-issue=8
article-no=
start-page=177
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2021
dt-pub=20210730
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Fabrication of a Polyimide Film Pneumatic Actuator by Molding and Welding Processes
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The bellows pneumatic actuator, which is made by folding a non-stretch film, has been proposed for various applications because it is easy to fabricate and is extremely thin and light. However, it has subpar durability performance, especially in the folded part of the film. In this study, we propose an actuator with a pod structure that possesses high design flexibility and is free from folding. A method of molding a pod structure on a polyimide film was established and a pneumatic actuator was successfully fabricated by using PI films. Two types of PI film pneumatic actuators with the same curvature, bellows type, and pod type were fabricated. Both were confirmed to have equivalent output characteristics. The bending angle and generated torque of the pod-structure actuator were 34 degrees and 3.3 mNm, respectively. In addition, the pod structure has approximately twice the durability of the bellows structure. By using the fabrication method proposed in this paper, it is possible to realize an air chamber (i.e., an actuator) that has both high durability and bending motion.
en-copyright=
kn-copyright=

en-aut-name=YamaguchiDaisuke
en-aut-sei=Yamaguchi
en-aut-mei=Daisuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=HanakiTatsuya
en-aut-sei=Hanaki
en-aut-mei=Tatsuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=IshinoYuji
en-aut-sei=Ishino
en-aut-mei=Yuji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=TakasakiMasaya
en-aut-sei=Takasaki
en-aut-mei=Masaya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=MizunoTakeshi
en-aut-sei=Mizuno
en-aut-mei=Takeshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=Institute of Academic and Research, Okayama University
kn-affil=

affil-num=2
en-affil=Department of Mechanical Engineering, Saitama University
kn-affil=

affil-num=3
en-affil=Department of Mechanical Engineering, Saitama University
kn-affil=

affil-num=4
en-affil=Department of Mechanical Engineering, Saitama University
kn-affil=

affil-num=5
en-affil=Department of Mechanical Engineering, Saitama University
kn-affil=
en-keyword=soft robotics
kn-keyword=soft robotics
en-keyword=pneumatic actuator
kn-keyword=pneumatic actuator
en-keyword=film
kn-keyword=film
en-keyword=molding
kn-keyword=molding
en-keyword=welding
kn-keyword=welding
en-keyword=polyimide
kn-keyword=polyimide
en-keyword=filmotics
kn-keyword=filmotics
END

start-ver=1.4
cd-journal=joma
no-vol=7
cd-vols=
no-issue=1
article-no=
start-page=156
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2021
dt-pub=20210630
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Gastroenteropancreatic neuroendocrine tumor of the accessory papilla of the duodenum: a case report
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=BackgroundContrary to the increasing incidence of gastroenteropancreatic neuroendocrine tumors (GEP-NETs), GEP-NETs of the accessory papilla of the duodenum are extremely rare. Furthermore, there have been no recommendations regarding the treatment strategy for GEP-NETs of the accessory papilla of the duodenum. We present a case of GEP-NET of the accessory papilla of the duodenum successfully treated with robotic pancreatoduodenectomy.Case presentationA case of a 70-year-old complaining of no symptoms was diagnosed with GEP-NET of the accessory papilla of the duodenum. A 8-mm tumor was located at the submucosal layer with a biopsy demonstrating a neuroendocrine tumor grade 1. The patient underwent robotic pancreatoduodenectomy as curative resection for the tumor. The total operative time was 406 min with an estimated blood loss of 150 mL. The histological examination revealed a well-differentiated neuroendocrine tumor with low Ki-67 index (<1%). In the posterior areas of the pancreas, the lymph node metastases were detected. The patient was followed up for 6 months with no recurrence postoperatively.ConclusionsConsidering the potential risks of the lymph node metastases, the standard treatment strategy for GEP-NETs of the accessory papilla of the duodenum should be radical resection with pancreatoduodenectomy. Minimally invasive approach can be the alternative to the conventional open surgery.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=UmedaYuzo
en-aut-sei=Umeda
en-aut-mei=Yuzo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YoshidaRyuichi
en-aut-sei=Yoshida
en-aut-mei=Ryuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=YoshidaKazuhiro
en-aut-sei=Yoshida
en-aut-mei=Kazuhiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=YasuiKazuya
en-aut-sei=Yasui
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=SatoHiroki
en-aut-sei=Sato
en-aut-mei=Hiroki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=YagiTakahito
en-aut-sei=Yagi
en-aut-mei=Takahito
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=
en-keyword=Accessory papilla of the duodenum
kn-keyword=Accessory papilla of the duodenum
en-keyword=Neuroendocrine tumor
kn-keyword=Neuroendocrine tumor
en-keyword=Carcinoid tumor
kn-keyword=Carcinoid tumor
END

start-ver=1.4
cd-journal=joma
no-vol=13
cd-vols=
no-issue=2
article-no=
start-page=119
end-page=124
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2021
dt-pub=20210304
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A second opinion pathology review improves the diagnostic concordance between prostate cancer biopsy and radical prostatectomy specimens
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Objectives: The Gleason scoring system is an essential tool for determining the treatment strategy in prostate cancer (PCa). However, the Gleason grade group (GGG) often differs between needle-core biopsy (NCB) and radical prostatectomy (RP) specimens. We investigated the diagnostic value of a second opinion pathology review using NCB specimens in PCa. Materials and Methods: We retrospectively evaluated 882 patients who underwent robot-assisted RP from January 2012 to September 2019. Of these, patients whose original biopsy specimens were obtained from another hospital and reviewed by the urological pathology expert at our institution were included in the study. Patients who received neoadjuvant hormonal therapy were excluded from the study. Weighted kappa (k) coefficients were used to evaluate the diagnostic accuracy of each review. Results: A total of 497 patients were included in this study. Substantial agreement (weighted k = 0.783) in the GGG between initial- and second-opinion diagnoses based on NCB specimens was observed in 310 cases (62.4%). Although diagnoses based on a single opinion showed moderate agreement with the GGG of RP specimens (initial: 35.2%, weighted k = 0.522; second opinion; 38.8%, weighted k = 0.560), matching initial and second opinion diagnoses improved the concordance (42.9%, 133/310 cases) to substantial agreement (weighted k = 0.626). Conclusions: A second opinion of PCa pathology helps to improve the diagnostic accuracy of NCB specimens. However, over half of diagnoses that matched between the initial and second opinions differed from the diagnosis of RP specimens.
en-copyright=
kn-copyright=

en-aut-name=MaeharaTakanori
en-aut-sei=Maehara
en-aut-mei=Takanori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=SadahiraTakuya
en-aut-sei=Sadahira
en-aut-mei=Takuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=MaruyamaYuki
en-aut-sei=Maruyama
en-aut-mei=Yuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=WadaKoichiro
en-aut-sei=Wada
en-aut-mei=Koichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=ArakiMotoo
en-aut-sei=Araki
en-aut-mei=Motoo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=WatanabeMasami
en-aut-sei=Watanabe
en-aut-mei=Masami
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=WatanabeToyohiko
en-aut-sei=Watanabe
en-aut-mei=Toyohiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=YanaiHiroyuki
en-aut-sei=Yanai
en-aut-mei=Hiroyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=NasuYasutomo
en-aut-sei=Nasu
en-aut-mei=Yasutomo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

affil-num=1
en-affil=Departments of Urology and 1Pathology, Graduate School of Medicine Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=2
en-affil=Departments of Urology and 1Pathology, Graduate School of Medicine Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=3
en-affil=Departments of Urology and 1Pathology, Graduate School of Medicine Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=4
en-affil=Departments of Urology and 1Pathology, Graduate School of Medicine Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=5
en-affil=Departments of Urology and 1Pathology, Graduate School of Medicine Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=6
en-affil=Departments of Urology and 1Pathology, Graduate School of Medicine Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=7
en-affil=Departments of Urology and 1Pathology, Graduate School of Medicine Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=8
en-affil=Departments of Urology and 1Pathology, Graduate School of Medicine Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=

affil-num=9
en-affil=Departments of Urology and 1Pathology, Graduate School of Medicine Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=
en-keyword=Gleason grade group
kn-keyword=Gleason grade group
en-keyword=Gleason score
kn-keyword=Gleason score
en-keyword=prostate biopsy
kn-keyword=prostate biopsy
en-keyword=prostate cancer
kn-keyword=prostate cancer
en-keyword=prostatectomy
kn-keyword=prostatectomy
END

start-ver=1.4
cd-journal=joma
no-vol=86
cd-vols=
no-issue=
article-no=
start-page=7
end-page=12
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2021
dt-pub=20210228
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Learning curves of minimally invasive donor nephrectomy in a high-volume center: A cohort study of 1895 consecutive living donors
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Background<br/>
Few studies have investigated the learning curves of minimally invasive donor nephrectomy (MIDN) using the cumulative sum (CUSUM) analysis. In addition, no study has compared the learning curves of the different surgical MIDN techniques in one cohort study using the CUSUM analysis. This study aims to evaluate and compare learning curves for several MIDN using the CUSUM analysis. <br/>
Methods<br/>
A retrospective review of consecutive donors, who underwent MIDN between 1997 and 2019, was conducted. Three laparoscopic-assisted techniques were applied in our institution and included for analysis: laparoscopic (LDN), hand-assisted retroperitoneoscopic (HARP), and robot-assisted laparoscopic (RADN) donor nephrectomy. The outcomes were compared based on surgeon volume to develop learning curves for the operative time per surgeon. <br/>
Results<br/>
Out of 1895 MIDN, 1365 (72.0%) were LDN, 427 (22.5%) were HARP, and 103 (5.4%) were RADN. The median operative time and median blood loss were 179 (IQR, 139–230) minutes and 100 (IQR, 40–200) mL, respectively. The incidence of major complication was 1.2% with no mortality, and the median hospital stay was three (IQR, 3–4) days. The CUSUM analysis resulted in learning curves, defined by decreased operative time, of 23 cases in LDN, 45 cases in HARP, and 26 cases in RADN. <br/>
Conclusions<br/>
Our study shows different learning curves in three MIDN techniques with equal post-operative complications. The LDN and RADN learning curves are shorter than that of the hand-assisted donor nephrectomy. Our observations can be helpful for informing the development of teaching requirements for fellows to be trained in MIDN.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KimenaiHendrikus J.A.N.
en-aut-sei=Kimenai
en-aut-mei=Hendrikus J.A.N.
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=TerkivatanTurkan
en-aut-sei=Terkivatan
en-aut-mei=Turkan
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=TranKhe T.C.
en-aut-sei=Tran
en-aut-mei=Khe T.C.
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=IjzermansJan N.M.
en-aut-sei=Ijzermans
en-aut-mei=Jan N.M.
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=MinneeRobert C.
en-aut-sei=Minnee
en-aut-mei=Robert C.
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Surgery, Division of HPB & Transplant Surgery, Erasmus MC, University Medical Centre Rotterdam
kn-affil=

affil-num=3
en-affil=Department of Surgery, Division of HPB & Transplant Surgery, Erasmus MC, University Medical Centre Rotterdam
kn-affil=

affil-num=4
en-affil=Department of Surgery, Division of HPB & Transplant Surgery, Erasmus MC, University Medical Centre Rotterdam
kn-affil=

affil-num=5
en-affil=Department of Surgery, Division of HPB & Transplant Surgery, Erasmus MC, University Medical Centre Rotterdam
kn-affil=

affil-num=6
en-affil=Department of Surgery, Division of HPB & Transplant Surgery, Erasmus MC, University Medical Centre Rotterdam
kn-affil=
en-keyword=Kidney transplantation
kn-keyword=Kidney transplantation
en-keyword=Learning curve
kn-keyword=Learning curve
en-keyword=Hand-assisted laparoscopy
kn-keyword=Hand-assisted laparoscopy
en-keyword=Laparoscopy
kn-keyword=Laparoscopy
en-keyword=Living donors
kn-keyword=Living donors
en-keyword=Nephrectomy
kn-keyword=Nephrectomy
en-keyword=Teaching
kn-keyword=Teaching
en-keyword=Robotic surgical procedures
kn-keyword=Robotic surgical procedures
END

start-ver=1.4
cd-journal=joma
no-vol=19
cd-vols=
no-issue=1
article-no=
start-page=55
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2021
dt-pub=20210219
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Surgical training model and safe implementation of robotic pancreatoduodenectomy in Japan: a technical note
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Background</br>
Growing evidence for the advantages of robotic pancreatoduodenectomy (RPD) has been demonstrated internationally. However, there has been no structured training program for RPD in Japan. Herein, we present the surgical training model of RPD and a standardized protocol for surgical technique.</br>
Methods</br>
The surgical training model and surgical technique were standardized in order to implement RPD safely, based on the Dutch training system collaborated with the University of Pittsburgh Medical Center.</br>
Results</br>
The surgical training model included various trainings such as basic robotic training, simulation training, biotissue training, and a surgical video review. Furthermore, a standardized protocol on the surgical technique was established to understand the tips, tricks, and pitfalls of RPD.</br>
Conclusions</br>
Safe implementation of RPD can be achieved through the completion of a structured training program and learning surgical technique. A nationwide structured training system should be developed to implement the program safely in Japan.
en-copyright=
kn-copyright=

en-aut-name=TakagiKosei
en-aut-sei=Takagi
en-aut-mei=Kosei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=UmedaYuzo
en-aut-sei=Umeda
en-aut-mei=Yuzo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YoshidaRyuichi
en-aut-sei=Yoshida
en-aut-mei=Ryuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=YagiTakahito
en-aut-sei=Yagi
en-aut-mei=Takahito
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=FujiwaraToshiyoshi
en-aut-sei=Fujiwara
en-aut-mei=Toshiyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=ZureikatAmer H.
en-aut-sei=Zureikat
en-aut-mei=Amer H.
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=HoggMelissa E.
en-aut-sei=Hogg
en-aut-mei=Melissa E.
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=KoerkampBas Groot
en-aut-sei=Koerkamp
en-aut-mei=Bas Groot
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

affil-num=1
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Gastroenterological Surgery, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Division of Surgical Oncology, University of Pittsburgh Medical Center
kn-affil=

affil-num=7
en-affil=Department of Surgery, North Shore Hospital
kn-affil=

affil-num=8
en-affil=Department of Surgery, Erasmus MC, University Medical Center Rotterdam, Rotterdam
kn-affil=
en-keyword=Pancreatoduodenectomy
kn-keyword=Pancreatoduodenectomy
en-keyword=Robotic surgery
kn-keyword=Robotic surgery
en-keyword=Training
kn-keyword=Training
END

start-ver=1.4
cd-journal=joma
no-vol=30
cd-vols=
no-issue=3
article-no=
start-page=1342
end-page=1349
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2019
dt-pub=20191126
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Robotic CT-guided out-of-plane needle insertion: comparison of angle accuracy with manual insertion in phantom and measurement of distance accuracy in animals
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Objectives</br>
To evaluate the accuracy of robotic CT-guided out-of-plane needle insertion in phantom and animal experiments.</br>
Methods</br>
A robotic system (Zerobot), developed at our institution, was used for needle insertion. In the phantom experiment, 12 robotic needle insertions into a phantom at various angles in the XY and YZ planes were performed, and the same insertions were manually performed freehand, as well as guided by a smartphone application (SmartPuncture). Angle errors were compared between the robotic and smartphone-guided manual insertions using Student’s t test. In the animal experiment, 6 robotic out-of-plane needle insertions toward targets of 1.0 mm in diameter placed in the kidneys and hip muscles of swine were performed, each with and without adjustment of needle orientation based on reconstructed CT images during insertion. Distance accuracy was calculated as the distance between the needle tip and the target center.</br>
Results</br>
In the phantom experiment, the mean angle errors of the robotic, freehand manual, and smartphone-guided manual insertions were 0.4°, 7.0°, and 3.7° in the XY plane and 0.6°, 6.3°, and 0.6° in the YZ plane, respectively. Robotic insertions in the XY plane were significantly (p < 0.001) more accurate than smartphone-guided insertions. In the animal experiment, the overall mean distance accuracy of robotic insertions with and without adjustment of needle orientation was 2.5 mm and 5.0 mm, respectively.</br>
Conclusion</br>
Robotic CT-guided out-of-plane needle insertions were more accurate than smartphone-guided manual insertions in the phantom and were also accurate in the in vivo procedure, particularly with adjustment during insertion.
en-copyright=
kn-copyright=

en-aut-name=KomakiToshiyuki
en-aut-sei=Komaki
en-aut-mei=Toshiyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=HirakiTakao
en-aut-sei=Hiraki
en-aut-mei=Takao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=KamegawaTetsushi
en-aut-sei=Kamegawa
en-aut-mei=Tetsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=MatsunoTakayuki
en-aut-sei=Matsuno
en-aut-mei=Takayuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=SakuraiJun
en-aut-sei=Sakurai
en-aut-mei=Jun
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=MatsuuraRyutaro
en-aut-sei=Matsuura
en-aut-mei=Ryutaro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=YamaguchiTakuya
en-aut-sei=Yamaguchi
en-aut-mei=Takuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=SasakiTakanori
en-aut-sei=Sasaki
en-aut-mei=Takanori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=MitsuhashiToshiharu
en-aut-sei=Mitsuhashi
en-aut-mei=Toshiharu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=OkamotoSoichiro
en-aut-sei=Okamoto
en-aut-mei=Soichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

en-aut-name=UkaMayu
en-aut-sei=Uka
en-aut-mei=Mayu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=11
ORCID=

en-aut-name=MatsuiYusuke
en-aut-sei=Matsui
en-aut-mei=Yusuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=12
ORCID=

en-aut-name=IguchiToshihiro
en-aut-sei=Iguchi
en-aut-mei=Toshihiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=13
ORCID=

en-aut-name=GobaraHideo
en-aut-sei=Gobara
en-aut-mei=Hideo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=14
ORCID=

en-aut-name=KanazawaSusumu
en-aut-sei=Kanazawa
en-aut-mei=Susumu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=15
ORCID=

affil-num=1
en-affil=Department of Radiology, Okayama University Medical School
kn-affil=

affil-num=2
en-affil=Department of Radiology, Okayama University Medical School
kn-affil=

affil-num=3
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=

affil-num=4
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=5
en-affil=Center for Innovative Clinical Medicine, Okayama University Hospital
kn-affil=

affil-num=6
en-affil=Graduate School of Health Sciences, Okayama University Medical School
kn-affil=

affil-num=7
en-affil=Division of Radiology, Department of Medical Technology, Okayama University Hospital
kn-affil=

affil-num=8
en-affil=Collaborative Research Center for OMIC, Okayama University Graduate School of Medicine, Dentistry, and Pharmaceutical Sciences
kn-affil=

affil-num=9
en-affil=Center for Innovative Clinical Medicine, Okayama University Hospital
kn-affil=

affil-num=10
en-affil=Department of Radiology, Okayama University Medical School
kn-affil=

affil-num=11
en-affil=Department of Radiology, Okayama University Medical School
kn-affil=

affil-num=12
en-affil=Department of Radiology, Okayama University Medical School
kn-affil=

affil-num=13
en-affil=Department of Radiology, Okayama University Medical School
kn-affil=

affil-num=14
en-affil=Division of Medical Informatics, Okayama University Hospital
kn-affil=

affil-num=15
en-affil=Department of Radiology, Okayama University Medical School
kn-affil=
en-keyword=Robotics
kn-keyword=Robotics
en-keyword=Interventional radiology
kn-keyword=Interventional radiology
en-keyword=Animal experiments
kn-keyword=Animal experiments
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=1628
end-page=1633
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2013
dt-pub=2013
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Access Control to Prevent Attacks Exploiting Vulnerabilities of WebView in Android OS
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Android applications that using WebView can load and display web pages. Furthermore, by using the APIs provided in WebView, Android applications can interact with web pages. The interaction allows JavaScript code within the web pages to access resources on the Android device by using the Java object, which is registered into WebView. If this WebView feature were exploited by an attacker, JavaScript code could be used to launch attacks, such as stealing from or tampering personal information in the device. To address these threats, we propose a method that performs access control on the security-sensitive APIs at the Java object level. The proposed method uses static analysis to identify these security-sensitive APIs, detects threats at runtime, and notifies the user if threats are detected, thereby preventing attacks from web pages.
en-copyright=
kn-copyright=

en-aut-name=YuJing
en-aut-sei=Yu
en-aut-mei=Jing
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=YamauchiToshihiro
en-aut-sei=Yamauchi
en-aut-mei=Toshihiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=2
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=
en-keyword=Java
kn-keyword=Java
en-keyword=Androids
kn-keyword=Androids
en-keyword=Humanoid robots
kn-keyword=Humanoid robots
en-keyword=Web pages
kn-keyword=Web pages
en-keyword=Smart phones
kn-keyword=Smart phones
en-keyword=Assembly
kn-keyword=Assembly
en-keyword=Browsers
kn-keyword=Browsers
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=82
end-page=91
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2019
dt-pub=20190802
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Region of Interest Growing Neural Gas for Real-Time Point Cloud Processing
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper proposes a real-time topological structure learning method based on concentrated/distributed sensing for a 2D/3D point cloud. First of all, we explain a modified Growing Neural Gas with Utility (GNG-U2) that can learn the topological structure of 3D space environment and color information simultaneously by using a weight vector. Next, we propose a Region Of Interest Growing Neural Gas (ROI-GNG) for realizing concentrated/distributed sensing in real-time. In ROI-GNG, the discount rates of the accumulated error and utility value are variable according to the situation. We show experimental results of the proposed method and discuss the effectiveness of the proposed method.
en-copyright=
kn-copyright=

en-aut-name=TodaYuichiro
en-aut-sei=Toda
en-aut-mei=Yuichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=LiXiang
en-aut-sei=Li
en-aut-mei=Xiang
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=MatsunoTakayuki
en-aut-sei=Matsuno
en-aut-mei=Takayuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=MinamiMamoru
en-aut-sei=Minami
en-aut-mei=Mamoru
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=Okayama University
kn-affil=

affil-num=2
en-affil=Okayama University
kn-affil=

affil-num=3
en-affil=Okayama University
kn-affil=

affil-num=4
en-affil=Okayama University
kn-affil=
en-keyword=Growing Neural Gas
kn-keyword=Growing Neural Gas
en-keyword=Point cloud processing
kn-keyword=Point cloud processing
en-keyword=Topological structure learning
kn-keyword=Topological structure learning
END

start-ver=1.4
cd-journal=joma
no-vol=10
cd-vols=
no-issue=1
article-no=
start-page=282
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2020
dt-pub=20200228
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Transversus Abdominis Plane Block Reduced Early Postoperative Pain after Robot-assisted Prostatectomy: a Randomized Controlled Trial
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Analgesic effect of transversus abdominis plane block (TAP block) in lower major abdominal laparoscopic surgery with about 5 cm of maximum surgical scar has been controversial. We hypothesized that TAP block has benefits, so the analgesic effect of TAP block after robot-assisted laparoscopic prostatectomy (RALP) was evaluated. One hundred patients were enrolled in this prospective, double-blinded, randomized study. Standardized general anesthesia with wound infiltration on camera port and fentanyl dose limit of 3 mu g/kg was provided. Ultrasound-guided, single-shot subcostal TAP block with either 0.375% ropivacaine (Ropivacaine group, 48 patients) or normal saline (Control group, 52 patients) was performed by anesthesiologist in charge (34 anesthesiologists) after surgical procedure. Pain score using numerical rating scale (NRS) and postoperative intravenous fentanyl were evaluated for the first 24 postoperative hours. Median values (interquartile range) of NRS scores when the patients were transferred to post-anesthesia care unit (PACU) were 5 (2-7) in Ropivacaine group and 6 (4-8) in Control group at rest (P = 0.03), 5 (2-8) in Ropivacaine group and 7 (5-8) in Control group during movement (P < 0.01). These significant differences disappeared at the time of discharging PACU. Fentanyl doses for the first 24 postoperative hours were 210 mu g (120-360) in Ropivacaine group and 200 mu g (120-370) in Control group (P = 0.79). These results indicated that subcostal TAP block by anesthesiologists of varied level of training reduced postoperative pain immediate after RALP. TAP block had fundamental analgesic effect, but this benefit was too small to reduce postoperative 24-hour fentanyl consumption.
en-copyright=
kn-copyright=

en-aut-name=TaninishiHideki
en-aut-sei=Taninishi
en-aut-mei=Hideki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=MatsusakiTakashi
en-aut-sei=Matsusaki
en-aut-mei=Takashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=MorimatsuHiroshi
en-aut-sei=Morimatsu
en-aut-mei=Hiroshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=Department of Anesthesiology and Resuscitology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Anesthesiology and Resuscitology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Anesthesiology and Resuscitology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
END

start-ver=1.4
cd-journal=joma
no-vol=16
cd-vols=
no-issue=6
article-no=
start-page=1572
end-page=1581
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2019
dt-pub=20191223
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Preparation of tough, thermally stable, and water-resistant double-network ion gels consisting of silica nanoparticles/poly(ionic liquid)s through photopolymerisation of an ionic monomer and subsequent solvent removal
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=We report the preparation of tough, thermally stable, and water-resistant double-network (DN) ion gels, which consist of a partially-clustered silica nanoparticle network and poly(ionic liquid) (PIL) network holding an ionic liquid. Silica nanoparticles/poly([Evim][Tf2N]) DN ion gels are prepared by photo-induced radical polymerisation of [Evim][Tf2N] in a mixture containing silica nanoparticles, [Bmim][Tf2N], ionic liquid based cross-linker [(VIM)2C4][Tf2N]2, and ethyl acetate, followed by subsequent solvent evaporation. Tensile strength measurements show that the mechanical properties of the PIL DN ion gels were higher than those of the PIL single-network (SN) ion gel. A rheological study indicates that an enhancement in mechanical strength of the PIL DN ion gels can be achieved when silica nanoparticles form partial clusters in [Bmim][Tf2N]. The cyclic stress–strain measurement of the PIL DN ion gels shows hysteresis loops, suggesting that the silica nanoparticle clusters rupture and dissipate the loading energy when the PIL DN ion gels undergo a large deformation. The fracture strength and Young's modulus of the PIL DN ion gels increase as the diameter of the silica nanoparticles is decreased. Thermogravimetric analysis measurement shows that the PIL DN ion gel has a high decomposition temperature of approximately 400 °C. Moreover, the swelling test shows that the PIL DN ion gel possesses an excellent water-resistant property because of the hydrophobic nature of the PIL backbone. We believe that such tough, thermally stable, and water-resistant PIL DN ion gels can be used as carbon dioxide separation membranes, sensors, and actuators for soft robotics.
en-copyright=
kn-copyright=

en-aut-name=WatanabeTakaichi
en-aut-sei=Watanabe
en-aut-mei=Takaichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TakahashiRuri
en-aut-sei=Takahashi
en-aut-mei=Ruri
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=OnoTsutomu
en-aut-sei=Ono
en-aut-mei=Tsutomu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=Department of Applied Chemistry, Graduate School of Natural Science, Okayama University
kn-affil=

affil-num=2
en-affil=Department of Applied Chemistry, Graduate School of Natural Science, Okayama University
kn-affil=

affil-num=3
en-affil=Department of Applied Chemistry, Graduate School of Natural Science, Okayama University
kn-affil=
END

start-ver=1.4
cd-journal=joma
no-vol=14
cd-vols=
no-issue=10
article-no=
start-page=e0223656
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2019
dt-pub=20191017
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Identification of social relation within pedestrian dyads
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This study focuses on social pedestrian groups in public spaces and makes an effort to identify the type of social relation between the group members. As a first step for this identification problem, we focus on dyads (i.e. 2 people groups). Moreover, as a mutually exclusive categorization of social relations, we consider the domain-based approach of Bugental, which precisely corresponds to social relations of colleagues, couples, friends and families, and identify each dyad with one of those relations. For this purpose, we use anonymized trajectory data and derive a set of observables thereof, namely, inter-personal distance, group velocity, velocity difference and height difference. Subsequently, we use the probability density functions (pdf) of these observables as a tool to understand the nature of the relation between pedestrians. To that end, we propose different ways of using the pdfs. Namely, we introduce a probabilistic Bayesian approach and contrast it to a functional metric one and evaluate the performance of both methods with appropriate assessment measures. This study stands out as the first attempt to automatically recognize social relation between pedestrian groups. Additionally, in doing that it uses completely anonymous data and proves that social relation is still possible to recognize with a good accuracy without invading privacy. In particular, our findings indicate that significant recognition rates can be attained for certain categories and with certain methods. Specifically, we show that a very good recognition rate is achieved in distinguishing colleagues from leisure-oriented dyads (families, couples and friends), whereas the distinction between the leisure-oriented dyads results to be inherently harder, but still possible at reasonable rates, in particular if families are restricted to parent-child groups. In general, we establish that the Bayesian method outperforms the functional metric one due, probably, to the difficulty of the latter to learn observable pdfs from individual trajectories.
en-copyright=
kn-copyright=

en-aut-name=YucelZeynep
en-aut-sei=Yucel
en-aut-mei=Zeynep
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=ZanlungoFrancesco
en-aut-sei=Zanlungo
en-aut-mei=Francesco
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=FelicianiClaudio
en-aut-sei=Feliciani
en-aut-mei=Claudio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=GregorjAdrien
en-aut-sei=Gregorj
en-aut-mei=Adrien
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=KandaTakayuki
en-aut-sei=Kanda
en-aut-mei=Takayuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=Department of Computer Science, Okayama University
kn-affil=

affil-num=2
en-affil=Intelligent Robotics and Communication Laboratory, ATR
kn-affil=

affil-num=3
en-affil=Research Center for Advanced Science and Technology,The University of Tokyo
kn-affil=

affil-num=4
en-affil=Department of Computer Science, Okayama University
kn-affil=

affil-num=5
en-affil=Intelligent Robotics and Communication Laboratory, ATR
kn-affil=
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2020
dt-pub=20200325
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=ロボットによるCTガイド下の3次元針穿刺：ファントム試験における用手穿刺との穿刺角度精度の比較と動物試験における穿刺精度の計測
kn-title=Robotic CT-guided out-of-plane needle insertion: Comparison of angle accuracy with manual insertion in phantom and measurement of distance accuracy in animals
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=KomakiToshiyuki
en-aut-sei=Komaki
en-aut-mei=Toshiyuki
kn-aut-name=小牧稔幸
kn-aut-sei=小牧
kn-aut-mei=稔幸
aut-affil-num=1
ORCID=

affil-num=1
en-affil=Graduate School of Medicine, Dentistry and Pharmaceutical Sciences, Okayama University
kn-affil=岡山大学大学院医歯薬学総合研究科
END

start-ver=1.4
cd-journal=joma
no-vol=74
cd-vols=
no-issue=1
article-no=
start-page=53
end-page=58
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2020
dt-pub=202002
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Robotic Renal Autotransplantation: A Feasibility Study in a Porcine Model
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract= We investigated the feasibility of robotic renal autotransplantation (RAT) in a porcine model to reduce invasiveness of RAT. Five pigs underwent robotic RAT using the da Vinci® robotic system. A robotic left nephrectomy was performed in all cases. Robotic RAT was performed on the left side in all but one case. Four ports were used. In 3 cases, the kidney was taken out through the GelPort® and irrigated on ice with Ringer’s solution. In 2 cases, a complete intracorporeal robotic RAT was performed. An end-to-side anastomosis was performed between the renal vein and the external iliac vein and between the renal artery and the external iliac artery. Ureteroneocystostomy was also performed in 2 cases. All cases were performed robotically without open conversion. The median (IQR) console time was 3.1 (0.7) h, and the operative time was 3.8 (1.1) h. The estimated blood loss was 30 (0) ml. The warm ischemia time was 4.0 (0.2) min, and the cold ischemia time was 97 (17) min. Intracorporeal transarterial hypothermic renal perfusion was feasible in the 2 complete intracorporeal robotic RAT cases by using a perfusion catheter through a laparoscopic port. Robotic RAT has the potential to be a new minimally invasive substitute for conventional open surgery.
en-copyright=
kn-copyright=

en-aut-name=KubotaRisa
en-aut-sei=Kubota
en-aut-mei=Risa
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=ArakiMotoo
en-aut-sei=Araki
en-aut-mei=Motoo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=WadaKoichiro
en-aut-sei=Wada
en-aut-mei=Koichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=KawamuraKasumi
en-aut-sei=Kawamura
en-aut-mei=Kasumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=MaruyamaYuki
en-aut-sei=Maruyama
en-aut-mei=Yuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=MitsuiYosuke
en-aut-sei=Mitsui
en-aut-mei=Yosuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=SadahiraTakuya
en-aut-sei=Sadahira
en-aut-mei=Takuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=AriyoshiYuichi
en-aut-sei=Ariyoshi
en-aut-mei=Yuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=IwataTakehiro
en-aut-sei=Iwata
en-aut-mei=Takehiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=NishimuraShingo
en-aut-sei=Nishimura
en-aut-mei=Shingo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

en-aut-name=TakamotoAtsushi
en-aut-sei=Takamoto
en-aut-mei=Atsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=11
ORCID=

en-aut-name=SakoTomoko
en-aut-sei=Sako
en-aut-mei=Tomoko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=12
ORCID=

en-aut-name=EdamuraKohei
en-aut-sei=Edamura
en-aut-mei=Kohei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=13
ORCID=

en-aut-name=KobayashiYasuyuki
en-aut-sei=Kobayashi
en-aut-mei=Yasuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=14
ORCID=

en-aut-name=KanoYuzuki
en-aut-sei=Kano
en-aut-mei=Yuzuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=15
ORCID=

en-aut-name=KitagawaMasashi
en-aut-sei=Kitagawa
en-aut-mei=Masashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=16
ORCID=

en-aut-name=TanabeKatsuyuki
en-aut-sei=Tanabe
en-aut-mei=Katsuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=17
ORCID=

en-aut-name=SugiyamaHitoshi
en-aut-sei=Sugiyama
en-aut-mei=Hitoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=18
ORCID=

en-aut-name=WadaJun
en-aut-sei=Wada
en-aut-mei=Jun
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=19
ORCID=

en-aut-name=WatanabeMasami
en-aut-sei=Watanabe
en-aut-mei=Masami
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=20
ORCID=

en-aut-name=WatanabeToyohiko
en-aut-sei=Watanabe
en-aut-mei=Toyohiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=21
ORCID=

en-aut-name=NasuYasutomo
en-aut-sei=Nasu
en-aut-mei=Yasutomo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=22
ORCID=

affil-num=1
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=9
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=10
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=11
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=12
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=13
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=14
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=15
en-affil=Department of Nephrology, Rheumatology, Endocrinology and Metabolism, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=16
en-affil=Department of Nephrology, Rheumatology, Endocrinology and Metabolism, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=17
en-affil=Department of Nephrology, Rheumatology, Endocrinology and Metabolism, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=18
en-affil=Department of Nephrology, Rheumatology, Endocrinology and Metabolism, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=19
en-affil=Department of Nephrology, Rheumatology, Endocrinology and Metabolism, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=20
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=21
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=22
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
en-keyword=renal autotransplantation
kn-keyword=renal autotransplantation
en-keyword=robotic
kn-keyword=robotic
en-keyword=porcine model
kn-keyword=porcine model
en-keyword=transplantation
kn-keyword=transplantation
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2019
dt-pub=20191119
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of a separable search-and-rescue robot composed of a mobile robot and a snake robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract= In this study, we propose a new robot system consisting of a mobile robot and a snake robot. The system works not only as a mobile manipulator but also as a multi-agent system by using the snake robot's ability to separate from the mobile robot. Initially, the snake robot is mounted on the mobile robot in the carrying mode. When an operator uses the snake robot as a manipulator, the robot changes to the manipulator mode. The operator can detach the snake robot from the mobile robot and command the snake robot to conduct lateral rolling motions. In this paper, we present the details of our robot and its performance in the World Robot Summit.
en-copyright=
kn-copyright=

en-aut-name=KamegawaTetsushi
en-aut-sei=Kamegawa
en-aut-mei=Tetsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=AkiyamaTaichi
en-aut-sei=Akiyama
en-aut-mei=Taichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=SakaiSatoshi
en-aut-sei=Sakai
en-aut-mei=Satoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=FujiiKento
en-aut-sei=Fujii
en-aut-mei=Kento
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=UneKazushi
en-aut-sei=Une
en-aut-mei=Kazushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=OuEitou
en-aut-sei=Ou
en-aut-mei=Eitou
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=MatsumuraYuto
en-aut-sei=Matsumura
en-aut-mei=Yuto
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=KishutaniToru
en-aut-sei=Kishutani
en-aut-mei=Toru
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=NoseEiji
en-aut-sei=Nose
en-aut-mei=Eiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=YoshizakiYusuke
en-aut-sei=Yoshizaki
en-aut-mei=Yusuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=11
ORCID=

affil-num=1
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=

affil-num=2
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=3
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=4
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=5
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=

affil-num=6
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=

affil-num=7
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=

affil-num=8
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=

affil-num=9
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=

affil-num=10
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=

affil-num=11
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University,
kn-affil=
en-keyword=Separable robot
kn-keyword=Separable robot
en-keyword=snake robot
kn-keyword=snake robot
en-keyword=mobile robot
kn-keyword=mobile robot
en-keyword=urban search-and-rescue
kn-keyword=urban search-and-rescue
en-keyword=multi-agent system
kn-keyword=multi-agent system
END

start-ver=1.4
cd-journal=joma
no-vol=73
cd-vols=
no-issue=5
article-no=
start-page=417
end-page=418
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2019
dt-pub=201910
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Feasibility of Laparoscopic Radical Cystectomy in Elderly Patients: A Comparative Analysis of Clinical Outcomes in a Single Institution
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract= Laparoscopic radical cystectomy (LRC) is a standard surgical treatment for muscle-invasive bladder cancer and high-risk non-muscle-invasive bladder cancer. LRC is a less invasive modality than conventional open surgery. Therefore, even elderly patients with invasive bladder cancer may be candidates for LRC. In this study, a comparative analysis of perioperative/oncological outcomes between elderly patients and younger patients who underwent LRC was performed to assess the feasibility of LRC in elderly patients. Sixty-eight consecutive patients who underwent LRC between October 2013 and March 2018 were enrolled and stratified into those younger than 75 years (n=37) and those ≥ 75 years old (n=31). The median follow-up period was 28.2 months. The preoperative and operative parameters and complications were similar in both groups. The 2-year overall survival (OS) was 64.4% in the younger vs. 76.4% in the elderly group (p=0.053), cancer-specific survival (CSS) was 79.3% vs. 81.7% (p=0.187), and recurrence-free survival (RFS) was 58.2% vs. 75.7% (p=0.174), respectively. No significant differences were observed in OS, CSS, or RFS between the groups. No significant differences were found between the groups with respect to peri-surgical/oncological outcomes. We conclude that LRC is feasible in elderly patients.
en-copyright=
kn-copyright=

en-aut-name=YanagiharaYutaka
en-aut-sei=Yanagihara
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NishidaKeigo
en-aut-sei=Nishida
en-aut-mei=Keigo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=WatanabeRyuta
en-aut-sei=Watanabe
en-aut-mei=Ryuta
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=KoyamaKanae
en-aut-sei=Koyama
en-aut-mei=Kanae
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=SawadaYuichiro
en-aut-sei=Sawada
en-aut-mei=Yuichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=NodaTerutaka
en-aut-sei=Noda
en-aut-mei=Terutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=AsaiSeiji 
en-aut-sei=Asai
en-aut-mei=Seiji 
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=FukumotoTetsuya
en-aut-sei=Fukumoto
en-aut-mei=Tetsuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=MiuraNoriyoshi
en-aut-sei=Miura
en-aut-mei=Noriyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=MiyauchiYuki
en-aut-sei=Miyauchi
en-aut-mei=Yuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

en-aut-name=KikugawaTadahiko
en-aut-sei=Kikugawa
en-aut-mei=Tadahiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=11
ORCID=

en-aut-name=SaikaTakashi
en-aut-sei=Saika
en-aut-mei=Takashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=12
ORCID=

affil-num=1
en-affil=Department of Urology, Ehime University Medical School
kn-affil=

affil-num=2
en-affil=Department of Urology, Ehime University Medical School
kn-affil=

affil-num=3
en-affil=Department of Urology, Ehime University Medical School
kn-affil=

affil-num=4
en-affil=Department of Urology, Ehime University Medical School
kn-affil=

affil-num=5
en-affil=Department of Urology, Ehime University Medical School
kn-affil=

affil-num=6
en-affil=
kn-affil=

affil-num=7
en-affil=Department of Urology, Ehime University Medical School
kn-affil=

affil-num=8
en-affil=Department of Urology, Ehime University Medical School
kn-affil=

affil-num=9
en-affil=Department of Urology, Ehime University Medical School
kn-affil=

affil-num=10
en-affil=Department of Urology, Ehime University Medical School
kn-affil=

affil-num=11
en-affil=Department of Urology, Ehime University Medical School
kn-affil=

affil-num=12
en-affil=Department of Urology, Ehime University Medical School
kn-affil=
en-keyword=bladder cancer
kn-keyword=bladder cancer
en-keyword=laparoscopic surgery
kn-keyword=laparoscopic surgery
en-keyword=radical cystectomy
kn-keyword=radical cystectomy
en-keyword=elderly patient
kn-keyword=elderly patient
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2019
dt-pub=20190325
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title= ステレオビジョンサーボによる運動制御と応用－ヒューマノイドロボットを中心として－
kn-title=Motion Control and Applications by Stereo-vison-based Servoing－Centering on Humanoid Robot－
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=LiXiang
en-aut-sei=Li
en-aut-mei=Xiang
kn-aut-name=李想
kn-aut-sei=李
kn-aut-mei=想
aut-affil-num=1
ORCID=

affil-num=1
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=岡山大学大学院自然科学研究科
END

start-ver=1.4
cd-journal=joma
no-vol=130
cd-vols=
no-issue=2
article-no=
start-page=51
end-page=53
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2018
dt-pub=20180801
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=The 2017 Incentive Award of the Okayama Medical Association in General Medical Science (2017 Yuuki Prize)
kn-title=平成29年度岡山医学会賞　総合研究奨励賞（結城賞）
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=HirakiTakao
en-aut-sei=Hiraki
en-aut-mei=Takao
kn-aut-name=平木隆夫
kn-aut-sei=平木
kn-aut-mei=隆夫
aut-affil-num=1
ORCID=

affil-num=1
en-affil=Department of Radiology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=岡山大学大学院医歯薬学総合研究科　放射線医学
END

start-ver=1.4
cd-journal=joma
no-vol=72
cd-vols=
no-issue=6
article-no=
start-page=539
end-page=546
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2018
dt-pub=201812
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Zerobot®: A Remote-controlled Robot for Needle Insertion in CT-guided Interventional Radiology Developed at Okayama University
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract= Since 2012, we have been developing a remote-controlled robotic system (Zerobot®) for needle insertion during computed tomography (CT)-guided interventional procedures, such as ablation, biopsy, and drainage. The system was designed via a collaboration between the medical and engineering departments at Okayama University, including various risk control features. It consists of a robot with 6 degrees of freedom that is manipulated using an operation interface to perform needle insertions under CT-guidance. The procedure includes robot positioning, needle targeting, and needle insertion. Phantom experiments have indicated that robotic insertion is equivalent in accuracy to manual insertion, without physician radiation exposure. Animal experiments have revealed that robotic insertion of biopsy introducer needles and various ablation needles is safe and accurate in vivo. The first in vivo human trial, therefore, began in April 2018. After its completion, a larger clinical study will be conducted for commercialization of the robot. This robotic procedure has many potential advantages over a manual procedure: 1) decreased physician fatigue; 2) stable and accurate needle posture without tremor; 3) procedure automation; 4) less experience required for proficiency in needle insertion skills; 5) decreased variance in technical skills among physicians; and 6) increased likelihood of performing the procedure at remote hospitals (i.e., telemedicine).
en-copyright=
kn-copyright=

en-aut-name=HirakiTakao
en-aut-sei=Hiraki
en-aut-mei=Takao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KamegawaTetsushi
en-aut-sei=Kamegawa
en-aut-mei=Tetsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=MatsunoTakayuki
en-aut-sei=Matsuno
en-aut-mei=Takayuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=KomakiToshiyuki
en-aut-sei=Komaki
en-aut-mei=Toshiyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=SakuraiJun
en-aut-sei=Sakurai
en-aut-mei=Jun
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=KanazawaSusumu
en-aut-sei=Kanazawa
en-aut-mei=Susumu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=Department of Radiology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Graduate School of Interdisciplinary Science and Engineering in Health Systems, Okayama University
kn-affil=

affil-num=3
en-affil=Graduate School of Natural Science and Technology, Okayama University
kn-affil=

affil-num=4
en-affil=Department of Radiology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Center for Innovative Clinical Medicine, Okayama University Hospital
kn-affil=

affil-num=6
en-affil=Department of Radiology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
en-keyword=robot
kn-keyword=robot
en-keyword= needle insertion
kn-keyword= needle insertion
en-keyword=CT-guided interventional radiology
kn-keyword=CT-guided interventional radiology
END

start-ver=1.4
cd-journal=joma
no-vol=72
cd-vols=
no-issue=4
article-no=
start-page=407
end-page=417
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2018
dt-pub=201808
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of Gait Rehabilitation System Capable of Assisting Pelvic Movement of Normal Walking
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract= Gait rehabilitation training with robotic exoskeleton is drawing attention as a method for more advanced gait rehabilitation training. However, most of the rehabilitation robots are mainly focused on locomotion training in the sagittal plane. This study introduces a novel gait rehabilitation system with actuated pelvic motion to generate natural gait motion. The rehabilitation robot developed in this study, COWALK, is a lower-body exoskeleton system with 15 degrees of freedom (DoFs). The COWALK can generate multi-DoF pelvic movement along with leg movements. To produce natural gait patterns, the actuation of pelvic movement is essential. In the COWALK, the pelvic movement mechanism is designed to help hemiplegic patients regain gait balance during gait training. To verify the effectiveness of the developed system, the gait patterns with and without pelvic movement were compared to the normal gait on a treadmill. The experimental results show that the active control of pelvic movement combined with the active control of leg movement can make the gait pattern much more natural.
en-copyright=
kn-copyright=

en-aut-name=JungChanyul
en-aut-sei=Jung
en-aut-mei=Chanyul
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=JungSuhun
en-aut-sei=Jung
en-aut-mei=Suhun
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=ChunMin Ho
en-aut-sei=Chun
en-aut-mei=Min Ho
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=LeeJong Min
en-aut-sei=Lee
en-aut-mei=Jong Min
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=ParkShinsuk
en-aut-sei=Park
en-aut-mei=Shinsuk
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=KimSeung-Jong
en-aut-sei=Kim
en-aut-mei=Seung-Jong
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=Department of Mechanical Engineering, Korea University
kn-affil=

affil-num=2
en-affil=Department of Mechanical Engineering, Korea University
kn-affil=

affil-num=3
en-affil=Department of Physical Medicine and Rehabilitation, Asan Medical Center, College of Medicine, University of Ulsan
kn-affil=

affil-num=4
en-affil=Center for Bionics, Korea Institute of Science and Technology
kn-affil=

affil-num=5
en-affil=Department of Mechanical Engineering, Korea University
kn-affil=

affil-num=6
en-affil=Department of Biomedical Engineering, College of Medicine, Korea University
kn-affil=
en-keyword=exoskeleton
kn-keyword=exoskeleton
en-keyword=gait rehabilitation
kn-keyword=gait rehabilitation
en-keyword=balance control
kn-keyword=balance control
en-keyword=pelvic movement
kn-keyword=pelvic movement
en-keyword=gravity compensation
kn-keyword=gravity compensation
END

start-ver=1.4
cd-journal=joma
no-vol=45
cd-vols=
no-issue=
article-no=
start-page=19
end-page=26
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2018
dt-pub=20180322
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A preliminary study of the effects of a smile-supplement robot on behavioral and psychological symptoms of elderly people with mild impairment
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=TanigakiShizuko
en-aut-sei=Tanigaki
en-aut-mei=Shizuko
kn-aut-name=谷垣靜子
kn-aut-sei=谷垣
kn-aut-mei=靜子
aut-affil-num=1
ORCID=

en-aut-name=KishidaKensaku
en-aut-sei=Kishida
en-aut-mei=Kensaku
kn-aut-name=岸田研作
kn-aut-sei=岸田
kn-aut-mei=研作
aut-affil-num=2
ORCID=

en-aut-name=FujitaAkihito
en-aut-sei=Fujita
en-aut-mei=Akihito
kn-aut-name=藤田瑛仁
kn-aut-sei=藤田
kn-aut-mei=瑛仁
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学大学院保健学研究科

affil-num=2
en-affil=
kn-affil=岡山大学大学院保健学研究科

affil-num=3
en-affil=
kn-affil=
END

start-ver=1.4
cd-journal=joma
no-vol=71
cd-vols=
no-issue=4
article-no=
start-page=351
end-page=355
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2017
dt-pub=201708
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Robotic Renal Autotransplantation: First Case Outside of North America
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract= A 38-year-old woman with a 2.7-cm left ureteral stenosis requiring chronic ureteral stent exchange elected to undergo robotic renal autotransplantation. Left ureteropelvic junction obstruction (UPJO) was also suspected. Robotic donor nephrectomy contributed to the fine dissection for desmoplastic changes. The kidney was removed through a Gelport and examined on ice. UPJO was not seen. An end-to-side robotic anastomosis was created between the renal and external iliac vessels. The console time was 507 min, and the warm ischemia time was 4 min 5 sec. She became stent-free. Robotic renal autotransplantation is a new, minimally invasive approach to renal preservation.
en-copyright=
kn-copyright=

en-aut-name=ArakiMotoo
en-aut-sei=Araki
en-aut-mei=Motoo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=WadaKoichiro
en-aut-sei=Wada
en-aut-mei=Koichiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=MitsuiYosuke
en-aut-sei=Mitsui
en-aut-mei=Yosuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=SadahiraTakuya
en-aut-sei=Sadahira
en-aut-mei=Takuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=KubotaRisa
en-aut-sei=Kubota
en-aut-mei=Risa
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=NishimuraShingo
en-aut-sei=Nishimura
en-aut-mei=Shingo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=YoshiokaTakashi
en-aut-sei=Yoshioka
en-aut-mei=Takashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=AriyoshiYuichi
en-aut-sei=Ariyoshi
en-aut-mei=Yuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

en-aut-name=FujioKei
en-aut-sei=Fujio
en-aut-mei=Kei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=9
ORCID=

en-aut-name=TakamotoAtsushi
en-aut-sei=Takamoto
en-aut-mei=Atsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=10
ORCID=

en-aut-name=SugimotoMorito
en-aut-sei=Sugimoto
en-aut-mei=Morito
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=11
ORCID=

en-aut-name=SasakiKatsumi
en-aut-sei=Sasaki
en-aut-mei=Katsumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=12
ORCID=

en-aut-name=KobayashiYasuyuki
en-aut-sei=Kobayashi
en-aut-mei=Yasuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=13
ORCID=

en-aut-name=EbaraShin
en-aut-sei=Ebara
en-aut-mei=Shin
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=14
ORCID=

en-aut-name=TaninishiHideki
en-aut-sei=Taninishi
en-aut-mei=Hideki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=15
ORCID=

en-aut-name=AmanoHiroyuki
en-aut-sei=Amano
en-aut-mei=Hiroyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=16
ORCID=

en-aut-name=InuiMasashi
en-aut-sei=Inui
en-aut-mei=Masashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=17
ORCID=

en-aut-name=WatanabeMasami
en-aut-sei=Watanabe
en-aut-mei=Masami
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=18
ORCID=

en-aut-name=WatanabeToyohiko
en-aut-sei=Watanabe
en-aut-mei=Toyohiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=19
ORCID=

en-aut-name=NasuYasutomo
en-aut-sei=Nasu
en-aut-mei=Yasutomo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=20
ORCID=

affil-num=1
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=2
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=3
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=4
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=5
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=6
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=7
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=8
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=9
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=10
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=11
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=12
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=13
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=14
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=15
en-affil=Department of Anesthesiology,  Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=16
en-affil=Amano Clinic
kn-affil=

affil-num=17
en-affil=Department of Urology, Tokyo Women’s Medical University Yachiyo Medical Center
kn-affil=

affil-num=18
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=19
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=

affil-num=20
en-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences
kn-affil=
en-keyword=robotic surgery
kn-keyword=robotic surgery
en-keyword=renal autotransplantation
kn-keyword=renal autotransplantation
en-keyword=ureteral stenosis
kn-keyword=ureteral stenosis
en-keyword=laparoscopic surgery
kn-keyword=laparoscopic surgery
en-keyword=renal transplantation
kn-keyword=renal transplantation
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2017
dt-pub=20170324
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=自動車型移動ロボットの駐車問題のための画像に基づくファジィ制御器の設計
kn-title=Design of an Image-based Fuzzy Controller for Parking Problems of a Car-like Mobile Robot　
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=Yin Yin Aye
en-aut-sei=Yin Yin Aye
en-aut-mei=
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

affil-num=1
en-affil=Graduate School of Natural Science and Tchnology, Okayama University
kn-affil=岡山大学大学院自然科学研究科
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2016
dt-pub=20160325
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=空気圧ラバーアクチュエータを用いた医療支援用ソフトロボット
kn-title=Soft Robot with New Pneumatic Rubber Actuators for Medical Assisting Device
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=MOHAMED NAJIB BIN RIBUAN
en-aut-sei=MOHAMED NAJIB BIN RIBUAN
en-aut-mei=
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学
END

start-ver=1.4
cd-journal=joma
no-vol=27
cd-vols=
no-issue=15
article-no=
start-page=1147
end-page=1160
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2013
dt-pub=20130722
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Positioning device for outdoor mobile robots using optical sensors and lasers
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=We propose a novel method for positioning a mobile robot in an outdoor environment using lasers and optical sensors. Position estimation via a noncontact optical method is useful because the information from the wheel odometer and the global positioning system in a mobile robot is unreliable in some situations. Contact optical sensors such as computer mouse are designed to be in contact with a surface and do not function well in strong ambient light conditions. To mitigate the challenges of an outdoor environment, we developed an optical device with a bandpass filter and a pipe to restrict solar light and to detect translation. The use of two devices enables sensing of the mobile robot’s position, including posture. Furthermore, employing a collimated laser beam allows measurements against a surface to be invariable with the distance to the surface. In this paper, we describe motion estimation, device configurations, and several tests for performance evaluation. We also present the experimental positioning results from a vehicle equipped with our optical device on an outdoor path. Finally, we discuss an improvement in postural accuracy by combining an optical device with precise gyroscopes.
en-copyright=
kn-copyright=

en-aut-name=NagaiIsaku
en-aut-sei=Nagai
en-aut-mei=Isaku
kn-aut-name=永井伊作
kn-aut-sei=永井
kn-aut-mei=伊作
aut-affil-num=1
ORCID=

en-aut-name=YamauchiGenki
en-aut-sei=Yamauchi
en-aut-mei=Genki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=NagataniKeiji
en-aut-sei=Nagatani
en-aut-mei=Keiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=WatanabeKeigo
en-aut-sei=Watanabe
en-aut-mei=Keigo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=YoshidaKazuya
en-aut-sei=Yoshida
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=
kn-affil=自然科学研究科

affil-num=2
en-affil=
kn-affil=Graduate School of Engineering, Tohoku University

affil-num=3
en-affil=
kn-affil=Graduate School of Engineering, Tohoku University

affil-num=4
en-affil=
kn-affil=Department of Intelligent Mechanical Systems , Okayama University

affil-num=5
en-affil=
kn-affil=Graduate School of Engineering, Tohoku University
en-keyword=mobile robot
kn-keyword=mobile robot
en-keyword=position estimation
kn-keyword=position estimation
en-keyword=laser speckle pattern
kn-keyword=laser speckle pattern
en-keyword=optical sensor
kn-keyword=optical sensor
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=6053
end-page=6058
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2015
dt-pub=20150928
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Path Tracking by a Mobile Robot Equipped with Only a Downward Facing Camera
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper presents a practical path-tracking
method for a mobile robot with only a downward camera facing the passage plane. A unique algorithm for tracking and searching ground images with natural texture is used to localize the robot without a feature-point extraction scheme commonly used in other visual odometry methods. In our tracking algorithm, groups of reference pixels are used to detect the relative translation and rotation between frames. Furthermore, a reference pixel group of another shape is registered both to record a path and to correct errors accumulated during localization. All image processing and robot control operations are carried out with low memory consumption for image registration and fast calculation times for completing the searches on a laptop PC. We also describe experimental results in which a vehicle developed by the proposed method repeatedly performed precise path tracking under indoor and outdoor environments.
en-copyright=
kn-copyright=

en-aut-name=NagaiIsaku
en-aut-sei=Nagai
en-aut-mei=Isaku
kn-aut-name=永井伊作
kn-aut-sei=永井
kn-aut-mei=伊作
aut-affil-num=1
ORCID=

en-aut-name=WatanabeKeigo
en-aut-sei=Watanabe
en-aut-mei=Keigo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学大学院自然科学研究科

affil-num=2
en-affil=
kn-affil=岡山大学大学院自然科学研究科
END

start-ver=1.4
cd-journal=joma
no-vol=159
cd-vols=
no-issue=
article-no=
start-page=71
end-page=77
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2015
dt-pub=20150728
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Design for Toy-Robot with 5-Bar-Link Mechanism
kn-title=５節リンク機構をもつ動くおもちゃの設計
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=リンク機構は，多種類の動きを生成することから，多くの動くおもちゃの基本メカニズムとして，欠かせない存在である。多節リンクを適用すれば，それぞれのリンクで各種動きを生成できるが，一方で，動きが一定にならなかったり，動かなくなったりする場合は多い。そこで本研究では，１つのリンクを駆動用に固定した５節リンク機構に注目し，目的の動きを得るための５節リンク機構の解法アルゴリズムの展開と，それを用いた設計方法について提案する。そして，適用例を示し，提案した設計方法の有用性について考察する。
en-copyright=
kn-copyright=

en-aut-name=OhashiKazumasa
en-aut-sei=Ohashi
en-aut-mei=Kazumasa
kn-aut-name=大橋和正
kn-aut-sei=大橋
kn-aut-mei=和正
aut-affil-num=1
ORCID=

en-aut-name=ShiragaYasuhiro
en-aut-sei=Shiraga
en-aut-mei=Yasuhiro
kn-aut-name=白神康弘
kn-aut-sei=白神
kn-aut-mei=康弘
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学大学院教育学研究科　生活・健康スポーツ学系

affil-num=2
en-affil=
kn-affil=岡山市立京山中学校
en-keyword=５節リンク機構
kn-keyword=５節リンク機構
en-keyword=機構設計
kn-keyword=機構設計
en-keyword=解法アルゴリズム
kn-keyword=解法アルゴリズム
en-keyword=おもちゃ設計
kn-keyword=おもちゃ設計
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2014
dt-pub=20140325
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=アクティブ双輪キャスター機構を用いた全方向移動パーソナルモビリティロボットのための転倒安定性の解析と向上
kn-title=Tip-over Stability Analysis and Enhancement for Omnidirectional Personal Mobility Robots with Active Dual-wheel Caster Assemblies
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=Muhammad Juhairi Aziz Bin Safar
en-aut-sei=Muhammad Juhairi Aziz Bin Safar
en-aut-mei=
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学
END

start-ver=1.4
cd-journal=joma
no-vol=155
cd-vols=
no-issue=
article-no=
start-page=101
end-page=108
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2014
dt-pub=20140225
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Manufacturing of Mechanical Toy Robot by Paper Craft － Toy Robot‘Harukoma’to be easily changed the parts of mechanism －
kn-title=ペーパークラフトによるからくりおもちゃの製作 ― 動力伝達部品を取り替えて動きを学習できる春駒人形づくり ―
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=　生活の中でのおもちゃの存在は，心を豊かにするものがある。江戸期のころのからくり人形に代表されるように，メカニズムを創造することが，おもちゃ製作には求められることになる。本研究では，身近な材料である紙を用いて，からくり人形の製作を考え，メカニズムを取り替えることによって，人形の動きの変化を学習することができる教材を提案する。具体的には，からくり人形としては，構造の簡単な春駒人形のメカニズムを基本形にして，ペーパークラフトによる動力伝達部品の取り替えで，春駒人形の動きが変わることを体験できる学習教材を開発する。
en-copyright=
kn-copyright=

en-aut-name=OhashiKazumasa
en-aut-sei=Ohashi
en-aut-mei=Kazumasa
kn-aut-name=大橋和正
kn-aut-sei=大橋
kn-aut-mei=和正
aut-affil-num=1
ORCID=

en-aut-name=NomotoHaruka
en-aut-sei=Nomoto
en-aut-mei=Haruka
kn-aut-name=野本悠
kn-aut-sei=野本
kn-aut-mei=悠
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学大学院教育学研究科　生活・健康スポーツ学系　技術教育講座

affil-num=2
en-affil=
kn-affil=コンピューターシステム株式会社
en-keyword=ペーパークラフト
kn-keyword=ペーパークラフト
en-keyword=からくりおもちゃ
kn-keyword=からくりおもちゃ
en-keyword=春駒人形
kn-keyword=春駒人形
en-keyword=学習教材
kn-keyword=学習教材
END

start-ver=1.4
cd-journal=joma
no-vol=68
cd-vols=
no-issue=1
article-no=
start-page=35
end-page=41
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2014
dt-pub=201402
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Robot-Assisted Radical Prostatectomy:Modified Ultradissection Reduces pT2 Positive Surgical Margins on the Bladder Neck
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The purpose of this study was to compare the positive surgical margin (PSM) rates of 2 techniques of robot-assisted radical prostatectomy (RARP) for pT2 (localized) prostate cancer. A retrospective analysis was conducted of 361 RARP cases, performed from May 2005 to September 2008 by a single surgeon (KHR) at our institution (Yonsei University College of Medicine). In the conventional technique,
the bladder neck was transected first. In the modified ultradissection, the lateral border of the bladder neck was dissected and then the bladder neck was transected while the detrusor muscle of the bladder was well visualized. Perioperative characteristics and outcomes and PSM rates were analyzed retrospectively for pT2 patients (n＝217), focusing on a comparison of those undergoing conventional (n＝113) and modified ultradissection (n＝104) techniques. There was no difference between the conventional
and modified ultradissection group in mean age, BMI, PSA, prostate volume, biopsy Gleason score, and DʼAmico prognostic criteria distributions. The mean operative time was shorter
(p＜0.001) and the estimated blood loss was less (p＜0.01) in the modified ultradissection group. The PSM rate for the bladder neck was significantly reduced by modified ultradissection, from 6.2% to
0% (p＜0.05). In conclusion, modified ultradissection reduces the PSM rate for the bladder neck.
en-copyright=
kn-copyright=

en-aut-name=ArakiMotoo
en-aut-sei=Araki
en-aut-mei=Motoo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=JeongWooju
en-aut-sei=Jeong
en-aut-mei=Wooju
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=ParkSung Yul
en-aut-sei=Park
en-aut-mei=Sung Yul
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=LeeYoung Hoon
en-aut-sei=Lee
en-aut-mei=Young Hoon
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=NasuYasutomo
en-aut-sei=Nasu
en-aut-mei=Yasutomo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=KumonHiromi
en-aut-sei=Kumon
en-aut-mei=Hiromi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=HongSung Joon
en-aut-sei=Hong
en-aut-mei=Sung Joon
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=RhaKoon Ho
en-aut-sei=Rha
en-aut-mei=Koon Ho
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

affil-num=1
en-affil=
kn-affil=Department of Urology and Urological Science Institute, Severance Hospital, Yonsei University College of Medicine

affil-num=2
en-affil=
kn-affil=Department of Urology and Urological Science Institute, Severance Hospital, Yonsei University College of Medicine

affil-num=3
en-affil=
kn-affil=Department of Urology, Hangyang University College of Medicine

affil-num=4
en-affil=
kn-affil=Department of Urology and Urological Science Institute, Severance Hospital, Yonsei University College of Medicine

affil-num=5
en-affil=
kn-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences

affil-num=6
en-affil=
kn-affil=Department of Urology, Okayama University Graduate School of Medicine, Dentistry and Pharmaceutical Sciences

affil-num=7
en-affil=
kn-affil=Department of Urology and Urological Science Institute, Severance Hospital, Yonsei University College of Medicine

affil-num=8
en-affil=
kn-affil=Department of Urology and Urological Science Institute, Severance Hospital, Yonsei University College of Medicine
en-keyword=robot-assisted radical prostatectomy
kn-keyword=robot-assisted radical prostatectomy
en-keyword=prostate cancer
kn-keyword=prostate cancer
en-keyword=surgery
kn-keyword=surgery
en-keyword=surgical margin
kn-keyword=surgical margin
en-keyword=technique
kn-keyword=technique
END

start-ver=1.4
cd-journal=joma
no-vol=125
cd-vols=
no-issue=2
article-no=
start-page=129
end-page=134
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2013
dt-pub=20130801
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Usefulness of a newly developed tele-operating system for non-invasive ultrasound urodynamics
kn-title=新しい遠隔操作装置を用いた超音波ドプラ排尿機能検査の有用性に関する検討
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=We previously reported a non-invasive, transperineal, urodynamic technique using Doppler ultrasonography. Recently, we developed a new tele-operating system to control the robotic arm of the ultrasound probe that has a pressure-regulating function and a touch-panel that allows the operator to monitor the exact position of the probe.
 From January 2008 to April 2010, 61 cases were examined using this system. Among them, 41 cases were examined by 2 experienced doctors and 20 cases were examined by 5 inexperienced nurses. We then compared the success rate of taking images sufficient for analyzing the velocity parameters and preparation time for setup between these two groups. In 45 out of 61 cases, whose examinations were successfully carried out, the velocity-flow parameters were compared between 19 cases with bladder outlet obstruction (BOO) and 26 without BOO.
 Satisfactory images were obtained in 32 cases (78%) by doctors and in 13 cases (65%) by nurses. The preparation time was 9.8 seconds for doctors and 13.2 seconds for nurses, with no statistical difference. The functional cross-sectional area in the prostatic urethra (A1) was significantly smaller in the BOO(+) group (0.056?) compared to the BOO(-) group (0.360?). The velocity ratio (VR) was significantly higher in the BOO(+) group (1.89) than in the BOO(-) group (0.41).
 In conclusion, the newly developed tele-operating system has made it easier for an inexperienced examiner to obtain velocity parameters using Doppler ultrasound urodynamic measurement.
en-copyright=
kn-copyright=

en-aut-name=UematsuKatsutoshi
en-aut-sei=Uematsu
en-aut-mei=Katsutoshi
kn-aut-name=上松克利
kn-aut-sei=上松
kn-aut-mei=克利
aut-affil-num=1
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学大学院医歯薬学総合研究科 泌尿器病態学
en-keyword=非侵襲排尿機能検査（non-invasive urodynamic study）
kn-keyword=非侵襲排尿機能検査（non-invasive urodynamic study）
en-keyword=超音波ドプラ（Doppler ultrasonography）
kn-keyword=超音波ドプラ（Doppler ultrasonography）
en-keyword=遠隔操作装置（tele-operating system）
kn-keyword=遠隔操作装置（tele-operating system）
en-keyword=下部尿路閉塞（bladder outlet obstruction）
kn-keyword=下部尿路閉塞（bladder outlet obstruction）
en-keyword=前立腺肥大症（benign prostatic hyperplasia）
kn-keyword=前立腺肥大症（benign prostatic hyperplasia）
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2012
dt-pub=20120927
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=両眼転導ビジュアルサーボとセンサーレス研削の制御方法　―制御則の提案とリヤプノフ法による安定性解析―
kn-title=Control Methods of Robots for Eye-Vergence Visual Servoing and Sensorless Grinding　―Proposals of Control law and Stability Analyses by Lyapunov Method―
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=YuFujya
en-aut-sei=Yu
en-aut-mei=Fujya
kn-aut-name=于福佳
kn-aut-sei=于
kn-aut-mei=福佳
aut-affil-num=1
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学
END

start-ver=1.4
cd-journal=joma
no-vol=20
cd-vols=
no-issue=10
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2011
dt-pub=201110
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Design of a variable-stiffness robotic hand using pneumatic soft rubber actuators
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=In recent years, Japanese society has been ageing, engendering a labor shortage of young workers. Robots are therefore expected to be useful in performing tasks such as day-to-day support for elderly people. In particular, robots that are intended for use in the field of medical care and welfare are expected to be safe when operating in a human environment because they often come into contact with people. Furthermore, robots must perform various tasks such as regrasping, grasping of soft objects, and tasks using frictional force. Given these demands and circumstances, a tendon-driven robot hand with a stiffness changing finger has been developed. The finger surface stiffness can be altered by adjusting the input pressure depending on the task. Additionally, the coefficient of static friction can be altered by changing the surface stiffness merely by adjusting the input air pressure. This report describes the basic structure, driving mechanism, and basic properties of the proposed robot hand.
en-copyright=
kn-copyright=

en-aut-name=NagaseJun-ya
en-aut-sei=Nagase
en-aut-mei=Jun-ya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=WakimotoShuichi
en-aut-sei=Wakimoto
en-aut-mei=Shuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=SatohToshiyuki
en-aut-sei=Satoh
en-aut-mei=Toshiyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=SagaNorihiko
en-aut-sei=Saga
en-aut-mei=Norihiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=SuzumoriKoichi
en-aut-sei=Suzumori
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=
kn-affil=School of Science and Technology, Kwansei Gakuin University

affil-num=2
en-affil=
kn-affil=Research Core for Interdisciplinary Sciences, Okayama University

affil-num=3
en-affil=
kn-affil=Faculty of Systems Science and Technology, Akita Prefectural University

affil-num=4
en-affil=
kn-affil=School of Science and Technology, Kwansei Gakuin University

affil-num=5
en-affil=
kn-affil=Graduate School of Natural Science and Technology, Okayama University
END

start-ver=1.4
cd-journal=joma
no-vol=46
cd-vols=
no-issue=9
article-no=
start-page=517
end-page=523
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2011
dt-pub=20110905
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Development of Balloon Type Tendon-driven Robot Hand with Stiffness Change Finger
kn-title=空気圧剛性可変フィンガを有するバルーン型腱駆動ロボットハンドの開発
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=NagaseJun-ya
en-aut-sei=Nagase
en-aut-mei=Jun-ya
kn-aut-name=永瀬純也
kn-aut-sei=永瀬
kn-aut-mei=純也
aut-affil-num=1
ORCID=

en-aut-name=WakimotoShuichi
en-aut-sei=Wakimoto
en-aut-mei=Shuichi
kn-aut-name=脇元修一
kn-aut-sei=脇元
kn-aut-mei=修一
aut-affil-num=2
ORCID=

en-aut-name=SagaNorihiko
en-aut-sei=Saga
en-aut-mei=Norihiko
kn-aut-name=嵯峨宣彦
kn-aut-sei=嵯峨
kn-aut-mei=宣彦
aut-affil-num=3
ORCID=

en-aut-name=SuzumoriKoichi
en-aut-sei=Suzumori
en-aut-mei=Koichi
kn-aut-name=鈴森康一
kn-aut-sei=鈴森
kn-aut-mei=康一
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=関西学院大学

affil-num=2
en-affil=
kn-affil=岡山大学

affil-num=3
en-affil=
kn-affil=関西学院大学

affil-num=4
en-affil=
kn-affil=岡山大学
en-keyword=stiffness change device
kn-keyword=stiffness change device
en-keyword=flexible finger
kn-keyword=flexible finger
en-keyword=pneumatic balloon
kn-keyword=pneumatic balloon
en-keyword=robot hand
kn-keyword=robot hand
en-keyword=tendon-driven
kn-keyword=tendon-driven
END

start-ver=1.4
cd-journal=joma
no-vol=29
cd-vols=
no-issue=7
article-no=
start-page=619
end-page=625
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2011
dt-pub=20110915
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Design and Basic Characteristics of Pneumatic Rubber Tube Actuator for Colonoscope Insertion
kn-title=大腸内視鏡挿入支援を目指したラバーチューブアクチュエータの設計と基礎駆動特性
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Colonoscopy is an important medical action to detect disorders like colon cancer. However generally it is difficult to insert a scope into the colon, because the colon is flexible and complex shape. This study aims at development of an actuator which can add propelling ability to a colonoscope. We focus on rubber pneumatic actuators, because advantages of them, for example, high compliance, low cost, water proof, and so on, agree with the required properties of medical devices. In this paper, we design a novel rubber actuator consisting of three air chambers by nonlinear FEM (finite element method) and fabricate the actuator employing the design by extrusion molding method. Basic characteristics of the actuator are clarified by a motion capture system, and functional motion leading assisting colonoscope insertion is observed. Actually using dummy endoscope, transportation ability by the actuators is confirmed experimentally and insertion experiments into a large intestine phantom are conducted.
en-copyright=
kn-copyright=

en-aut-name=WakimotoShuichi
en-aut-sei=Wakimoto
en-aut-mei=Shuichi
kn-aut-name=脇元修一
kn-aut-sei=脇元
kn-aut-mei=修一
aut-affil-num=1
ORCID=

en-aut-name=OzakiKen
en-aut-sei=Ozaki
en-aut-mei=Ken
kn-aut-name=尾崎健
kn-aut-sei=尾崎
kn-aut-mei=健
aut-affil-num=2
ORCID=

en-aut-name=SuzumoriKoichi
en-aut-sei=Suzumori
en-aut-mei=Koichi
kn-aut-name=鈴森康一
kn-aut-sei=鈴森
kn-aut-mei=康一
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学

affil-num=2
en-affil=
kn-affil=岡山大学

affil-num=3
en-affil=
kn-affil=岡山大学
en-keyword=Soft Actuator
kn-keyword=Soft Actuator
en-keyword=Colonoscope Robot
kn-keyword=Colonoscope Robot
en-keyword=Soft Mechanism
kn-keyword=Soft Mechanism
END

start-ver=1.4
cd-journal=joma
no-vol=25
cd-vols=
no-issue=9-10
article-no=
start-page=1311
end-page=1330
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2011
dt-pub=2011
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Miniature Pneumatic Curling Rubber Actuator Generating Bidirectional Motion with One Air-Supply Tube
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Soft actuators driven by pneumatic pressure are promising actuators for mechanical systems in medical, biological, agriculture, welfare fields and so on, because they can ensure high safety for fragile objects from their low mechanical impedance. In this study, a new rubber pneumatic actuator made from silicone rubber was developed. Composed of one chamber and one air-supply tube, it can generate curling motion in two directions by using positive and negative pneumatic pressure. The rubber actuator, for generating bidirectional motion, was designed to achieve an efficient shape by nonlinear finite element method analysis, and was fabricated by a molding and rubber bonding process using excimer light. The fabricated actuator was able to generate curling motion in two directions successfully. The displacement and force characteristics of the actuator were measured by using a motion capture system and a load cell. As an example application of the actuator, a robotic soft hand with three actuators was constructed and its effectiveness was confirmed by experiments.
en-copyright=
kn-copyright=

en-aut-name=WakimotoShuichi
en-aut-sei=Wakimoto
en-aut-mei=Shuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=SuzumoriKoichi
en-aut-sei=Suzumori
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=OguraKeiko
en-aut-sei=Ogura
en-aut-mei=Keiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Research Core for Interdisciplinary Sciences, Okayama University

affil-num=2
en-affil=
kn-affil=Graduate School of Natural Science and Technology, Okayama University

affil-num=3
en-affil=
kn-affil=Graduate School of Natural Science and Technology, Okayama University
en-keyword=Soft actuator
kn-keyword=Soft actuator
en-keyword=pneumatic actuator
kn-keyword=pneumatic actuator
en-keyword=bidirectional motion
kn-keyword=bidirectional motion
en-keyword=nonlinear analysis
kn-keyword=nonlinear analysis
END

start-ver=1.4
cd-journal=joma
no-vol=24
cd-vols=
no-issue=10
article-no=
start-page=1503
end-page=1528
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2010
dt-pub=2010
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of an Intelligent Chair Tool System Applying New Intelligent Pneumatic Actuators
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper develops an Intelligent Chair Tool (ICT) - a new chair-type human and machine interaction seating system powered by 36 intelligent pneumatic actuators. This tool can be used to facilitate investigation of chair shapes from spring and damping effects of seating and backrest surfaces. Each actuator used consists of five extensive elements of encoder, laser strip rod, pressure sensor, valves and PSoC microcontroller incorporated in a single device. By using the ICT, different shapes, spring and damping characteristics can be obtained to aid the design of chairs from the control inputs, i.e., position x, stiffness k(s) and viscous coefficient c. Several control algorithms are presented to realize the communication and control system, and to obtain all data in real-time. The control methodology presented contains an inner force loop and an outer position loop implemented using a unified control system. The specification, development design and experimental evaluation of the ICT control system and actuator used are presented and discussed.
en-copyright=
kn-copyright=

en-aut-name=FaudziAhmad 'Athif Mohd
en-aut-sei=Faudzi
en-aut-mei=Ahmad 'Athif Mohd
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=SuzumoriKoichi
en-aut-sei=Suzumori
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=WakimotoShuichi
en-aut-sei=Wakimoto
en-aut-mei=Shuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Graduate School of Natural Science and Technology, Okayama University

affil-num=2
en-affil=
kn-affil=Graduate School of Natural Science and Technology, Okayama University

affil-num=3
en-affil=
kn-affil=Research Core for Interdisciplinary Sciences, Okayama University
en-keyword=Intelligent Chair Tool
kn-keyword=Intelligent Chair Tool
en-keyword=seating system
kn-keyword=seating system
en-keyword=intelligent pneumatic actuator
kn-keyword=intelligent pneumatic actuator
en-keyword=physical human machine interaction
kn-keyword=physical human machine interaction
en-keyword=control application in mechatronics
kn-keyword=control application in mechatronics
END

start-ver=1.4
cd-journal=joma
no-vol=148
cd-vols=
no-issue=
article-no=
start-page=69
end-page=75
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2011
dt-pub=20111025
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Young children's understanding of other's mental states: Using robot illustrations
kn-title=幼児期における他者の心の理解の発達 : イラストのロボットを用いて
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=本研究は，イラストを使った人間の行動とロボットの行動を比較することを通して，幼児期における他者の心の理解の発達を検討したものである。45人の幼児に，人間版とロボット版の誤信念課題と道徳判断課題を提示した。人間版とロボット版では，主人公が人間であるかロボットであるかの違い以外はすべて同じ状況で同じ行動とした。その結果，誤信念課題においては，ロボット版の方が人間版より得点が有意に低く，幼児は｢ロボットに対して，人間に対する時ほどには誤信念を考慮しない｣という傾向が明らかになった。道徳判断課題では，作為的な状況であれ不作為的な状況であれ，ロボットの行動と人間の行動の悪さの比較に差はなく，ロボットの行為に対しても，人間の行為に対してと同様の道徳判断をしたことが示唆された。
en-copyright=
kn-copyright=

en-aut-name=HayashiHajimu
en-aut-sei=Hayashi
en-aut-mei=Hajimu
kn-aut-name=林創
kn-aut-sei=林
kn-aut-mei=創
aut-affil-num=1
ORCID=

en-aut-name=ImanakaNanako
en-aut-sei=Imanaka
en-aut-mei=Nanako
kn-aut-name=今中菜七子
kn-aut-sei=今中
kn-aut-mei=菜七子
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学大学院教育学研究科教育心理学講座

affil-num=2
en-affil=
kn-affil=サムエル未来幼稚園（サムエル未来こどもの園）
en-keyword=心の理論
kn-keyword=心の理論
en-keyword=幼児
kn-keyword=幼児
en-keyword=道徳判断
kn-keyword=道徳判断
en-keyword=不作為
kn-keyword=不作為
en-keyword=ロボット
kn-keyword=ロボット
END

start-ver=1.4
cd-journal=joma
no-vol=37
cd-vols=
no-issue=1
article-no=
start-page=1
end-page=10
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2002
dt-pub=200211
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Agent Based Routing Control for Multi Mobile Robots in Transportation
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Auto Guided Vehicles (AGVs) are widely used in a semi-conductor fabricating factory and contribute to the stable production of a high quality semi-conductor products. In the near future, further expansion of the transportation system is expected accompanied with the rapid growth of semi-conductor industries. In such situation, the necessity of performing quick planning of transportation route and transportation control will be elevated. In this paper, practicable planning of the transportation route and transportation control are studied based on the decentralized agent method. Especially, the geometrical sizes of AGVs are considered in the determination of transportation routes and control strategy avoiding the occurrence of mutual collisions or deadlock of AGVs.
en-copyright=
kn-copyright=

en-aut-name=SotobayashiKen
en-aut-sei=Sotobayashi
en-aut-mei=Ken
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KonishiMasami
en-aut-sei=Konishi
en-aut-mei=Masami
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=NishiTatsushi
en-aut-sei=Nishi
en-aut-mei=Tatsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=ImaiJun
en-aut-sei=Imai
en-aut-mei=Jun
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Dept. of Electrical and Electronic Engineering Okayama University

affil-num=2
en-affil=
kn-affil=Dept. of Electrical and Electronic Engineering Okayama University

affil-num=3
en-affil=
kn-affil=Dept. of Electrical and Electronic Engineering Okayama University

affil-num=4
en-affil=
kn-affil=Dept. of Electrical and Electronic Engineering Okayama University
END

start-ver=1.4
cd-journal=joma
no-vol=123
cd-vols=
no-issue=2
article-no=
start-page=111
end-page=117
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2011
dt-pub=20110801
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Less invasive treatments for urological diseases
kn-title=泌尿器科領域における低侵襲治療
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=NasuYasutomo
en-aut-sei=Nasu
en-aut-mei=Yasutomo
kn-aut-name=那須保友
kn-aut-sei=那須
kn-aut-mei=保友
aut-affil-num=1
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学病院　新医療研究開発センター
en-keyword=低侵襲治療
kn-keyword=低侵襲治療
en-keyword=腹腔鏡手術
kn-keyword=腹腔鏡手術
en-keyword=密封小線源治療
kn-keyword=密封小線源治療
en-keyword=ロボット支援手術
kn-keyword=ロボット支援手術
END

start-ver=1.4
cd-journal=joma
no-vol=45
cd-vols=
no-issue=
article-no=
start-page=1
end-page=14
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2011
dt-pub=201101
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Optimal Digital Control Systems Design for Handling Machines using dsPIC
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper presents a method of the controller design for the handling machine by using dsPIC(Digital Signal Processor + Peripheral Interface Controller). Recently, many manufacturing robots are operated in manufacturing facilities, with the aim of labor, cost saving,
and improvement of the productivity. Such robots need to have positioning performance of high precision and simultaneously to save cost. In this paper, a digital optimal servo controller is designed, and it is implemented into our barebones controller which involves dsPIC. We have designed and manufactured the controller which is added suitable peripherals to improve the consistency between the mechanical machine operating in continuous time and controller in discrete time. The significance of this research is that digital implementation of the embedded system which has performance-limitation has ensured a comparable result, against the one with PC which has broad utility. When it is used as a controller, it is possible to restrain product prices greatly equivalent PC precision. We demonstrate potential that good control can be achieved even with low cost. Our research has lead to the viability
of lower cost and higher performance system for the production process at factories.
en-copyright=
kn-copyright=

en-aut-name=AkiyoshiTatsuro
en-aut-sei=Akiyoshi
en-aut-mei=Tatsuro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=ImaiJun
en-aut-sei=Imai
en-aut-mei=Jun
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=KonishiMasami
en-aut-sei=Konishi
en-aut-mei=Masami
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Dept. of Electrical and Electronic Engineering Okayama University

affil-num=2
en-affil=
kn-affil=Dept. of Electrical and Electronic Engineering Okayama University

affil-num=3
en-affil=
kn-affil=Dept. of Electrical and Electronic Engineering Okayama University
END

start-ver=1.4
cd-journal=joma
no-vol=123
cd-vols=
no-issue=1
article-no=
start-page=63
end-page=64
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2011
dt-pub=20110401
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Robotic surgery : Present and future
kn-title=ロボット手術の現況と展望
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=SaikaTakashi
en-aut-sei=Saika
en-aut-mei=Takashi
kn-aut-name=雑賀隆史
kn-aut-sei=雑賀
kn-aut-mei=隆史
aut-affil-num=1
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学大学院医歯薬学総合研究科　泌尿器病態学
END

start-ver=1.4
cd-journal=joma
no-vol=145
cd-vols=
no-issue=
article-no=
start-page=77
end-page=84
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2010
dt-pub=20101025
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Manufacturing in Practice for a Toy Robot developed by Paper Craft
kn-title=ペーパークラフトによる動くおもちゃの製作実践
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=わが国においては，からくり人形に代表されるように，伝統的な独自のものづくりが実践されてきた。しかし，最近の子どもたちには,完成品のおもちゃが与えられることが多く，作ることの面白さを体験する機会が少なくなったのも事実である。そこで本研究では，小学生を対象にして，ものづくりの大切さ，楽しさを体験してもらい，さらに，ものづくりの際に必要となる科学的思考能力の育成を目指して，夏休み期間中にペーパークラフト講座を開設した。本講座を通して，子どもたちは作る喜び，完成時の達成感を味わいながら，学校での学びの大切さを実感することになる。
en-copyright=
kn-copyright=

en-aut-name=OhashiKazumasa
en-aut-sei=Ohashi
en-aut-mei=Kazumasa
kn-aut-name=大橋和正
kn-aut-sei=大橋
kn-aut-mei=和正
aut-affil-num=1
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学大学院教育学研究科生活・健康スポーツ学系技術教育講座
en-keyword=ペーパークラフト
kn-keyword=ペーパークラフト
en-keyword=動くおもちゃ
kn-keyword=動くおもちゃ
en-keyword=展開図
kn-keyword=展開図
en-keyword=小学生向け教材
kn-keyword=小学生向け教材
END

start-ver=1.4
cd-journal=joma
no-vol=144
cd-vols=
no-issue=
article-no=
start-page=7
end-page=12
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2010
dt-pub=20100625
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=Developing of Manufacturing Education utilizing Robot Contest
kn-title=ロボットコンテストを利用したものづくり教育に関する研究
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=今日,ロボットコンテストは中学生の間で人気があり,ものづくりの基礎を教える教材として興味深い｡そこで,本研究では,ロボットコンテストを活用して競技性を導入することにより,ロボット製作のおもしろさ,ものづくりのおもしろさについて興味をもたせることが目的である｡とくに,ロボットコンテストでは,競技ルールに基づいて,最高のパフォーマンスを行うという到達目標をもって,ロボットを設計し製作することである｡そのために,ロボットの動きなどに工夫を凝らし,競技に勝つためのロボットの機構,構造,材料などの基礎設計,製作方法,組立技術について論述すると共に,それらの指導方法について考察する｡最後に,コンテストに向けて製作したロボットの例を示し,製作上の留意点,指導方法についてまとめる｡
en-copyright=
kn-copyright=

en-aut-name=OhashiKazumasa
en-aut-sei=Ohashi
en-aut-mei=Kazumasa
kn-aut-name=大橋和正
kn-aut-sei=大橋
kn-aut-mei=和正
aut-affil-num=1
ORCID=

en-aut-name=SenooKazumichi
en-aut-sei=Senoo
en-aut-mei=Kazumichi
kn-aut-name=妹尾一道
kn-aut-sei=妹尾
kn-aut-mei=一道
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学大学院教育学研究科生活･健康スポーツ学系技術教育講座

affil-num=2
en-affil=
kn-affil=
en-keyword=ロボットコンテスト
kn-keyword=ロボットコンテスト
en-keyword=ロボット設計
kn-keyword=ロボット設計
en-keyword=ロボット製作
kn-keyword=ロボット製作
en-keyword=ものづくり教育
kn-keyword=ものづくり教育
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=21
end-page=22
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2004
dt-pub=200411
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Nutation motor : a new direct-drive stepping motor for robots
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>A new type of stepping motor, named nutation motor was developed. This motor has a reduction mechanism consisting of a pair of bevel gears, realizing high torque and high resolution stepping motion. Three prototypes, two pneumatic nutation motors and an electric nutation motor, were designed, developed, and tested. We show the basic driving principle and the experimental results in this paper.</p>

en-copyright=
kn-copyright=

en-aut-name=SuzumoriKoichi
en-aut-sei=Suzumori
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KandaTakefumi
en-aut-sei=Kanda
en-aut-mei=Takefumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=UzukaKazuo
en-aut-sei=Uzuka
en-aut-mei=Kazuo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=EnomotoIsao
en-aut-sei=Enomoto
en-aut-mei=Isao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=TOK Bearings Corporation Limited

affil-num=4
en-affil=
kn-affil=TOK Bearings Corporation Limited
en-keyword=Actuator
kn-keyword=Actuator
en-keyword=Motor
kn-keyword=Motor
en-keyword=Reduction gear
kn-keyword=Reduction gear
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=175
end-page=180
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2004
dt-pub=20048
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A study of reinforcement learning with knowledge sharing
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>In this paper, we consider multi-agent system in which every agents have own tasks that differs each other. We propose a method that decreases learning time of reinforcement learning by using the model of environment. In the proposed algorithm, the model is created by sharing the experiences of agents each other. To demonstrate the effectiveness of the proposed method, simulations of a puddle world and experiments of a maze world have been carried out. As a result effective behaviors have been obtained quickly.</p>

en-copyright=
kn-copyright=

en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=ImotoYoshiaki
en-aut-sei=Imoto
en-aut-mei=Yoshiaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=TaguchiHideaki
en-aut-sei=Taguchi
en-aut-mei=Hideaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama University
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=106
end-page=111
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1997
dt-pub=19970923
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Obstacle avoidance by changing running path for an autonomous running vehicle applying visual servoing
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>This paper describes an improved running control algorithm based on the visual servoing in consideration of the turning back of a running path to avoid an obstacle on the path by changing the running path. This paper also describes an experimental autonomous running vehicle to demonstrate the algorithm. As a vision sensor, the vehicle equips with a video-rate stereo rangefinder which processes color images from stereo CCD cameras and is developed in the authors' laboratory. From the several basic autonomous running experiments, it is concluded that the experimental vehicle runs smoothly any planned path composed of several teaching routes by transferring routes. It is also concluded that the vehicle can turn back on a path including turning back of route transference</p>

en-copyright=
kn-copyright=

en-aut-name=GofukuAkira
en-aut-sei=Gofuku
en-aut-mei=Akira
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=SodaHiroyoshi
en-aut-sei=Soda
en-aut-mei=Hiroyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=NagaiIsaku
en-aut-sei=Nagai
en-aut-mei=Isaku
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama University
en-keyword=CCD image sensors
kn-keyword=CCD image sensors
en-keyword=distance measurement
kn-keyword=distance measurement
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=path planning
kn-keyword=path planning
en-keyword=robot vision
kn-keyword=robot vision
en-keyword=servomechanisms
kn-keyword=servomechanisms
en-keyword=stereo image processing
kn-keyword=stereo image processing
END

start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=1499
end-page=1504
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2002
dt-pub=20028
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Control of  hyper-redundant robot using QDSEGA
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>We consider a flexible autonomous system. To realize the system, we employ a hyper-redundant system (a flexible hardware system) and reinforcement learning controller &#34;QDSEGA&#34; (Q-learning with structuring exploration space based on genetic algorithm) which is a flexible software system. In this paper we apply QDSEGA for controlling of the hyper-redundant robot. To demonstrate the effectiveness, a task of acquisition of locomotion patterns is applied to a multi-legged formation and a snake-like formation, from which an effective locomotion is obtained.</p>

en-copyright=
kn-copyright=

en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=MatsunoFumitoshi
en-aut-sei=Matsuno
en-aut-mei=Fumitoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Tokyo Institute of Technology
en-keyword=Hyper-redundant systems
kn-keyword=Hyper-redundant systems
en-keyword=Q-learning
kn-keyword=Q-learning
en-keyword=Reinforcement learning
kn-keyword=Reinforcement learning
en-keyword=Genetic Algorithm
kn-keyword=Genetic Algorithm
en-keyword=QDSEGA
kn-keyword=QDSEGA
END

start-ver=1.4
cd-journal=joma
no-vol=1
cd-vols=
no-issue=
article-no=
start-page=485
end-page=490
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2003
dt-pub=20037
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Path evaluation for a mobile robot based on a risk of collision
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>An odometry system that mobile robot uses for positioning has cumulative error because of wheels' slippage and uneven ground. It causes a risk of collision of obstacles. Therefore, we propose a path evaluation method for a mobile robot based on a risk of collision. To evaluate a robot's path, we define an evaluation value as an integral of a risk of collision along the path. To evaluate the risk of collision at each point, we use an estimated positioning error generated in the odometry system. Using the evaluation method, the robot can plan a path based on a risk of collision, not the shortest path. We also consider sensing points planning for position adjustment of the mobile robot, based on the same approach. Some examples of path evaluation results support a validity of the proposed method.</p>

en-copyright=
kn-copyright=

en-aut-name=IrieMasahiro
en-aut-sei=Irie
en-aut-mei=Masahiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NagataniKeiji
en-aut-sei=Nagatani
en-aut-mei=Keiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University
en-keyword=distance measurement
kn-keyword=distance measurement
en-keyword=error analysis
kn-keyword=error analysis
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=navigation
kn-keyword=navigation
en-keyword=path planning
kn-keyword=path planning
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=185
end-page=190
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1999
dt-pub=199909
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Application of pneumatic parallel manipulator as haptic human interface
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=When humans and robots implement a cooperative task, information (intention) transfer between them is an important problem as the task becomes complicated. In the paper, a haptic interface using a pneumatic parallel manipulator is developed to realize “information transfer by means of contact”. The contact information given by the human, namely contact force vector and contact point on the manipulator, is detected by the interface itself and such information is transferred to the robot by being connected with some reference signal. The pneumatic parallel manipulator works as a kind of elastic body even when its position is controlled owing to the air compressibility. Focusing on this characteristic and introducing an idea of compliance center with a spherical shell, contact force vector and contact point are detected without a force sensor. The validity of the proposed method is confirmed through some experiments.
en-copyright=
kn-copyright=

en-aut-name=TakaiwaMasahiro
en-aut-sei=Takaiwa
en-aut-mei=Masahiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Faculty of Engineering, Okayama University

affil-num=2
en-affil=
kn-affil=Faculty of Engineering, Okayama University
en-keyword=Haptic Interface
kn-keyword=Haptic Interface
en-keyword=Pneumatic Driving System
kn-keyword=Pneumatic Driving System
en-keyword=Parallel Manipulator
kn-keyword=Parallel Manipulator
en-keyword=Elastic Characteristic
kn-keyword=Elastic Characteristic
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=113
end-page=118
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2006
dt-pub=20061022
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A mechanical intelligence in assisting the navigation by a force feedback steering wheel for a snake rescue robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>This paper applies our developed novice users oriented force feedback steering wheel interface and mouse interface to navigating a tank type rescue robot. By analyzing merits and limitation of operating each interface, we propose a combined navigation strategy by the two interfaces. The steering wheel interface consists of a force feedback steering control and a six monitors’ wall. Through this interface, users can navigate the tank robot like driving cars, while watching incoming videos. It provides a daily life operation method for novice users to navigate the tank rescue robot. The steering wheel interface is efficient in exploring open areas. For complex disaster fields, this interface requires users have skillful operation experiences, which take them more attention. The mouse-screen interface consists of a mouse and a camera’s view displayed in a computer screen. Through this interface, users can navigate the tank robot just by mouse clicking. Path planning and low-level controlling are realized by system automatically. The mouse-screen interface can realize exact navigation, especially needed in complex structures, without taking much attention. It gives users more time to care incoming information. The two interfaces can shift into each other at any time. The combined navigation strategy adopts merits of the two interfaces and compensates limitation of each of them. It provides an efficient operation method for novice users to navigate rescue robots. </p>

en-copyright=
kn-copyright=

en-aut-name=YangZhixiao
en-aut-sei=Yang
en-aut-mei=Zhixiao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=HirotsuneKazuyuki
en-aut-sei=Hirotsune
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=SaijoKazuhiko
en-aut-sei=Saijo
en-aut-mei=Kazuhiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=MatsunoFumitoshi
en-aut-sei=Matsuno
en-aut-mei=Fumitoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University 

affil-num=2
en-affil=
kn-affil=Okayama University 

affil-num=3
en-affil=
kn-affil=Okayama University 

affil-num=4
en-affil=
kn-affil=Okayama University 

affil-num=5
en-affil=
kn-affil=Okayama University 

affil-num=6
en-affil=
kn-affil=Okayama University 
en-keyword=Human Interface
kn-keyword=Human Interface
en-keyword=Mechancial Intelligence
kn-keyword=Mechancial Intelligence
en-keyword=Navigation
kn-keyword=Navigation
en-keyword=Force Feedback Steering Wheel
kn-keyword=Force Feedback Steering Wheel
en-keyword=Rescue Robot
kn-keyword=Rescue Robot
en-keyword=  Snake Robot.
kn-keyword=  Snake Robot.
END

start-ver=1.4
cd-journal=joma
no-vol=2
cd-vols=
no-issue=
article-no=
start-page=2031
end-page=2036
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2002
dt-pub=200210
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Pneumatic direct-drive stepping motor for robots
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>A new type of pneumatic stepping motor, named pneumatic nutation motor, was developed. This motor achieves stepping positioning of 720 steps/rotation without any electrical devices or sensors mounted on the servo mechanisms. This makes the motor possible to be used under hazardous conditions such as in water and in strong magnetic fields where conventional electromagnetic motors cannot be used. The motor torque is so big that the motor can be used as a direct motor. In this report, the driving principle and design of this motor are presented. Its characteristics are analyzed experimentally and theoretically. The motors were applied to a parallel linkage mechanism with six degrees of freedom. The mechanism shows that the pneumatic nutation motors can be used as a direct servo motor for robot mechanisms.</p>
en-copyright=
kn-copyright=

en-aut-name=SuzumoriKoichi
en-aut-sei=Suzumori
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=HashimotoTatsuya
en-aut-sei=Hashimoto
en-aut-mei=Tatsuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=UzukaKazuo
en-aut-sei=Uzuka
en-aut-mei=Kazuo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=EnomotoIsao
en-aut-sei=Enomoto
en-aut-mei=Isao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=TOK Bearings Corporation Limited

affil-num=4
en-affil=
kn-affil=TOK Bearings Coｒporation Limited
en-keyword=pneumatic control equipment
kn-keyword=pneumatic control equipment
en-keyword=robots
kn-keyword=robots
en-keyword=servomotors
kn-keyword=servomotors
en-keyword=stepping motors
kn-keyword=stepping motors
END

start-ver=1.4
cd-journal=joma
no-vol=4
cd-vols=
no-issue=
article-no=
start-page=3895
end-page=3900
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2004
dt-pub=200410
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Active link mechanisms for physical man-machine interaction
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>&lt;p&gt;In this paper, we propose a new type of haptic interface, named active link mechanism. This device realizes physical man-machine interaction (PMI) between machines and persons. Two prototypes were developed to demonstrate the potential of the active link mechanisms. Developed interface devices are an active tetrahedron and an active icosahedron. Nine-DOF micro spherical joints and pressure control pneumatic cylinders were developed to realize the active tetrahedron, while fifteen-DOF micro spherical joints and intelligent pneumatic cylinders were developed for the active icosahedron. The tetrahedron successfully realizes &quot;virtual touch&quot;; the operators feel actions, forces, and shapes of the virtual objects in PC and also move and deform them. Real time PMI is realized by building the developed devices into MSC.Visual-Nastran4D. MSC.VisuaI-Nastran4D is a mechanism analysis software, which can make motion analysis in real time. The active icosahedron also realized dynamic interaction with virtual objects in PC, showing the potential of the devices as a haptic interface.&lt;/p&gt;</p>

en-copyright=
kn-copyright=

en-aut-name=OchiJumpei
en-aut-sei=Ochi
en-aut-mei=Jumpei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=HashimotoTatsuya
en-aut-sei=Hashimoto
en-aut-mei=Tatsuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=SuzumoriKoichi
en-aut-sei=Suzumori
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=KandaTakefumi
en-aut-sei=Kanda
en-aut-mei=Takefumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama  University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama University
en-keyword=computer vision
kn-keyword=computer vision
en-keyword=haptic interfaces
kn-keyword=haptic interfaces
en-keyword=man-machine systems
kn-keyword=man-machine systems
en-keyword=pneumatic actuators
kn-keyword=pneumatic actuators
en-keyword=pressure control
kn-keyword=pressure control
en-keyword=tactile sensors
kn-keyword=tactile sensors
en-keyword=virtual reality
kn-keyword=virtual reality
END

start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=4098
end-page=4103
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2003
dt-pub=20030913
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of force displaying device using pneumatic parallel manipulator and application to palpation motion
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>&#60;P&#62;The goal of this study is to develop a mechanical system which display elastic characteristic like stiffness on the surface of human body aiming at applying to palpation simulator. Pneumatic parallel manipulator is employed as a driving mechanism, consequently, it brings capability of minute force displaying property owing to the air compressibility. Compliance control system without using force/moment sensor is constructed by introducing a disturbance observer and a compliance display scheme is proposed. The validity of the proposed scheme is verified experimentally. </p>

en-copyright=
kn-copyright=

en-aut-name=TakaiwaMasahiro
en-aut-sei=Takaiwa
en-aut-mei=Masahiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=compliance control
kn-keyword=compliance control
en-keyword=compressibility
kn-keyword=compressibility
en-keyword=display devices
kn-keyword=display devices
en-keyword=elastic constants
kn-keyword=elastic constants
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=observers
kn-keyword=observers
en-keyword=pneumatic actuators
kn-keyword=pneumatic actuators
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=113
end-page=118
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2004
dt-pub=20040920
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A mechanical intelligence in assisting the navigation by a force feedback steering wheel for a snake rescue robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>We developed a snake rescue robot basing on the proposed mechanical intelligence. The mechanical intelligence is designed to avoid obstacles and to realize desired motions when the robot is navigated by a remote force feedback steering wheel interface. We use free joints to connect modules of the snake robot. Modules can freely turn according to their neighbors. An obstacle-avoiding wheel is mounted on the head of the snake robot. When the head encounters an obstacle, the wheel touches it first to transfer the sliding friction between the wheel and the obstacle into rolling friction, so that the head avoid the obstacle easily. A metal wire is used to link gears mounted on both sides of each module. When any part of the snake robot's body encounters an obstacle, the wire length of each side varies automatically to change the robot's body shape, so that the snake robot avoids the obstacle. The wire length of each side can also be adjusted by a motor. By adjusting the wire length of each side, the snake robot can move in the desired direction. The mechanical intelligence based snake rescue robot has light body, low cost and low computation cost. Experiment results show that the designed mechanical intelligence is effective in realizing desired robot motions together with the force feedback steering wheel interface.</p>

en-copyright=
kn-copyright=

en-aut-name=YangZhixiao
en-aut-sei=Yang
en-aut-mei=Zhixiao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=HirotsuneKazuyuki
en-aut-sei=Hirotsune
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=SaijoKazuhiko
en-aut-sei=Saijo
en-aut-mei=Kazuhiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=MatsunoFumitoshi
en-aut-sei=Matsuno
en-aut-mei=Fumitoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama University

affil-num=5
en-affil=
kn-affil=Okayama University

affil-num=6
en-affil=
kn-affil=University of Electro-Communications
en-keyword=Human Interface
kn-keyword=Human Interface
en-keyword=Mechancial Intelligence
kn-keyword=Mechancial Intelligence
en-keyword=Navigation
kn-keyword=Navigation
en-keyword=Force Feedback Steering Wheel
kn-keyword=Force Feedback Steering Wheel
en-keyword=Rescue Robot
kn-keyword=Rescue Robot
en-keyword=   Snake Robot.
kn-keyword=   Snake Robot.
END

start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=1120
end-page=1125
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2003
dt-pub=20037
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A study of reinforcement learning with knowledge sharing for distributed autonomous system
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Reinforcement learning is one of effective controller for autonomous robots. Because it does not need priori knowledge and behaviors to complete given tasks are obtained automatically be repeating trial and error. However a large number of trials are required to realize complex tasks. So the task that can be obtained using the real robot is restricted to simple ones. Considering these points, various methods that prove the learning cost of reinforcement learning have been proposed. In the method that uses priori knowledge, the methods lose the autonomy that is most important feature of reinforcement learning in applying it to the robots. In the Dyna-Q, that is one of simple and effective reinforcement learning architecture integrating online planning, a model of environment is learned from real experience and by utilizing the model to learn, the learning time is decreased. In this architecture, the autonomy is held, however the model depends on the task, so acquired knowledge of environment cannot be reused to other tasks. In the real world, human beings can learn various behaviors to complete complex tasks without priori knowledge of the tasks. We can try to realize the task in our image without moving our body. After the training in the image, by trying to the real environment, we save time to learn. It means that we have model of environment and we utilize the model to learn. We consider that the key ability that makes the learning process faster is construction of environment model and utilization of it. In this paper, we have proposed a method to obtain an environment model that is independent of the task. And by utilizing the model we have decreased learning time. We consider distributed autonomous agents, and we show that the environment model is constructed quickly by sharing the experience of each agent, even when each agent has own independent task. To demonstrate the effectiveness of the proposed method, we have applied the method to the Q-learning and simulations of a puddle world are carried out. As a result effective behaviors have been obtained quickly. </p>

en-copyright=
kn-copyright=

en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=ImotoYoshiaki
en-aut-sei=Imoto
en-aut-mei=Yoshiaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=TakeshitaMitsuo
en-aut-sei=Takeshita
en-aut-mei=Mitsuo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University 

affil-num=2
en-affil=
kn-affil=Okayama University 

affil-num=3
en-affil=
kn-affil=Okayama University 

affil-num=4
en-affil=
kn-affil=Okayama University 
en-keyword=knowledge based systems
kn-keyword=knowledge based systems
en-keyword=   learning (artificial intelligence)
kn-keyword=   learning (artificial intelligence)
en-keyword=planning (artificial intelligence)   robots
kn-keyword=planning (artificial intelligence)   robots
END

start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=2500
end-page=2505
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2003
dt-pub=200310
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Hybrid autonomous control for heterogeneous multi-agent system
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Reinforcement learning is an adaptive and flexible control method for autonomous system. In our previous works, we had proposed a reinforcement learning algorithm for redundant systems: &quot;Q-learning with dynamic structuring of exploration space based on GA (QDSEGA)&quot;, and applied it to multi-agent systems. However previous works of the QDSEGA have been restricted to homogeneous agents. In this paper, we extend our previous works of multi-agent systems, and propose a hybrid autonomous control method for heterogeneous multi-agent systems. To demonstrate the effectiveness of the proposed method, simulations of transportation task by 10 heterogeneous mobile robots have been carried out. As a result effective behaviors have been obtained. </p>

en-copyright=
kn-copyright=

en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=adaptive control
kn-keyword=adaptive control
en-keyword=   learning (artificial intelligence)
kn-keyword=   learning (artificial intelligence)
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=multi-agent systems
kn-keyword=multi-agent systems
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=239
end-page=244
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2004
dt-pub=20048
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A combined navigation strategy by a steering
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>This paper applies our developed novice users oriented force feedback steering wheel interface and mouse interface to navigating a tank type rescue robot. By analyzing merits and limitation of operating each interface, we propose a combined navigation strategy by the two interfaces. The steering wheel interface consists of a force feedback steering control and a six monitors’ wall. Through this interface, users can navigate the tank robot like driving cars, while watching incoming videos. It provides a daily life operation method for novice users to navigate the tank rescue robot. The steering wheel interface is efficient in exploring open areas. For complex disaster fields, this interface requires users have skillful operation experiences, which take them more attention. The mouse-screen interface consists of a mouse and a camera’s view displayed in a computer screen. Through this interface, users can navigate the tank robot just by mouse clicking. Path planning and low-level controlling are realized by system automatically. The mouse-screen interface can realize exact navigation, especially needed in complex structures, without taking much attention. It gives users more time to care incoming information. The two interfaces can shift into each other at any time. The combined navigation strategy adopts merits of the two interfaces and compensates limitation of each of them. It provides an efficient operation method for novice users to navigate rescue robots. </p>

en-copyright=
kn-copyright=

en-aut-name=YangZhixiao
en-aut-sei=Yang
en-aut-mei=Zhixiao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=SaijoKazuhiko
en-aut-sei=Saijo
en-aut-mei=Kazuhiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=HirotsuneKazuyuki
en-aut-sei=Hirotsune
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=MatsunoFumitoshi
en-aut-sei=Matsuno
en-aut-mei=Fumitoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama University

affil-num=5
en-affil=
kn-affil=Okayama University

affil-num=6
en-affil=
kn-affil=University of Electro-Communications
en-keyword=Human Interface; Rescue Robot; Navigation;Force Feedback Steering Wheel; Mouse; Tank Robot.
kn-keyword=Human Interface; Rescue Robot; Navigation;Force Feedback Steering Wheel; Mouse; Tank Robot.
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=2302
end-page=2307
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2005
dt-pub=20054
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of Wrist Rehabilitation Equipment Using Pneumatic Parallel Manipulator
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>In this study, we aim at developing a mechanical device to support humans rehabilitation motion of their wrist joint instead of or to help a physical therapist. Pneumatic parallel manipulator is introduced as the mechanical equipment from a view that pneumatic actuators bring minute force control property owing to the air compressibility and parallel manipulator’s feature of multiple degrees of freedom is suitable for a complex motion of human wrist joint. Impedance control system is introduced to realize several rehabilitation modes. The validity of the proposed system is confirmed through some experiments.</p>

en-copyright=
kn-copyright=

en-aut-name=TakaiwaMasahiro
en-aut-sei=Takaiwa
en-aut-mei=Masahiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=Human Wrist joint
kn-keyword=Human Wrist joint
en-keyword=Parallel Manipulator
kn-keyword=Parallel Manipulator
en-keyword=Pneumatic servo system
kn-keyword=Pneumatic servo system
en-keyword=Rehabilitation
kn-keyword=Rehabilitation
END

start-ver=1.4
cd-journal=joma
no-vol=2
cd-vols=
no-issue=
article-no=
start-page=2735
end-page=2740
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2003
dt-pub=20030914
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A miniature inspection robot negotiating pipes of widely varying diameter
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>The purpose of this research is to realize a small robot which can negotiate pipes whose diameter varies widely during the robot's course. A new in-pipe locomotion mechanism named &#34;snaking drive&#34; is proposed in this paper and its potential and fundamental characteristics are shown with experimental data of the prototype model. First, in the sections 2 to 5, the basic traveling characteristics of the snaking drive mechanism are discussed: a theoretical formula of the fundamental characteristics and control algorithm are derived, the motions of the robot are simulated on a PC, and the prototype model was designed, developed, and tested. Next, in the sections 6 and 7, additional control algorithms for the front link are derived. They are necessary for steering at T-branches and L-bends of pipes, and also for camera view stabilization. Their performances are also shown by software simulation and experiments. The prototype robots moved in pipes whose diameter varies between 55 mm to 331 mm with the maximum speed of 22 mm/s. The paper also shows that the prototype negotiates T-branches and L-bends of pipes with inspection capability through a camera mounted on the robot.</p>

en-copyright=
kn-copyright=

en-aut-name=SuzumoriKoichi
en-aut-sei=Suzumori
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=WakimotoShuichi
en-aut-sei=Wakimoto
en-aut-mei=Shuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=TanakaMasanori
en-aut-sei=Tanaka
en-aut-mei=Masanori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University
en-keyword=inspection
kn-keyword=inspection
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=motion control
kn-keyword=motion control
en-keyword=pipelines
kn-keyword=pipelines
en-keyword=robot kinematics
kn-keyword=robot kinematics
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=239
end-page=244
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2004
dt-pub=20048
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A combined navigation strategy by a steering wheel and a mouse for a tank rescue robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>This paper applies our developed novice users oriented force feedback steering wheel interface and mouse interface to navigating a tank type rescue robot. By analyzing merits and limitation of operating each interface, we propose a combined navigation strategy by the two interfaces. The steering wheel interface consists of a force feedback steering control and a six monitors’ wall. Through this interface, users can navigate the tank robot like driving cars, while watching incoming videos. It provides a daily life operation method for novice users to navigate the tank rescue robot. The steering wheel interface is efficient in exploring open areas. For complex disaster fields, this interface requires users have skillful operation experiences, which take them more attention. The mouse-screen interface consists of a mouse and a camera’s view displayed in a computer screen. Through this interface, users can navigate the tank robot just by mouse clicking. Path planning and low-level controlling are realized by system automatically. The mouse-screen interface can realize exact navigation, especially needed in complex structures, without taking much attention. It gives users more time to care incoming information. The two interfaces can shift into each other at any time. The combined navigation strategy adopts merits of the two interfaces and compensates limitation of each of them. It provides an efficient operation method for novice users to navigate rescue robots.</p>

en-copyright=
kn-copyright=

en-aut-name=YangZhixiao
en-aut-sei=Yang
en-aut-mei=Zhixiao
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=SaijoKazuhiko
en-aut-sei=Saijo
en-aut-mei=Kazuhiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=HirotsuneKazuyuki
en-aut-sei=Hirotsune
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=MatsunoFumitoshi
en-aut-sei=Matsuno
en-aut-mei=Fumitoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama University

affil-num=5
en-affil=
kn-affil=Okayama University

affil-num=6
en-affil=
kn-affil=University of Electro-Communications
en-keyword=Human Interface
kn-keyword=Human Interface
en-keyword=Rescue Robot
kn-keyword=Rescue Robot
en-keyword=Navigation
kn-keyword=Navigation
en-keyword=Force Feedback Steering Wheel
kn-keyword=Force Feedback Steering Wheel
en-keyword=Mouse
kn-keyword=Mouse
en-keyword=  Tank Robot.
kn-keyword=  Tank Robot.
END

start-ver=1.4
cd-journal=joma
no-vol=1
cd-vols=
no-issue=
article-no=
start-page=791
end-page=796
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2003
dt-pub=20030914
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Extended QDSEGA for Controlling Real Robot : Acquisition of Locomotion Patterns for Snake : like Robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Reinforcement learning is very effective for robot learning. It is because it does not need prior knowledge and has higher capability of reactive and adaptive behaviors. In our previous works, we proposed new reinforce learning algorithm: &quot;Q-learning with dynamic structuring of exploration space based on genetic algorithm (QDSEGA)&quot;. It is designed for complicated systems with large action-state space like a robot with many redundant degrees of freedom. However the application of QDSEGA is restricted to static systems. A snake-like robot has many redundant degrees of freedom and the dynamics of the system are very important to complete the locomotion task. So application of usual reinforcement learning is very difficult. In this paper, we extend layered structure of QDSEGA so that it becomes possible to apply it to real robots that have complexities and dynamics. We apply it to acquisition of locomotion pattern of the snake-like robot and demonstrate the effectiveness and the validity of QDSEGA with the extended layered structure by simulation and experiment. </p>

en-copyright=
kn-copyright=

en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KamegawaTetsushi
en-aut-sei=Kamegawa
en-aut-mei=Tetsushi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=MatsunoFumitoshi
en-aut-sei=Matsuno
en-aut-mei=Fumitoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University 

affil-num=2
en-affil=
kn-affil=Tokyo Institute of Technology

affil-num=3
en-affil=
kn-affil=Tokyo Institute of Technology
en-keyword=genetic algorithms
kn-keyword=genetic algorithms
en-keyword=    learning (artificial intelligence)
kn-keyword=    learning (artificial intelligence)
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=motion control
kn-keyword=motion control
en-keyword=robot dynamics
kn-keyword=robot dynamics
en-keyword=robot kinematics
kn-keyword=robot kinematics
END

start-ver=1.4
cd-journal=joma
no-vol=4
cd-vols=
no-issue=
article-no=
start-page=2572
end-page=2579
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2003
dt-pub=200312
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Emergence of adaptive behaviors by redundant robots : Robustness to changes environment and failures
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Acquiring adaptive behaviors of robots automatically is one of the most interesting topics of the evolutionary systems. In previous works, we have developed an adaptive autonomous control method for redundant robots. The QDSEGA is one of the methods that we have proposed for them. The QDSEGA is realized by combining Q-learning and GA, and it can acquire suitable behaviors by adapting a movement of a robot for a task. In this paper, we focus on the adaptability of the QDSEGA and discuss the robustness of the autonomous redundant robot that is controlled by the QDSEGA. To demonstrate the effectiveness of the QDSEGA, simulations of obstacle avoidance by a 10-link manipulator in the changeable environment and locomotion by a 12-legged robot with failures have been carried out, and as a result, adaptive behaviors for each environment and each broken body have emerged. </p>

en-copyright=
kn-copyright=

en-aut-name=ItoKazuyuki
en-aut-sei=Ito
en-aut-mei=Kazuyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University 

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=genetic algorithms
kn-keyword=genetic algorithms
en-keyword=   learning (artificial intelligence)
kn-keyword=   learning (artificial intelligence)
en-keyword=legged locomotion
kn-keyword=legged locomotion
en-keyword=redundant manipulators
kn-keyword=redundant manipulators
END

start-ver=1.4
cd-journal=joma
no-vol=4
cd-vols=
no-issue=
article-no=
start-page=3895
end-page=3900
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2004
dt-pub=200410
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Active link mechanisms for physical man-machine interaction
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>In this paper, we propose a new type of haptic interface, named active link mechanism. This device realizes physical man-machine interaction (PMI) between machines and persons. Two prototypes were developed to demonstrate the potential of the active link mechanisms. Developed interface devices are an active tetrahedron and an active icosahedron. Nine-DOF micro spherical joints and pressure control pneumatic cylinders were developed to realize the active tetrahedron, while fifteen-DOF micro spherical joints and intelligent pneumatic cylinders were developed for the active icosahedron. The tetrahedron successfully realizes &#34;virtual touch&#34;; the operators feel actions, forces, and shapes of the virtual objects in PC and also move and deform them. Real time PMI is realized by building the developed devices into MSC.Visual-Nastran4D. MSC.VisuaI-Nastran4D is a mechanism analysis software, which can make motion analysis in real time. The active icosahedron also realized dynamic interaction with virtual objects in PC, showing the potential of the devices as a haptic interface. </p>

en-copyright=
kn-copyright=

en-aut-name=OchiJ.
en-aut-sei=Ochi
en-aut-mei=J.
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=HashimotoTatsuya
en-aut-sei=Hashimoto
en-aut-mei=Tatsuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=SuzumoriKoichi
en-aut-sei=Suzumori
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=TanakaJ.
en-aut-sei=Tanaka
en-aut-mei=J.
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=KandaTakefumi
en-aut-sei=Kanda
en-aut-mei=Takefumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama  University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama  University

affil-num=5
en-affil=
kn-affil=Okayama University
en-keyword=active link mechanism; PMI; haptic interface
kn-keyword=active link mechanism; PMI; haptic interface
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=487
end-page=492
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2005
dt-pub=20058
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of intelligent McKibben actuator
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>The aim of this study is to develop an intelligent McKibben actuator with an integrated soft displacement sensor inside, so that displacement of this actuator can be controlled without having any extra devices attached. In addition, the high compliance which is a positive feature of the McKibben actuator is still conserved. This paper consists of four main parts. First of all, different types of soft displacement sensors made out of rubber were composed, and tested for their functional characteristics. Secondly, the intelligent McKibben actuator was developed with the soft displacement sensor incorporated within. Then, experiments of the position servo control with a single intelligent McKibben actuator were carried out. At last a robot arm mechanism was designed with two intelligent McKibben actuators, and those experimental results showed a great potential for its future applications.</p>

en-copyright=
kn-copyright=

en-aut-name=WakimotoShuichi
en-aut-sei=Wakimoto
en-aut-mei=Shuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=SuzumoriKoichi
en-aut-sei=Suzumori
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=KandaTakefumi
en-aut-sei=Kanda
en-aut-mei=Takefumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University
en-keyword=Soft sensor
kn-keyword=Soft sensor
en-keyword=soft mechanism
kn-keyword=soft mechanism
en-keyword=McKibben actuator
kn-keyword=McKibben actuator
en-keyword=Intelligent actuator
kn-keyword=Intelligent actuator
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=303
end-page=308
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2003
dt-pub=200310
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A micro snake-like robot for small pipe inspection
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>The goal of this research is development of a micro robot which can negotiate pipes whose diameter varies widely. The robot mechanism is based on &#34;snaking drive&#34;. First, in section 1 to 4, basic characteristics of the snaking drive are discussed: the principle of the snaking drive is shown, theoretical fundamental formulas are derived, and the motions of the robot are simulated. Second, in section 5, a micro robot was designed, fabricated and tested. And fundamental experiments of the robot are shown. Third, in section 6, two application experiments are shown: one is a stabilization of camera image, and the other is a robot steering at branches. The robot moved in pipes whose diameter varies between 18 mm to 100 mm with the maximum speed of 36 mm/s. And the robot could negotiate T-branches and L-bends of pipes.</p>

en-copyright=
kn-copyright=

en-aut-name=WakimotoShuichi
en-aut-sei=Wakimoto
en-aut-mei=Shuichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NakajimaJun
en-aut-sei=Nakajima
en-aut-mei=Jun
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=TanakaMasanori
en-aut-sei=Tanaka
en-aut-mei=Masanori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=KandaTakefumi
en-aut-sei=Kanda
en-aut-mei=Takefumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=SuzumoriKoichi
en-aut-sei=Suzumori
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama University

affil-num=5
en-affil=
kn-affil=Okayama University
en-keyword=control engineering computing
kn-keyword=control engineering computing
en-keyword=industrial robots
kn-keyword=industrial robots
en-keyword=inspection
kn-keyword=inspection
en-keyword=microrobots
kn-keyword=microrobots
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=robot vision
kn-keyword=robot vision
en-keyword=stability
kn-keyword=stability
END

start-ver=1.4
cd-journal=joma
no-vol=38
cd-vols=
no-issue=9
article-no=
start-page=1751
end-page=1759
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2005
dt-pub=200509
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Flow-induced hardening of endothelial nucleus as an intracellular stress-bearing organelle
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The mechanical contribution of nucleus in adherent cells to bearing intracellular stresses remains unclear. In this paper, the effects of fluid shear stress on morphology and elastic properties of endothelial nuclei were investigated. The morphological observation suggested that the nuclei in the cytoplasm were being vertically compressed under static conditions, whereas they were elongated and more compressed with a fluid shear stress of 2 Pa (20 dyn/cm(2)) onto the cell. The elongated nuclei remained the shape even after they were isolated from the cells. The micropipette aspiration technique on the isolated nuclei revealed that the elastic modulus of elongated nuclei, 0.62 +/- 0.15 kPa (n = 13, mean +/- SD), was significantly higher than that of control nuclei, 0.42 +/- 0.12 kPa (n = 11), suggesting that the nuclei remodeled their structure due to the shear stress. Based of these results and a transmission electron microscopy, a possibility of the nucleus as an intracellular compression-bearing organelle was proposed, which will impact interpretation of stress distribution in adherent cells. (C) 2005 Elsevier Ltd. All rights reserved.
en-copyright=
kn-copyright=

en-aut-name=DeguchiShinji
en-aut-sei=Deguchi
en-aut-mei=Shinji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=MaedaKenjiro
en-aut-sei=Maeda
en-aut-mei=Kenjiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=OhashiToshiro
en-aut-sei=Ohashi
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=SatoMasaaki
en-aut-sei=Sato
en-aut-mei=Masaaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Department of Energy Systems Engineering, Graduate School of Natural Science and Technology, Okayama University

affil-num=2
en-affil=
kn-affil=Department of Bioengineering and Robotics, Graduate School of Engineering, Tohoku University

affil-num=3
en-affil=
kn-affil=Department of Bioengineering and Robotics, Graduate School of Engineering, Tohoku University

affil-num=4
en-affil=
kn-affil=Department of Bioengineering and Robotics, Graduate School of Engineering, Tohoku University
en-keyword=cell mechanics
kn-keyword=cell mechanics
en-keyword=nucleus
kn-keyword=nucleus
en-keyword=mechanical properties
kn-keyword=mechanical properties
en-keyword=shear stress
kn-keyword=shear stress
en-keyword=mechanotransduction
kn-keyword=mechanotransduction
en-keyword=atomic-force microscopy
kn-keyword=atomic-force microscopy
en-keyword=shear-stress
kn-keyword=shear-stress
en-keyword=mechanical-properties
kn-keyword=mechanical-properties
en-keyword=viscoelastic
kn-keyword=viscoelastic
en-keyword=properties
kn-keyword=properties
en-keyword=cells
kn-keyword=cells
END

start-ver=1.4
cd-journal=joma
no-vol=2
cd-vols=
no-issue=
article-no=
start-page=1349
end-page=1353
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2004
dt-pub=20045
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A new method of measuring the 3-D shape and surface reflectance of an object using a laser rangefinder
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>The present paper describes a newly proposed method for simultaneously measuring 3D shape and surface reflectance of an object using a laser rangefinder. The original work of this method lies in the advantage that the proposed method measures the surface reflectance using the object itself that is used for the 3D shape measurement. Experimental results show that the proposed method was applicable to noncontact industrial inspection, robot vision in automatic assembly, and reverse engineering.</p>

en-copyright=
kn-copyright=

en-aut-name=BabaMitsuru
en-aut-sei=Baba
en-aut-mei=Mitsuru
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NaritaDaisuke
en-aut-sei=Narita
en-aut-mei=Daisuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=OhtaniKozo
en-aut-sei=Ohtani
en-aut-mei=Kozo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama  University

affil-num=3
en-affil=
kn-affil=Hiroshima Institute of Technology
en-keyword=Laser rangefinder
kn-keyword=Laser rangefinder
en-keyword=3-D shape
kn-keyword=3-D shape
en-keyword=Surface reflectance
kn-keyword=Surface reflectance
END

start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=2482
end-page=2483
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1996
dt-pub=199612
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Visual servoing with redundant features
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>This paper presents how the control performance of the visual servo system is improved by utilizing the redundant features. We use the minimum singular value of the image Jacobian as a measure of the control accuracy (sensitivity) and we show that the sensitivity is strictly decreased by increasing the number of redundant features. Effectiveness of the control scheme with redundant features are verified by real time experiments on a PUMA 560 manipulator</p>

en-copyright=
kn-copyright=

en-aut-name=HashimotoKoichi
en-aut-sei=Hashimoto
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=AokiAtsuhito
en-aut-sei=Aoki
en-aut-mei=Atsuhito
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University
en-keyword=Jacobian matrices
kn-keyword=Jacobian matrices
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=redundancy
kn-keyword=redundancy
en-keyword=robot vision
kn-keyword=robot vision
en-keyword=servomechanisms
kn-keyword=servomechanisms
END

start-ver=1.4
cd-journal=joma
no-vol=1
cd-vols=
no-issue=
article-no=
start-page=327
end-page=331
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1999
dt-pub=19995
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Automatic Micromanipulation System using Stereoscopic Microscope
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>In this paper, we developed a visual feedback system that controls a micromanipulator so that a needle head may reach a target. The system consists of a stereoscopic microscope, a micromanipulator, two CCD cameras and a personal computer. The position of the target and the needle head under stereoscopic microscope are measured three dimensionally by using two CCD cameras which are set to eyepieces of the microscope. It is necessary that the image processing employed be fast so that the micromanipulation can be carried out at a realistic rate. The image processing time for detecting the target and the needle head is greatly reduced by using image compression </p>
en-copyright=
kn-copyright=

en-aut-name=SanoTetsuya
en-aut-sei=Sano
en-aut-mei=Tetsuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NagahataHidekazu
en-aut-sei=Nagahata
en-aut-mei=Hidekazu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YamamotoHideki
en-aut-sei=Yamamoto
en-aut-mei=Hideki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama  University

affil-num=3
en-affil=
kn-affil=Okayama University
en-keyword=CCD image sensors
kn-keyword=CCD image sensors
en-keyword=image coding
kn-keyword=image coding
en-keyword=image segmentation
kn-keyword=image segmentation
en-keyword=micromanipulators
kn-keyword=micromanipulators
en-keyword=micropositioning
kn-keyword=micropositioning
en-keyword=optical feedback
kn-keyword=optical feedback
en-keyword=optical microscopes
kn-keyword=optical microscopes
en-keyword=robot vision
kn-keyword=robot vision
en-keyword=stereo image processing
kn-keyword=stereo image processing
END

start-ver=1.4
cd-journal=joma
no-vol=2
cd-vols=
no-issue=
article-no=
start-page=723
end-page=728
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1996
dt-pub=19963
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of a tactile sensing flexible actuator
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>The disadvantages of flexible artificial fingers have been improved. The finger is provided with the tactile sense by two types of sensors to detect when the finger tip touches an object and to estimate both the finger force and object size. The rigidity is enhanced by equipping the finger with a reinforcing material similar to that of human bone. A prototype robot hand with four fingers has been manufactured for experiments and mounted on an industrial articulated robot. The effectiveness of the improved robot hand finger was confirmed throughout experimental tests of grasping action</p>
en-copyright=
kn-copyright=

en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=FujinoYuji
en-aut-sei=Fujino
en-aut-mei=Yuji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Department of Mecliariical Engineering, Faculty of Engineering, Okayama Univ.

affil-num=2
en-affil=
kn-affil=Department of Mecliariical Engineering, Faculty of Engineering, Okayama Univ.

affil-num=3
en-affil=
kn-affil=Murata Seisakusho
en-keyword=actuators
kn-keyword=actuators
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=tactile sensors
kn-keyword=tactile sensors
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=655
end-page=660
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2004
dt-pub=20040804
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Wearable power assist device for hand grasping using pneumatic artificial rubber muscle
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>The purpose of this study is to develop a wearable power assist device for hand grasping in order to support activity of daily living (ADL) safely and easily. In this paper, the mechanism of the developed power assist device is described, and then the effectiveness of this device is discussed experimentally. </p>

en-copyright=
kn-copyright=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=YamamotoHiroshi
en-aut-sei=Yamamoto
en-aut-mei=Hiroshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=SasakiDaisuke
en-aut-sei=Sasaki
en-aut-mei=Daisuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=TakaiwaMasahiro
en-aut-sei=Takaiwa
en-aut-mei=Masahiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama University
en-keyword=Power assist
kn-keyword=Power assist
en-keyword=Rubbet Artificial Muscle
kn-keyword=Rubbet Artificial Muscle
en-keyword=Pneumatics
kn-keyword=Pneumatics
END

start-ver=1.4
cd-journal=joma
no-vol=2
cd-vols=
no-issue=
article-no=
start-page=2188
end-page=2193
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2003
dt-pub=20030914
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Application of artificial pneumatic rubber muscles to a human friendly robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>When robots work together with a human or contact with a human body directly in such as a medical welfare field, in order to avoid an accident from crash and so on, a flexibility is required for the robot. The purpose of this study is to realize a safe mechanism for a human-friendly robot. In this paper, the structure and the fundamental characteristics of a pneumatic rubber muscle and soft mechanism are described, and then the structure and the fundamental operation of the developed soft hand are shown. Finally, the shaking hands is discussed as an example of force communication tasks between a robot and a human. </p>

en-copyright=
kn-copyright=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=SasakiDaisuke
en-aut-sei=Sasaki
en-aut-mei=Daisuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=TakaiwaMasahiro
en-aut-sei=Takaiwa
en-aut-mei=Masahiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University
en-keyword=pneumatic actuators
kn-keyword=pneumatic actuators
en-keyword=robots
kn-keyword=robots
en-keyword=tactile sensors
kn-keyword=tactile sensors
END

start-ver=1.4
cd-journal=joma
no-vol=1
cd-vols=
no-issue=
article-no=
start-page=423
end-page=428
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2000
dt-pub=200011
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Potential problems and switching control for visual servoing
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>This paper proposes a potential switching scheme that enlarges the stable region of feature-based visual servoing. Relay images that interpolate initial and reference image features are generated by using affine transformation. Artificial potentials defined by the relay images are patched around the reference point of the original potential to enlarge the stable region. Simulations with simplified configuration and experiments on a 6 DOF robot show the validity of the proposed control scheme</p>

en-copyright=
kn-copyright=

en-aut-name=HashimotoKoichi
en-aut-sei=Hashimoto
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=feature extraction
kn-keyword=feature extraction
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=motion control
kn-keyword=motion control
en-keyword=multivariable control systems
kn-keyword=multivariable control systems
en-keyword=position control
kn-keyword=position control
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=2613
end-page=2618
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1995
dt-pub=19955
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Robust positioning control of pneumatic servo system with pressure control loop
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>The goal of this paper is to attain a robust positioning control of a pneumatic driving system. A positioning control system positively focusing on the pressure control is investigated from the view that the pressure control is indispensable for improvement of control performances. A disturbance observer is employed to improve the pressure response and compensate the influence of friction force and parameter change. Consequently the improvements of robustness against payload and of positioning accuracy have been attained </p>

en-copyright=
kn-copyright=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TakaiwaMasahiro
en-aut-sei=Takaiwa
en-aut-mei=Masahiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=actuators
kn-keyword=actuators
en-keyword=friction
kn-keyword=friction
en-keyword=observers
kn-keyword=observers
en-keyword=pneumatic control equipment
kn-keyword=pneumatic control equipment
en-keyword=position control
kn-keyword=position control
en-keyword=pressure
kn-keyword=pressure
en-keyword=control
kn-keyword=control
en-keyword=robust control
kn-keyword=robust control
en-keyword=servomechanisms
kn-keyword=servomechanisms
END

start-ver=1.4
cd-journal=joma
no-vol=12
cd-vols=
no-issue=5
article-no=
start-page=766
end-page=774
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1996
dt-pub=199610
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Visual servoing with hand-eye manipulator-optimal control approach
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>This paper proposes a control theoretic formulation and a controller design method for the feature-based visual servoing with redundant features. The linear time-invariant (LTI) formulation copes with the redundant features and provides a simple framework for controller design. The proposed linear quadratic (LQ) method can deal with the redundant features, which is important because the previous LQ methods are not applicable to redundant systems. Moreover, this LQ method gives flexibility for performance improvement instead of the very limited design parameters provided by the generalized inverse and task function controllers. Validity of the LTI model and effectiveness and flexibility of the LQ optimal controller are evaluated by real-time experiments on a PUMA 560 manipulator</p>

en-copyright=
kn-copyright=

en-aut-name=HashimotoKoichi
en-aut-sei=Hashimoto
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=EbineTakumi
en-aut-sei=Ebine
en-aut-mei=Takumi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=KimuraHidenori
en-aut-sei=Kimura
en-aut-mei=Hidenori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=The Defence Agency

affil-num=3
en-affil=
kn-affil=University of Tokyo
en-keyword=control system synthesis
kn-keyword=control system synthesis
en-keyword=linear quadratic control
kn-keyword=linear quadratic control
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=redundancy
kn-keyword=redundancy
en-keyword=robot vision
kn-keyword=robot vision
END

start-ver=1.4
cd-journal=joma
no-vol=1
cd-vols=
no-issue=
article-no=
start-page=365
end-page=370
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1991
dt-pub=199111
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=High-speed processing for obtaining three-dimensional distance image and its application
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>A high-speed method of 3-D distance acquisition based on the triangulation principle is presented. This method uses conventional devices such as a CCD camera, a laser emitting semiconductor, and scanning mirrors; however, new circuits have been developed for detecting the position of spot image on the CCD. This development enables the high speed measurement and reduces the cost of the apparatus. Experiments showed that the apparatus and the method gave the practical measuring accuracy and speed, and it was found that the system is useful for image recognition. This method can easily display the stereoscopic image and cross-sectional figure of the object body. The method of real time processing has also been developed with the view to apply the device to the range finders for robots and blind persons</p>

en-copyright=
kn-copyright=

en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TsukaokaHideki
en-aut-sei=Tsukaoka
en-aut-mei=Hideki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=TakedaHidetoshi
en-aut-sei=Takeda
en-aut-mei=Hidetoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=HondaKazuo
en-aut-sei=Honda
en-aut-mei=Kazuo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=SaraiTakaaki
en-aut-sei=Sarai
en-aut-mei=Takaaki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama University

affil-num=5
en-affil=
kn-affil=Okayama University
en-keyword=CCD image sensors
kn-keyword=CCD image sensors
en-keyword=computer vision
kn-keyword=computer vision
en-keyword=computerised pattern recognition
kn-keyword=computerised pattern recognition
en-keyword=distance measurement
kn-keyword=distance measurement
en-keyword=video cameras
kn-keyword=video cameras
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=112
end-page=117
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1996
dt-pub=199611
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Application of rubber artificial muscle manipulator as a rehabilitation robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>The application of robot to rehabilitation has become a matter of great concern. This study deals with an exercise for restoration of function being one of important rehabilitation tasks. An exercise of single joint has already been achieved with some automatically controlled machines. Now, the multijoint exercise becomes desirable, which requires the exercise robot with multi ple degrees of freedom to generate more realistic motion pattern. This kind of robot has to be absolutely safe for humans. A pneumatic calculator may be so effective for such a robot because of the flexibility from air compressibility that a rubber artificial muscle manipulator pneumatically driven is applied to construct the exercise robot with two degrees of freedom. Also an impedance control strategy is employed to realize various exercise motion modes. Further, an identification method of the recovery condition is proposed to execute the effective rehabilitation. Some experiments show the availability of proposed rehabilitation robot system </p>

en-copyright=
kn-copyright=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TanakaToshihiro
en-aut-sei=Tanaka
en-aut-mei=Toshihiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YamanakaTakashi
en-aut-sei=Yamanaka
en-aut-mei=Takashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Bridgestone Corporation
en-keyword=actuators
kn-keyword=actuators
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=patient treatment
kn-keyword=patient treatment
en-keyword=pneumatic control equipment
kn-keyword=pneumatic control equipment
END

start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=2189
end-page=2194
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2000
dt-pub=200010
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Potential problems in visual servo
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Stability of feature-based visual servo controllers proposed so far is local. The initial features far from the reference may converge to features different from the reference or even worse they may not converge. In this paper, stability of feature-based visual servo is considered by using potential. The stable region is visualized and artificial potential switching is proposed to extend the stable region</p>

en-copyright=
kn-copyright=

en-aut-name=HashimotoKoichi
en-aut-sei=Hashimoto
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TanakaKouhei
en-aut-sei=Tanaka
en-aut-mei=Kouhei
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University
en-keyword=convergence
kn-keyword=convergence
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=robot vision
kn-keyword=robot vision
en-keyword=stability criteria
kn-keyword=stability criteria
END

start-ver=1.4
cd-journal=joma
no-vol=4
cd-vols=
no-issue=
article-no=
start-page=2405
end-page=2410
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2001
dt-pub=20017
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Perception-action rule acquisition by coevolutionary fuzzy classifier system
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Recently, many researchers have studied the techniques in applying a fuzzy classifier system (FCS) to control mobile robots, since the FCS can easily treat continuous inputs, such as sensors and images by using a fuzzy number. By using the FCS, however, only reflective rules are acquired. Thus, in the proposed approach, an additional genetic algorithm is incorporated in order to search for strategic knowledge, i.e., the sequence of effective activated rules in the FCS. Therefore, the proposed method consists of two modules: an ordinal FCS and the genetic algorithm. Computational experiments based on WEBOTS, one of the Khepera robot simulators, confirm the effectiveness of the proposed method</p>

en-copyright=
kn-copyright=

en-aut-name=HandaHisashi
en-aut-sei=Handa
en-aut-mei=Hisashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NodaTakashi
en-aut-sei=Noda
en-aut-mei=Takashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=KonishiTadataka
en-aut-sei=Konishi
en-aut-mei=Tadataka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=BabaMitsuru
en-aut-sei=Baba
en-aut-mei=Mitsuru
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=KataiOsamu
en-aut-sei=Katai
en-aut-mei=Osamu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama University

affil-num=5
en-affil=
kn-affil=Kyoto University
en-keyword=fuzzy control
kn-keyword=fuzzy control
en-keyword=genetic algorithms
kn-keyword=genetic algorithms
en-keyword=knowledge based systems
kn-keyword=knowledge based systems
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=pattern classification
kn-keyword=pattern classification
en-keyword=search problems
kn-keyword=search problems
END

start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=1155
end-page=1160
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2006
dt-pub=20068
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A Real-life Test of Face Recognition System for Dialogue Interface Robot in Ubiquitous Environments
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>This paper discusses a face recognition system for a dialogue interface robot that really works in ubiquitous environments and reports an experimental result of real-life test in a ubiquitous environment. While a central module of the face recognition system is composed of the decomposed eigenface method, the system also includes a special face detection module and the face registration module. Since face recognition should work on images captured by a camera equipped on the interface robot, all the methods are tuned for the interface robot. The face detection and recognition modules accomplish robust face detection and recognition when one of the registered users is talking to the robot. Some interesting results are reported with careful analysis of a sufficient real-life experiment.</p>

en-copyright=
kn-copyright=

en-aut-name=SakaueFumihiko
en-aut-sei=Sakaue
en-aut-mei=Fumihiko
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KobayashiMakoto
en-aut-sei=Kobayashi
en-aut-mei=Makoto
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=MigitaTsuyoshi
en-aut-sei=Migita
en-aut-mei=Tsuyoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=ShakunagaTakeshi
en-aut-sei=Shakunaga
en-aut-mei=Takeshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=SatakeJunji
en-aut-sei=Satake
en-aut-mei=Junji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=
kn-affil=Nagoya Institute of Technology

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama University

affil-num=5
en-affil=
kn-affil=National Institute of Information and Communications Technology
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=3112
end-page=3117
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2003
dt-pub=200310
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Three-dimensional localization and mapping for mobile robot in disaster environments
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>To relieve damages of earthquake disaster, &#34;The Special Project for Earthquake Disaster Mitigation in Urban Areas&#34; have been kicked off in Japan. Our research group is a part of the sub-project &#34;modeling of disaster environment for search and rescue&#34; since 2002. In this project, our group aims to develop a three-dimensional mapping's algorithm that is installed in a mobile robot to search victims in a collapsed building. To realize this mission, it is important to map environment information, and also the mapping requires localization simultaneously. (This is called &#34;SLAM problem&#34;.) In this research, we use three-dimensional map by laser range finder, and we also estimate its location in a global map using correlation technique. In this paper, we introduce our localization and mapping method, and we report a result of preparatory experiment for localization. </p>

en-copyright=
kn-copyright=

en-aut-name=NagataniKeiji
en-aut-sei=Nagatani
en-aut-mei=Keiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=IshidaHiroshi
en-aut-sei=Ishida
en-aut-mei=Hiroshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=YamanakaSatoshi
en-aut-sei=Yamanaka
en-aut-mei=Satoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama University
en-keyword=correlation theory
kn-keyword=correlation theory
en-keyword=disasters
kn-keyword=disasters
en-keyword=earthquakes
kn-keyword=earthquakes
en-keyword=laser ranging
kn-keyword=laser ranging
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=terrain mapping
kn-keyword=terrain mapping
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=520
end-page=525
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2005
dt-pub=20054
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of Active Support Splint driven by Pneumatic Soft Actuator (ASSIST)
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>In this study, in order to realize an assist of independent life for the elderly or people in need of care and relieve a physical burden for care worker, an active support splint driven by pneumatic soft actuator (ASSIST) has been developed. ASSIST consists of a plastic interface with the palm and arm and two rotary-type soft actuators put in both sides of appliance. In this paper, the fundamental characteristics of ASSIST is described, and then the effectiveness of this splint is experimentally discussed. Finally, the operation of ASSIST based on a human intention is described. </p>

en-copyright=
kn-copyright=

en-aut-name=SasakiDaisuke
en-aut-sei=Sasaki
en-aut-mei=Daisuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=TakaiwaMasahiro
en-aut-sei=Takaiwa
en-aut-mei=Masahiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University
en-keyword=Artificial Rubber Muscle
kn-keyword=Artificial Rubber Muscle
en-keyword=Pneumatics
kn-keyword=Pneumatics
en-keyword=Power Assist
kn-keyword=Power Assist
en-keyword=Wearable Robot
kn-keyword=Wearable Robot
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=51
end-page=51
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1997
dt-pub=199706
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Visual tracking of redundant features
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper presents how the control performance of the feature-based visual servo system is improved by utilizing redundant features. Effectiveness of the redundant features is evaluated by the smallest singular value of the image Jacobian which is closely related to the accuracy in the world coordinate system. An LQ control scheme is used to resolve the controllability problem. Usefulness of the redundant features is verified by the real time experiments on a PUMA 560 manipulator.
en-copyright=
kn-copyright=

en-aut-name=HashimotoKoichi
en-aut-sei=Hashimoto
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=AokiAtsuhito
en-aut-sei=Aoki
en-aut-mei=Atsuhito
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Department of Mechanical Engineering Okayama University

affil-num=2
en-affil=
kn-affil=Department of Mechanical Engineering Okayama University

affil-num=3
en-affil=
kn-affil=Department of Mechanical Engineering Okayama University
en-keyword=controllability
kn-keyword=controllability
en-keyword=industrial manipulators
kn-keyword=industrial manipulators
en-keyword=linear quadratic control
kn-keyword=linear quadratic control
en-keyword=optical tracking
kn-keyword=optical tracking
en-keyword=path planning
kn-keyword=path planning
en-keyword=real-time systems
kn-keyword=real-time systems
en-keyword=robot vision
kn-keyword=robot vision
en-keyword=sensitivity analysis
kn-keyword=sensitivity analysis
en-keyword=servomechanisms
kn-keyword=servomechanisms
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=399
end-page=404
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2000
dt-pub=200010
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Motion design for autonomous mobile manipulator based on programming style "action primitive"
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Our research goal is to realize an intelligent autonomous motion for a mobile manipulator. A model task for mobile manipulators, &#34;returning books to bookshelf&#34; was chosen as our research task. To realize the task, we adopt a programming style named &#34;action primitive&#34; for programming the robot controller. Each action primitive is a basic motion control program, and the whole motion of the robot is generated by executing a sequence of action primitives step by step. The paper describes motion design for the above research task based on the action primitive concept, and reports simulation results of the designed motion </p>

en-copyright=
kn-copyright=

en-aut-name=NagataniKeiji
en-aut-sei=Nagatani
en-aut-mei=Keiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=motion control
kn-keyword=motion control
en-keyword=position control
kn-keyword=position control
en-keyword=robot programming
kn-keyword=robot programming
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=259
end-page=267
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1997
dt-pub=199712
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Application of rubber artificial muscle manipulator as a rehabilitation robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>The application of a robot to rehabilitation has become a matter of great concern. This paper deals with functional recovery therapy, one important aspect of physical rehabilitation. Single-joint therapy machines have already been achieved. However, for more efficient therapy, multjoint robots are necessary to achieve more realistic motion patterns. This kind of robot must have a high level of safety for humans. A pneumatic actuator may be available for such a robot, because of the compliance of compressed air. A pneumatic rubber artificial muscle manipulator has been applied to construct a therapy robot with two degrees of freedom (DOF). Also, an impedance control strategy is employed to realize various motion modes for the physical therapy modes. Further, for efficient rehabilitation, it is desirable to comprehend the physical condition of the patient. Thus, the mechanical impedance of the human arm is used as an objective evaluation of recovery, and an estimation method is proposed. Experiments show the suitability of the proposed rehabilitation robot system </p>

en-copyright=
kn-copyright=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TanakaToshihiro
en-aut-sei=Tanaka
en-aut-mei=Toshihiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=actuators
kn-keyword=actuators
en-keyword=biomedical equipment
kn-keyword=biomedical equipment
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=patient treatment
kn-keyword=patient treatment
en-keyword=pneumatic control
kn-keyword=pneumatic control
en-keyword=equipment
kn-keyword=equipment
en-keyword=safety
kn-keyword=safety
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=468
end-page=473
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2000
dt-pub=200011
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Improvement of odometry for omnidirectional vehicle using optical flow information
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Our research goal is to realize a robust navigation in indoor and outdoor environment for autonomous vehicle. An omnidirectional vehicle driven by four Mecanum wheels was chosen for our research platform. Mecanum wheel has 16 tilted rollers (45 degrees against the direction of wheel rotation) around the wheel, so the vehicle moves omnidirectionally by controlling these wheels independently. However, it has a disadvantage in odometry because of wheel slippage. Particularly, when the robot moves laterally, same wheels' rotations generate different traveling distance depending on friction of ground surface. To cope with the problem, we estimate robot's position by detecting optical flow of ground image using vision sensor (visual dead-reckoning). The estimation method is inaccurate comparing with odometry, but it is independent from friction of ground surface. Therefore, the estimated vehicle position can be improved by fusing odometry and visual dead-reckoning based on maximum likelihood technique. This paper describes an odometry method and a visual dead-reckoning method for omnidirectional vehicle, and fusion technique to improve the estimated position of the vehicle. Finally, experimental results support above technique </p>

en-copyright=
kn-copyright=

en-aut-name=NagataniKeiji
en-aut-sei=Nagatani
en-aut-mei=Keiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=TachibanaSatoshi
en-aut-sei=Tachibana
en-aut-mei=Satoshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=SofueMakoto
en-aut-sei=Sofue
en-aut-mei=Makoto
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama University
en-keyword=distance measurement
kn-keyword=distance measurement
en-keyword=image sequences
kn-keyword=image sequences
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=robot vision
kn-keyword=robot vision
en-keyword=vehicles
kn-keyword=vehicles
END

start-ver=1.4
cd-journal=joma
no-vol=1
cd-vols=
no-issue=
article-no=
start-page=484
end-page=489
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1995
dt-pub=19955
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Visual servoing with nonlinear observer
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Visual servo system is a robot control system which incorporates the vision sensor in the feedback loop. Since the robot controller is also in the visual servo loop, compensation of the robot dynamics is important for high speed tasks. Moreover estimation of the object motion is necessary for real time tracking because the visual information includes considerable delay. This paper proposes a nonlinear model-based controller and a nonlinear observer for visual servoing. The observer estimates the object motion and the nonlinear controller makes the closed loop system asymptotically stable based on the estimated object motion. The effectiveness of the observer-based controller is verified by simulations and experiments on a two link planar direct drive robot</p>

en-copyright=
kn-copyright=

en-aut-name=HashimotoKoichi
en-aut-sei=Hashimoto
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KimuraHidenori
en-aut-sei=Kimura
en-aut-mei=Hidenori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Osaka University
en-keyword=closed loop systems
kn-keyword=closed loop systems
en-keyword=motion estimation
kn-keyword=motion estimation
en-keyword=nonlinear control systems
kn-keyword=nonlinear control systems
en-keyword=observers
kn-keyword=observers
en-keyword=real-time systems
kn-keyword=real-time systems
en-keyword=robot dynamics
kn-keyword=robot dynamics
en-keyword=robot vision
kn-keyword=robot vision
en-keyword=servomechanisms
kn-keyword=servomechanisms
en-keyword=tracking
kn-keyword=tracking
END

start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=2650
end-page=2655
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1996
dt-pub=19964
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Modeling and control of robotic yo-yo with visual feedback
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Yo-yo is a toy made of two thick circular pieces of wood, plastic, etc., connected with a short axle that can be made to run up and down, by moving a string tied to it. Humans can play with a yo-yo without difficulty. However, developing a robot system that can play with a yo-yo presents a significant challenge to controller design, because the dynamics of the yo-yo are difficult to model precisely. Moreover, since the dynamics are not continuous and there are integral-type constraints on the hand trajectory, conventional continuous time feedback control theory does not work well. This paper present a model and a control scheme for robotic yo-yo with visual feedback. Experiments on a PUMA 560 are carried out to evaluate the validity of the discrete dime formulation and the controller design</p>

en-copyright=
kn-copyright=

en-aut-name=HashimotoKoichi
en-aut-sei=Hashimoto
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=discrete time systems
kn-keyword=discrete time systems
en-keyword=intelligent control
kn-keyword=intelligent control
en-keyword=motion control
kn-keyword=motion control
en-keyword=motion estimation
kn-keyword=motion estimation
en-keyword=robot dynamics
kn-keyword=robot dynamics
en-keyword=robot vision
kn-keyword=robot vision
en-keyword=state feedback
kn-keyword=state feedback
END

start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=1535
end-page=1540
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1991
dt-pub=199111
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Study of an intelligent hexapod walking robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Concerns a hexapod walking robot designed for use in living and working spaces where it is necessary to ascend and descend structures such as stairs. It is designed to carry loads while always maintaining horizontal balance. It has eight CPUs for controlling the movement of twenty driving motors and for detecting attitude and its environment. It can move around autonomously as well as according to the operator's commands. The robot's configuration, structure and mechanism, and intelligence, are discussed</p>

en-copyright=
kn-copyright=

en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=MatobaYasunori
en-aut-sei=Matoba
en-aut-mei=Yasunori
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=attitude control
kn-keyword=attitude control
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=position control
kn-keyword=position control
END

start-ver=1.4
cd-journal=joma
no-vol=1
cd-vols=
no-issue=
article-no=
start-page=263
end-page=268
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1999
dt-pub=19995
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Visual servoing with linearized observer
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>One of the most important problems in feature-based visual servoing is the slow sampling rate and the delay of the camera that can make the closed loop system oscillative or unstable easily. In the paper, a linearized observer that estimates the object velocity and updates the visual information with the joint sampling rate is proposed. Stability of the observer-based control system and effectiveness of the observer are verified by experiments on a PUMA 560 robot</p>

en-copyright=
kn-copyright=

en-aut-name=HashimotoKoichi
en-aut-sei=Hashimoto
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=CCD image sensors
kn-keyword=CCD image sensors
en-keyword=closed loop systems
kn-keyword=closed loop systems
en-keyword=feature extraction
kn-keyword=feature extraction
en-keyword=image motion analysis
kn-keyword=image motion analysis
en-keyword=nonlinear control systems
kn-keyword=nonlinear control systems
en-keyword=observers
kn-keyword=observers
en-keyword=robot dynamics
kn-keyword=robot dynamics
en-keyword=robot kinematics
kn-keyword=robot kinematics
en-keyword=robot vision
kn-keyword=robot vision
en-keyword=stability
kn-keyword=stability
END

start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=2765
end-page=2770
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2000
dt-pub=20004
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Potential switching control in visual servo
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Stability of feature-based visual servoing controllers proposed so far is local. The initial features far from the reference may converge to features different from the reference or, even worse, they may not converge. In this paper, the stability of feature-based visual servoing is considered by using potential. The stable region is visualized and artificial potential switching is proposed to extend the stable region</p>

en-copyright=
kn-copyright=

en-aut-name=HashimotoKoichi
en-aut-sei=Hashimoto
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=manipulator kinematics
kn-keyword=manipulator kinematics
en-keyword=robot vision
kn-keyword=robot vision
en-keyword=servomechanisms
kn-keyword=servomechanisms
en-keyword=stability
kn-keyword=stability
END

start-ver=1.4
cd-journal=joma
no-vol=2
cd-vols=
no-issue=
article-no=
start-page=1127
end-page=1132
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1998
dt-pub=19985
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A visual feedback system for micromanipulation with stereoscopic microscope
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>A stereoscopic microscope is widely used in a micromanipulation such as to operate genes and to inspect integration circuits. As in these tasks the micromanipulation is handled and makes too heavy burden to operators, it is desirable to perform the micromanipulation automatically. In this paper, we propose a visual feedback system for micromanipulation with stereoscopic microscope. This system takes less time to control the manipulator by reducing searching area to detect an object </p>
en-copyright=
kn-copyright=

en-aut-name=SanoTetsuya
en-aut-sei=Sano
en-aut-mei=Tetsuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NagahataHidekaz
en-aut-sei=Nagahata
en-aut-mei=Hidekaz
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=EndoHiroshi
en-aut-sei=Endo
en-aut-mei=Hiroshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=SumimotoTetsuhiro
en-aut-sei=Sumimoto
en-aut-mei=Tetsuhiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=KunishiTakeshi
en-aut-sei=Kunishi
en-aut-mei=Takeshi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=YamamotoHideki
en-aut-sei=Yamamoto
en-aut-mei=Hideki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Maritime Safety Academy

affil-num=5
en-affil=
kn-affil=Interface Company, Limited

affil-num=6
en-affil=
kn-affil=Okayama University
en-keyword=CCD image sensors
kn-keyword=CCD image sensors
en-keyword=automatic optical inspection
kn-keyword=automatic optical inspection
en-keyword=image processing equipment
kn-keyword=image processing equipment
en-keyword=integrated
kn-keyword=integrated
en-keyword=circuit testing
kn-keyword=circuit testing
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=micromechanical devices
kn-keyword=micromechanical devices
en-keyword=optical microscopes
kn-keyword=optical microscopes
en-keyword=robot vision
kn-keyword=robot vision
en-keyword=stereo image processing
kn-keyword=stereo image processing
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=67
end-page=72
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1997
dt-pub=19970923
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Analysis of electric-fluid analogy of pressure transmission through an electro-rheological-fluid in annuli
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>The article concerns the development of flexible robotic fingers using electro-rheological fluid (ERF) for pressure control. It describes a technique to predict the transient response of a pressure control device using ERF by an electric-flow analogy. The inertia is calculated from the theoretical equation. The resistance and additional voltage source by the ER effect are derived theoretically by assuming the flow in the electrode annuli of the pressure control device as a flow of the Bingham fluid. The capacitance is determined to compare the time-responses of pressures by the prediction based on a model with the results of a simple experiment. The predictions of transient flow, using the determined parameters of the model are in qualitatively good agreement with the experimental results</p>

en-copyright=
kn-copyright=

en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=NakamuraKeiji
en-aut-sei=Nakamura
en-aut-mei=Keiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University
en-keyword=electropneumatic control equipment
kn-keyword=electropneumatic control equipment
en-keyword=electrorheology
kn-keyword=electrorheology
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=non-Newtonian flow
kn-keyword=non-Newtonian flow
en-keyword=non-Newtonian fluids
kn-keyword=non-Newtonian fluids
en-keyword=pressure control
kn-keyword=pressure control
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=121
end-page=126
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1996
dt-pub=199611
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Master assisted cooperative control of human and robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>A cooperative control approach between human and robot takes an important role to carry out various tasks in hazardous environments or space. In this case, a robot is operated based on the cooperation between direct human control and autonomous robot control. In this study, a neural network is introduced for cooperating process between human control and robot control in order to optimize the degree of cooperation of human and robot. The degree of participation of human operator into the control is determined based on a reference cooperative model which expresses desired human and robot cooperative form. The experiment has executed the contacting tasks for the various object walls using a two-degrees of freedom Cartesian robot. The results indicate the availability of the proposed cooperating method for the cooperative control of human and robot </p>

en-copyright=
kn-copyright=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=InoueHiroyuki
en-aut-sei=Inoue
en-aut-mei=Hiroyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Tsuyama National College of Technology
en-keyword=neurocontrollers
kn-keyword=neurocontrollers
en-keyword=telerobotics
kn-keyword=telerobotics
END

start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=2321
end-page=2326
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1998
dt-pub=19985
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Performance and sensitivity in visual servoing
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Describes the relationship between the control performance and the number/configuration of the image features in feature-based visual servoing. The performance is evaluated by two ways: accuracy and speed. A quantitive definition of the sensitivity is given and the relationship among the sensitivity, the speed of convergence and the accuracy are discussed by using the image Jacobian. It is proved that these performance indices are increased effectively by using a point with different height. Experiments on Puma 560 are given to show the validity of these performance measures</p>

en-copyright=
kn-copyright=

en-aut-name=HashimotoKoichi
en-aut-sei=Hashimoto
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=Jacobian matrices
kn-keyword=Jacobian matrices
en-keyword=closed loop systems
kn-keyword=closed loop systems
en-keyword=convergence
kn-keyword=convergence
en-keyword=discrete time systems
kn-keyword=discrete time systems
en-keyword=optimal control
kn-keyword=optimal control
en-keyword=robot vision
kn-keyword=robot vision
en-keyword=sensitivity
kn-keyword=sensitivity
END

start-ver=1.4
cd-journal=joma
no-vol=4
cd-vols=
no-issue=
article-no=
start-page=3927
end-page=3932
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2000
dt-pub=200012
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Enlargement of stable region in visual servo
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Proposes a potential switching scheme that enlarges the stable region of feature-based visual servoing. Potential is defined as the norm of an image feature error and the stable region is a downward convex region of the potential surface that includes a reference position. The proposed scheme generates relay images that interpolate initial and reference image features and artificial potential is defined by using relay images. The artificial potentials are patched around the reference point of the original potential to enlarge the stable region. Simulations with simplified configuration and experiments on a 6 DOF robot show the validity of the proposed control scheme</p>

en-copyright=
kn-copyright=

en-aut-name=HashimotoKoichi
en-aut-sei=Hashimoto
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=CCD image sensors
kn-keyword=CCD image sensors
en-keyword=Jacobian matrices
kn-keyword=Jacobian matrices
en-keyword=image motion analysis
kn-keyword=image motion analysis
en-keyword=robot vision
kn-keyword=robot vision
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=1017
end-page=1022
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2001
dt-pub=200111
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Sensor based navigation for car-like mobile robots using generalized Voronoi graph
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Our research objective is to realize sensor based navigation by car-like mobile robots. The generalized Voronoi graph (GVG) can describe a mobile robot's path for sensor based navigation from the point of view of completeness and safety. However, it is impossible to apply the path to a car-like mobile robot directly, because limitation of the minimum turning radius prevents following the non-smooth GVG. To solve the problem, we propose a local smooth path planning algorithm for car-like mobile robots. Basically, an initial path is generated by a conventional path planning algorithm using GVG theory, and it is deformed smoothly to enable car-like robots' following by maximizing an evaluation function proposed in the paper. The key topics are: definition of our evaluation function; and how to modify the GVG. We introduce a local smooth path planning algorithm based on the GVG, and explain a detail of the evaluation function. Simulation results support validity of the algorithm </p>

en-copyright=
kn-copyright=

en-aut-name=NagataniKeiji
en-aut-sei=Nagatani
en-aut-mei=Keiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=IwaiYosuke
en-aut-sei=Iwai
en-aut-mei=Yosuke
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University
en-keyword=computational geometry
kn-keyword=computational geometry
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=path planning
kn-keyword=path planning
END

start-ver=1.4
cd-journal=joma
no-vol=3
cd-vols=
no-issue=
article-no=
start-page=1436
end-page=1441
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2001
dt-pub=200110
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Adaptive state construction for reinforcement learning and its application to robot navigation problems
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>This paper applies our state construction method by ART neural network to robot navigation problems. Agents in this paper consist of ART neural network and contradiction resolution mechanism. The ART neural network serves as a mean of state recognition which maps stimulus inputs to a certain state and state construction which creates a new state when a current stimulus input cannot be categorized into any known states. On the other hand, the contradiction resolution mechanism (CRM) uses agents' state transition table to detect inconsistency among constructed states. In the proposed method, two kinds of inconsistency for the CRM are introduced: &#34;Different results caused by the same states and the same actions&#34; and &#34;Contradiction due to ambiguous states.&#34; The simulation results on the robot navigation problems confirm the effectiveness of the proposed method</p>

en-copyright=
kn-copyright=

en-aut-name=HandaHisashi
en-aut-sei=Handa
en-aut-mei=Hisashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NinomiyaAkira
en-aut-sei=Ninomiya
en-aut-mei=Akira
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=HoriuchiTadashi
en-aut-sei=Horiuchi
en-aut-mei=Tadashi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=KonishiTadataka
en-aut-sei=Konishi
en-aut-mei=Tadataka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=BabaMitsuru
en-aut-sei=Baba
en-aut-mei=Mitsuru
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Matsue National College of Technology

affil-num=4
en-affil=
kn-affil=Chugoku Polytechnic College

affil-num=5
en-affil=
kn-affil=Okayama University
en-keyword=Adaptive State Construction
kn-keyword=Adaptive State Construction
en-keyword=ART Neural Network
kn-keyword=ART Neural Network
en-keyword=Reinforcement Learning
kn-keyword=Reinforcement Learning
END

start-ver=1.4
cd-journal=joma
no-vol=2
cd-vols=
no-issue=
article-no=
start-page=1719
end-page=1724
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1997
dt-pub=19974
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Visual servoing of nonholonomic cart
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>This paper presents a visual feedback control scheme for a nonholonomic cart without capabilities for dead reckoning. A camera is mounted on the cart and it observes cues attached on the environment. The dynamics of the cart are transformed into a coordinate system in the image plane. An image-based controller which linearizes the dynamics is proposed. Since the positions of the cues in the image plane are controlled directly, possibility of missing cues is reduced considerably. Simulations are carried out to evaluate the validity of the proposed scheme. Experiments on a radio controlled car with a CCD camera are also given</p>

en-copyright=
kn-copyright=

en-aut-name=HashimotoKoichi
en-aut-sei=Hashimoto
en-aut-mei=Koichi
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University
en-keyword=closed loop systems
kn-keyword=closed loop systems
en-keyword=feedback
kn-keyword=feedback
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=nonlinear control systems
kn-keyword=nonlinear control systems
en-keyword=path planning
kn-keyword=path planning
en-keyword=position control
kn-keyword=position control
en-keyword=robot dynamics
kn-keyword=robot dynamics
en-keyword=robot kinematics
kn-keyword=robot kinematics
en-keyword=robot vision
kn-keyword=robot vision
en-keyword=servomechanisms
kn-keyword=servomechanisms
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=1663
end-page=1668
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2002
dt-pub=200210
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Motion planning for mobile manipulator with keeping manipulability
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=<p>Our research goal is to realize a motion planning for an intelligent mobile manipulator. To plan a mobile manipulator's motion, it is popular that the base robot motion is regarded as manipulator's extra joints, and the whole system is considered as a redundant manipulator. In this case, the locomotion controller is a part of the manipulator controller. However, it is difficult to implement both controllers as one controller, in our implementation experience, because of difference of actuators' character. In this research, we focus on a path planning algorithm for a mobile base with keeping manipulability at the tip of the mounted manipulator. In this case, the locomotion controller is independent from the manipulator controller, and a cooperative motion is realized by a communication between both controllers. In this paper, we propose a motion planning algorithm for a mobile manipulator, and report several experimental results. </p>
en-copyright=
kn-copyright=

en-aut-name=NagataniKeiji
en-aut-sei=Nagatani
en-aut-mei=Keiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=HirayamaTomonobu
en-aut-sei=Hirayama
en-aut-mei=Tomonobu
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=GofukuAkio
en-aut-sei=Gofuku
en-aut-mei=Akio
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=TanakaYutaka
en-aut-sei=Tanaka
en-aut-mei=Yutaka
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Okayama University

affil-num=2
en-affil=
kn-affil=Okayama University

affil-num=3
en-affil=
kn-affil=Okayama University

affil-num=4
en-affil=
kn-affil=Okayama University
en-keyword=manipulators
kn-keyword=manipulators
en-keyword=mobile robots
kn-keyword=mobile robots
en-keyword=path planning
kn-keyword=path planning
END

start-ver=1.4
cd-journal=joma
no-vol=2009
cd-vols=
no-issue=1
article-no=
start-page=230
end-page=235
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2009
dt-pub=20091111
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Simultaneous Optimization of a Wheeled Mobile Robot Structure and a Control Parameter
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=A wheeled mobile mechanism with a passive and/or active linkage mechanism for traveling in the outdoor environment is developed and evaluated. In our previous research, we developed a wheeled mobile robot which has six wheels and a passive linkage mechanism, and its maneuverability was experimentally verified. The ability to climb over a 0.20 [m] high bump, which is twice height of the wheel diameter of 0.10 [m], was achieved, and the mobile robot can climb up continuous steps of 0.15 [m] high. In this research, we optimized the mobile robot linkage mechanisms and a controller parameter by evolutionary algorithm and dynamics engine in numerical simulations. The evolutionary algorithm employed in this research is Genetic Algorithm, and Open Dynamics Engine is used for dynamics calculation. To optimize the linkage mechanism and a controller parameter, we investigated outdoor environment for the mobile robot, for example obstacles, steps, and stairs. And, we selected typical three kinds of outdoor environments, 0.20 [m] high bump, right angle stairs of 0.15 [m] high, and angled stairs of 0.15 [m] high. In the numerical simulations, though the mobile robot using parameters which express our existing robot could climb up/down the 0.20 [m] high bump, but it could not achieve climbing up/down the two kinds of stairs. On the other hand, the optimized parameter mobile robot could climb up/down the three kinds of typical environments.
en-copyright=
kn-copyright=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=SatoMasanori
kn-aut-sei=Sato
kn-aut-mei=Masanori
aut-affil-num=1
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=KandaAtsushi
kn-aut-sei=Kanda
kn-aut-mei=Atsushi
aut-affil-num=2
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=IshiiKazuo
kn-aut-sei=Ishii
kn-aut-mei=Kazuo
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Fukuoka Industry, Science & Technology Foundation

affil-num=2
en-affil=
kn-affil=Kyushu Institute of Technology

affil-num=3
en-affil=
kn-affil=Kyushu Institute of Technology
END

start-ver=1.4
cd-journal=joma
no-vol=2009
cd-vols=
no-issue=1
article-no=
start-page=213
end-page=218
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2009
dt-pub=20091111
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Real-Time Visal Motion Detection by Spatiotemporal Energy Model Implemented on GPU
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The aim of this study is to develop a real-time visual motion detection system by using physiologically meaningful image processing algorithm. Spatiotemporal energy model has been recognized as the most plausible algorithm corresponding to the jobs in motion detection performed by simple and complex cells existing in area V1 of cats or macaque monkeys. Because of the parallelism of the brain, this algorithm inherently has high parallel performance. Together with the locality, spatiotemporal Gabor filtering and succeeding energy extraction process fit with the architecture of present GPU (Graphic Processing Unit). Enabling real-time motion detection
at each pixel location over the entire input image is fundamental in many applications as for instances in robotics vision and carmounted camera. This system, moreover, is open for further expansion based on the physiological knowledge about mammalian visual system.
en-copyright=
kn-copyright=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=HanazawaAkitoshi
kn-aut-sei=Hanazawa
kn-aut-mei=Akitoshi
aut-affil-num=1
ORCID=

affil-num=1
en-affil=
kn-affil=Kyushu Institute of Technology
END

start-ver=1.4
cd-journal=joma
no-vol=33
cd-vols=
no-issue=2
article-no=
start-page=91
end-page=96
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1999
dt-pub=19990427
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Intelligent Monitoring System Using Multiviewpoints for Teleperation
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=In this paper, we propose the method to determine the position of the 2 cameras for the multiviewpoints as the robot is the work place. The optical axit's direction of the 1st camera is determined in the base ot work contents in teleoperation. The multiviewpoints system uses the 2 camera units that aren't installed side by side, so that the direction of the 2nd camera is decided in the base of the angle between the optical axes' direction of 2 cameras. Next, the distance from the camera to the work place is determined according to the distance resolution of image on the monitor, and the camera type of which the point-blank range is not this distance is selected. And the efficacy ot this system is examined with an experiment.
en-copyright=
kn-copyright=

en-aut-name=MunesawaYoshiomi
en-aut-sei=Munesawa
en-aut-mei=Yoshiomi
kn-aut-name=宗澤良臣
kn-aut-sei=宗澤
kn-aut-mei=良臣
aut-affil-num=1
ORCID=

en-aut-name=OsakiHirokazu
en-aut-sei=Osaki
en-aut-mei=Hirokazu
kn-aut-name=大崎紘一
kn-aut-sei=大崎
kn-aut-mei=紘一
aut-affil-num=2
ORCID=

en-aut-name=KajiharaYasuhiro
en-aut-sei=Kajihara
en-aut-mei=Yasuhiro
kn-aut-name=梶原康博
kn-aut-sei=梶原
kn-aut-mei=康博
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Department of Systems Engineering

affil-num=2
en-affil=
kn-affil=Department of Systems Engineering

affil-num=3
en-affil=
kn-affil=Department of Systems Engineering
END

start-ver=1.4
cd-journal=joma
no-vol=33
cd-vols=
no-issue=2
article-no=
start-page=85
end-page=89
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1999
dt-pub=19990427
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A Method of Shape Recognition Using CAD Data and Vertex-Dictionary
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=We reason the circumstances around the three-dimensional vertex from the information about the intersection point in the two-dimensional image data inputted from a camera on the premise that we use this method as the eye ot the robot. In this method, we use the Vertex-Dictionary. We make the Vertex-Dictionary by calculation from CAD data of object figure (these data are already known) and the position data of the point of view. This dictionary includes the data of position and relations of connect surface etc. about a vertex. We get the data of three-dimensional vertex by comparison the data of two-dimensional intersection point in image data and Vertex-Dictionary. And we get the three-dimensional object by reasoning about the information of circumstances of all vertexes. Then we can recognize the three-dimensional object from image data. In this report, we explain the process to calculate the Vertex-Dictionary and some examples about this method.
en-copyright=
kn-copyright=

en-aut-name=YamadaMitsuru
en-aut-sei=Yamada
en-aut-mei=Mitsuru
kn-aut-name=山田充
kn-aut-sei=山田
kn-aut-mei=充
aut-affil-num=1
ORCID=

en-aut-name=OsakiHirokazu
en-aut-sei=Osaki
en-aut-mei=Hirokazu
kn-aut-name=大崎紘一
kn-aut-sei=大崎
kn-aut-mei=紘一
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Department of Systems Engineering

affil-num=2
en-affil=
kn-affil=Department of Systems Engineering
END

start-ver=1.4
cd-journal=joma
no-vol=2009
cd-vols=
no-issue=1
article-no=
start-page=47
end-page=52
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2009
dt-pub=20091111
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Implementation of a Mobile Device Controlled Multi-behavior Interactive Mobile Robot Over MR Technology
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper presents a mobile-device controlled multi-behavior interactive mobile robot. The proposed mobile robot is implemented under the technique of mixed reality. The proposed mobile robot has three basic locomotion behaviors that enable the mobile robot moving in a complex environment. The three basic interactive behaviors are: target navigation behavior, face tracking behavior, and obstacles avoidance behavior. The three behaviors are designed by the fuzzy controller, respectively. For people convenience, a hand held mobile device is introduced as a user interface to interactive with the mobile robot. Experiments show that the proposed behaviors are well designed. The proposed robot system and control rules are been conducted in good performance and good reliabilities.
en-copyright=
kn-copyright=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=LeeWen-Yo
kn-aut-sei=Lee
kn-aut-mei=Wen-Yo
aut-affil-num=1
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=GuoJhu-Syuan
kn-aut-sei=Guo
kn-aut-mei=Jhu-Syuan
aut-affil-num=2
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=HungTa-Chih
kn-aut-sei=Hung
kn-aut-mei=Ta-Chih
aut-affil-num=3
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=HsuHui-Wen
kn-aut-sei=Hsu
kn-aut-mei=Hui-Wen
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Lunghwa University of Science and Technology

affil-num=2
en-affil=
kn-affil=Lunghwa University of Science and Technology

affil-num=3
en-affil=
kn-affil=Industrial Technology Research Institute

affil-num=4
en-affil=
kn-affil=Lunghwa University of Science and Technology
en-keyword=Mobile Robot
kn-keyword=Mobile Robot
en-keyword=Face tracking
kn-keyword=Face tracking
en-keyword=Obstacle avoidance
kn-keyword=Obstacle avoidance
en-keyword=Target Navigation
kn-keyword=Target Navigation
en-keyword=Mixed Reality
kn-keyword=Mixed Reality
en-keyword=PDA
kn-keyword=PDA
END

start-ver=1.4
cd-journal=joma
no-vol=33
cd-vols=
no-issue=1
article-no=
start-page=31
end-page=37
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1998
dt-pub=19981130
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A Study on Robot System to Hand Surgical Intrument to a Surgeon in a Surgery (1st Report, Development of Surgical Instrument Recognition System)
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The nurse supporting robot system to prepare and hand surgical instruments to a surgeon is proposed to reduce work of nurse in a surgical operation. In this paper, the surgical instrument recognition system (SIRS) is developed to hand the surgical instruments to a surgeon by the robot. The characteristics ot the instruments are area of the instruments, ratio of minimum center-contour distance to maximum one and its outline contour, are recognized by using the image processing. Kinds of the instruments are distinguished by these characteristics.
en-copyright=
kn-copyright=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=IwamotoHidehisa
kn-aut-sei=Iwamoto
kn-aut-mei=Hidehisa
aut-affil-num=1
ORCID=

en-aut-name=OsakiHirokazu
en-aut-sei=Osaki
en-aut-mei=Hirokazu
kn-aut-name=大崎紘一
kn-aut-sei=大崎
kn-aut-mei=紘一
aut-affil-num=2
ORCID=

en-aut-name=KajiharaYasuhiro
en-aut-sei=Kajihara
en-aut-mei=Yasuhiro
kn-aut-name=梶原康博
kn-aut-sei=梶原
kn-aut-mei=康博
aut-affil-num=3
ORCID=

en-aut-name=MunesawaYoshiomi
en-aut-sei=Munesawa
en-aut-mei=Yoshiomi
kn-aut-name=宗澤良臣
kn-aut-sei=宗澤
kn-aut-mei=良臣
aut-affil-num=4
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=HashimotoAtsufumi
kn-aut-sei=Hashimoto
kn-aut-mei=Atsufumi
aut-affil-num=5
ORCID=

en-aut-name=SekiShuji
en-aut-sei=Seki
en-aut-mei=Shuji
kn-aut-name=関州二
kn-aut-sei=関
kn-aut-mei=州二
aut-affil-num=6
ORCID=

affil-num=1
en-affil=
kn-affil=Kure National College of Technology

affil-num=2
en-affil=
kn-affil=Dept. of System Engineering, Okayama University

affil-num=3
en-affil=
kn-affil=Dept. of System Engineering, Okayama University

affil-num=4
en-affil=
kn-affil=Dept. of System Engineering, Okayama University

affil-num=5
en-affil=
kn-affil=Dept. of System Engineering, Okayama University

affil-num=6
en-affil=
kn-affil=Dept. of Medicine, Okayama University
END

start-ver=1.4
cd-journal=joma
no-vol=31
cd-vols=
no-issue=2
article-no=
start-page=61
end-page=65
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1997
dt-pub=19970328
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A Method of Shape Recognition Using Geometry Information
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=At present, the two dimensional CAD systems which are used to make drawings go around widely. But in order to use design data at the lower stream of production process, the replacement from the two dimensional CAD systems to the three dimensional CAD systems have started. Accordingly it is dimensional drawings for the three dimensional shapes. And it is also necessary to store them in the three dimensional CAD systems. And in the studying of the machine vision which is often used as "Eyes of robot" , it is being studied the method to recognize the three dimensional objects from the two dimensional image. This is the problem about data exchange, too. Therefore in this report, we propose the method to exchange the plural two dimensional elements of figure from image relations between elements were found from reference of the element coordinates. Next, the three dimensional shapes were reasoned from reference of the knowledge (for corner, etc) prepared beforehand. Then that data were exchanged to the three dimensional CAD data. We report one example about this method.
en-copyright=
kn-copyright=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=YamadaMitsuru
kn-aut-sei=Yamada
kn-aut-mei=Mitsuru
aut-affil-num=1
ORCID=

en-aut-name=OsakiHirokazu
en-aut-sei=Osaki
en-aut-mei=Hirokazu
kn-aut-name=大崎紘一
kn-aut-sei=大崎
kn-aut-mei=紘一
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Industrial Technology Center of Okayama Prefecture

affil-num=2
en-affil=
kn-affil=Department of Systems Engineering
END

start-ver=1.4
cd-journal=joma
no-vol=43
cd-vols=
no-issue=
article-no=
start-page=49
end-page=54
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2009
dt-pub=200901
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Position Control of 2-Link SCARA Robot by using InternalModel Control
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=In this paper, the controlled target is the SCARA robot with two links, and the object is fine control of the arm head position of the robot. To attain the object, Internal Model Control (IMC) is introduced. A nonlinear equations are for robot dynamics formulated by solving Lagrange equation, and is linearized to design control system by IMC. The controller of IMC is designed or synthesisted as the inverse system of the linearized model, and IMC filter model is selected. Also, reference filter is introduced to make the improvement of performance. The result of control performance by IMC is compared with that of PID numerically, accuracy and incoherency are confirmed.
en-copyright=
kn-copyright=

en-aut-name=AkamatsuShinya
en-aut-sei=Akamatsu
en-aut-mei=Shinya
kn-aut-name=赤松慎也
kn-aut-sei=赤松
kn-aut-mei=慎也
aut-affil-num=1
ORCID=

en-aut-name=KonishiMasami
en-aut-sei=Konishi
en-aut-mei=Masami
kn-aut-name=小西正躬
kn-aut-sei=小西
kn-aut-mei=正躬
aut-affil-num=2
ORCID=

en-aut-name=ImaiJun
en-aut-sei=Imai
en-aut-mei=Jun
kn-aut-name=今井純
kn-aut-sei=今井
kn-aut-mei=純
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Division of Electronic and Information System Engineering Graduate School of Natural Science and Technology Okayama University

affil-num=2
en-affil=
kn-affil=Division of Industrial Innovation Science Graduate School of Natural Science and Technology Okayama University

affil-num=3
en-affil=
kn-affil=Division of Industrial Innovation Science Graduate School of Natural Science and Technology Okayama University
END

start-ver=1.4
cd-journal=joma
no-vol=43
cd-vols=
no-issue=
article-no=
start-page=39
end-page=48
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2009
dt-pub=200901
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Positioning Control of One Link Arm with ParametricUncertainty using Quantitative Feedback Theory
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper presents method of the controller design for one link arm with parametric uncertainty. Recently, many manufacturing robots are operated in manufacturing facilities, with the aim of labor and cost saving or improvement of the productivity. Such robots need to have positioning performance of high precision. In condition that there is an uncertainty in plant dynamics, desired control performance may not be attained because the
controller is designed according to the mathematical model of a plant. So it is important that the designed control system have a robust control performance. In this paper, the robust controller is designed using Quantitative Feedback Theory (QFT) for one link arm with parametric uncertainty. Simulation experiments are run for control system designed by using QFT and conventional method. The results are compared with each other and it is found that the control system designed by QFT shows a robust performance and can suppress the unevenness of output against parametric uncertainty.
en-copyright=
kn-copyright=

en-aut-name=KuwashimaTakayuki
en-aut-sei=Kuwashima
en-aut-mei=Takayuki
kn-aut-name=桑嶋崇行
kn-aut-sei=桑嶋
kn-aut-mei=崇行
aut-affil-num=1
ORCID=

en-aut-name=ImaiJun
en-aut-sei=Imai
en-aut-mei=Jun
kn-aut-name=今井純
kn-aut-sei=今井
kn-aut-mei=純
aut-affil-num=2
ORCID=

en-aut-name=KonishiMasami
en-aut-sei=Konishi
en-aut-mei=Masami
kn-aut-name=小西正躬
kn-aut-sei=小西
kn-aut-mei=正躬
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Dept. of Electrical and Electronic Engineering Okayama University

affil-num=2
en-affil=
kn-affil=Dept. of Electrical and Electronic Engineering Okayama University

affil-num=3
en-affil=
kn-affil=Dept. of Electrical and Electronic Engineering Okayama University
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2009
dt-pub=20090930
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=サポートベクターマシンによる移動ロボットの運動制御と障害物回避
kn-title=Support vector machine based mobile robot motion control and obstacle avoidance
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=JiangLihua
en-aut-sei=Jiang
en-aut-mei=Lihua
kn-aut-name=姜麗華
kn-aut-sei=姜
kn-aut-mei=麗華
aut-affil-num=1
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学
END

start-ver=1.4
cd-journal=joma
no-vol=21
cd-vols=
no-issue=1
article-no=
start-page=17
end-page=30
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1986
dt-pub=19861115
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A Computer Program of Assembly Line Balancing Considering the Performance Rate of Each Work Station
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Assembly line balancing is to assign work elements to serial work stations so as to make the work content at each station as close as possible to one limiting cycle time or pitch time, i.e., an upper time limit over every station. Until now, it is usually assumed that the
performance rates of work stations are constant. But in
practice the performance abilities of workers, machines or robots are varied by their own working conditions. Then the actual station times are different from standard ones, and consequently the line balance may diminish in many cases. Therefore in this paper, we propose an improved
balancing method, in which work elements can be assigned to the work station having the upper time limit changed by its performance rate or ability. Further we develop the computer program of the proposed method and provide an illustrative problem and computational results. In an application of our method to the practical problems, it is shown that the actual efficiency of the production line becomes near that planned.
en-copyright=
kn-copyright=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=AkagiFumio
kn-aut-sei=Akagi
kn-aut-mei=Fumio
aut-affil-num=1
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=OsakiHirokazu
kn-aut-sei=Osaki
kn-aut-mei=Hirokazu
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=Department of Industrial Science

affil-num=2
en-affil=
kn-affil=Department of Industrial Science
END

start-ver=1.4
cd-journal=joma
no-vol=25
cd-vols=
no-issue=1
article-no=
start-page=1
end-page=13
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1990
dt-pub=19901214
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A Method of Cubic Object Feature Extraction
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=How to reduce and simplify the calculation for image recognition is a very attractive and important issue in order to realize the real time control of a robot based on the image recognition results. This paper describes a method of extracting 2 - dimensional geometrical features of cubic objects based on the normal vector distributions from the visual information obtained with the laser range finder to reduce the calculation of the image recognition. In this research a laser beam is scanned in the horizontal plane to which the cubic objects stand vertically and the laser spot is detected with a TV camera every sampling time. These spots make an intermittent locus which includes some special lines corresponding to the cubic objects. To extract the features of the cubic objects, we utilize the normal vectors formed on the locus. If some normal vectors distribute in the same direction and the origin of the normal vectors are very close to their neighbor's, these normal vectors can be classified into the same class, -the straight line class. Because the normal vectors on the neighbor surfaces of the cubic objects are vertical to each other, we use this property to determine the pair of straight lines which belong to the cubic objects. Making the histogram based on the normal vectors with the same direction, we obtain the peaks which are supported by the points on the cubic object surfaces. Then, the points can be extracted from the set of points on the whole locus inversely according to the relations with the peaks and the features of the cubic object can be extracted by applying method of least square to these extracted points. The experiments proved the availability of the proposed processing algorithm.
en-copyright=
kn-copyright=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=GaoHong
kn-aut-sei=Gao
kn-aut-mei=Hong
aut-affil-num=1
ORCID=

en-aut-name=WadaTsutomu
en-aut-sei=Wada
en-aut-mei=Tsutomu
kn-aut-name=和田力
kn-aut-sei=和田
kn-aut-mei=力
aut-affil-num=2
ORCID=

en-aut-name=NoritsuguToshiro
en-aut-sei=Noritsugu
en-aut-mei=Toshiro
kn-aut-name=則次俊郎
kn-aut-sei=則次
kn-aut-mei=俊郎
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=The Graduate School of Natural Science and Technology

affil-num=2
en-affil=
kn-affil=Department of Industrial and Mechanical Engineering

affil-num=3
en-affil=
kn-affil=The Graduate School of Natural Science and Technology
END

start-ver=1.4
cd-journal=joma
no-vol=23
cd-vols=
no-issue=2
article-no=
start-page=9
end-page=19
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1989
dt-pub=19890330
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=A Design Method for Pin Holding Type Jig
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Multi-item flexible manufacturing systems have been spread to correspond the short life-cycle and the diversification of products. Part handling plays an important role to operate multi-functional robot efficiently in these systems, and many jigs are widely used to hold a part. They should be exchanged at once according to changing products. In this paper, we propose a pin jig which holds a part with two pins, and design method of the position, length and diameter of those pins for a cylindrical part. This jig has the following characteristics. As a surface of the jig is inclined to use gravity, the part can be fixed without any external forces. Therefore the structure of jig becomes simple, and loading and unloading of a part becomes easy for a robot hand.
en-copyright=
kn-copyright=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=KurodaTsutomu
kn-aut-sei=Kuroda
kn-aut-mei=Tsutomu
aut-affil-num=1
ORCID=

en-aut-name=OsakiHirokazu
en-aut-sei=Osaki
en-aut-mei=Hirokazu
kn-aut-name=大崎紘一
kn-aut-sei=大崎
kn-aut-mei=紘一
aut-affil-num=2
ORCID=

en-aut-name=MatsudaMasaaki
en-aut-sei=Matsuda
en-aut-mei=Masaaki
kn-aut-name=松田正明
kn-aut-sei=松田
kn-aut-mei=正明
aut-affil-num=3
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=FujisawaKeita
kn-aut-sei=Fujisawa
kn-aut-mei=Keita
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Tosco Co. LTD.

affil-num=2
en-affil=
kn-affil=Department of Mechanical Engineering

affil-num=3
en-affil=
kn-affil=Department of Mechanical Engineering

affil-num=4
en-affil=
kn-affil=Mitsubishi Electric Co., LTD.
END

start-ver=1.4
cd-journal=joma
no-vol=35
cd-vols=
no-issue=1-2
article-no=
start-page=177
end-page=182
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2001
dt-pub=20010327
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Cooperative Handling Robot with Human Beings
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The focus of this paper is on the analysis of delivery motion of human, development of an image processing method based on the motion analysis and development of the cooperative delivery robot using the image processing method. The proposed image processing method uses two cameras, and it uses a stereo reconstruction technique for measuring position and postures of hands. In addition, this image processing method recognize the number of fingers extending consciously, so the cooperative human beings could choose the kind of tool which he wants by holding out his hand in front of cameras.
en-copyright=
kn-copyright=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=KankiKunihiko
kn-aut-sei=Kanki
kn-aut-mei=Kunihiko
aut-affil-num=1
ORCID=

en-aut-name=OsakiHirokazu
en-aut-sei=Osaki
en-aut-mei=Hirokazu
kn-aut-name=大崎紘一
kn-aut-sei=大崎
kn-aut-mei=紘一
aut-affil-num=2
ORCID=

en-aut-name=KajiharaYasuhiro
en-aut-sei=Kajihara
en-aut-mei=Yasuhiro
kn-aut-name=梶原康博
kn-aut-sei=梶原
kn-aut-mei=康博
aut-affil-num=3
ORCID=

en-aut-name=MunesawaYoshiomi
en-aut-sei=Munesawa
en-aut-mei=Yoshiomi
kn-aut-name=宗澤良臣
kn-aut-sei=宗澤
kn-aut-mei=良臣
aut-affil-num=4
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=OhtaKazuharu
kn-aut-sei=Ohta
kn-aut-mei=Kazuharu
aut-affil-num=5
ORCID=

affil-num=1
en-affil=
kn-affil=Department of Systems Engineering

affil-num=2
en-affil=
kn-affil=Department of Systems Engineering

affil-num=3
en-affil=
kn-affil=Department of Systems Engineering

affil-num=4
en-affil=
kn-affil=Department of Systems Engineering

affil-num=5
en-affil=
kn-affil=Department of Systems Engineering
END

start-ver=1.4
cd-journal=joma
no-vol=35
cd-vols=
no-issue=1-2
article-no=
start-page=169
end-page=175
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2001
dt-pub=20010327
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=An Image Processing Method for Handling Subject Piled in a Container
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=We propose an image processing method for part handling robot for picking up subjects piled in a container. Line laser light is projected on subjects, and its external shape is detected by many segments of a line laser, and pitch, roll, and yaw angles of subject are recognized precisely. A priority rule is settled to choose one subject that is taken out. This rule is determined by considering the grasping space, the position of a subject, the movement space of hand and so on.
en-copyright=
kn-copyright=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=UedaKiyotaka
kn-aut-sei=Ueda
kn-aut-mei=Kiyotaka
aut-affil-num=1
ORCID=

en-aut-name=OsakiHirokazu
en-aut-sei=Osaki
en-aut-mei=Hirokazu
kn-aut-name=大崎紘一
kn-aut-sei=大崎
kn-aut-mei=紘一
aut-affil-num=2
ORCID=

en-aut-name=KajiharaYasuhiro
en-aut-sei=Kajihara
en-aut-mei=Yasuhiro
kn-aut-name=梶原康博
kn-aut-sei=梶原
kn-aut-mei=康博
aut-affil-num=3
ORCID=

en-aut-name=MunesawaYoshiomi
en-aut-sei=Munesawa
en-aut-mei=Yoshiomi
kn-aut-name=宗澤良臣
kn-aut-sei=宗澤
kn-aut-mei=良臣
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Department of Systems Engineering

affil-num=2
en-affil=
kn-affil=Department of Systems Engineering

affil-num=3
en-affil=
kn-affil=Department of Systems Engineering

affil-num=4
en-affil=
kn-affil=Department of Systems Engineering
END

start-ver=1.4
cd-journal=joma
no-vol=35
cd-vols=
no-issue=1-2
article-no=
start-page=163
end-page=168
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2001
dt-pub=20010327
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of Assembly Robot System for Flexible Belt-Shaped Subject
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=We develop an assembly robot system for assembling the flexible belt-shaped subject. An image processing method is developed to recognize the belt-shaped subject. This method is able to determine the grasping point and grasping angle for piking up a subject by a multiple hands unit. CAD information is used to determine the grasping point. The multiple hands unit is developed, which is able to grasp all grasping points of a subject at a time. In addition, the image processing method is used to judge whether a subject is fastened accurately at right position or not during the assembly.
en-copyright=
kn-copyright=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=UchiyamaHiromitsu
kn-aut-sei=Uchiyama
kn-aut-mei=Hiromitsu
aut-affil-num=1
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=MiyazakiSatoshi
kn-aut-sei=Miyazaki
kn-aut-mei=Satoshi
aut-affil-num=2
ORCID=

en-aut-name=OsakiHirokazu
en-aut-sei=Osaki
en-aut-mei=Hirokazu
kn-aut-name=大崎紘一
kn-aut-sei=大崎
kn-aut-mei=紘一
aut-affil-num=3
ORCID=

en-aut-name=KajiharaYasuhiro
en-aut-sei=Kajihara
en-aut-mei=Yasuhiro
kn-aut-name=梶原康博
kn-aut-sei=梶原
kn-aut-mei=康博
aut-affil-num=4
ORCID=

en-aut-name=MunesawaYoshiomi
en-aut-sei=Munesawa
en-aut-mei=Yoshiomi
kn-aut-name=宗澤良臣
kn-aut-sei=宗澤
kn-aut-mei=良臣
aut-affil-num=5
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=MatsukiKatsunori
kn-aut-sei=Matsuki
kn-aut-mei=Katsunori
aut-affil-num=6
ORCID=

affil-num=1
en-affil=
kn-affil=Department of Systems Engineering

affil-num=2
en-affil=
kn-affil=Graduate School of Natural Science and Technology

affil-num=3
en-affil=
kn-affil=Department of Systems Engineering

affil-num=4
en-affil=
kn-affil=Department of Systems Engineering

affil-num=5
en-affil=
kn-affil=Department of Systems Engineering

affil-num=6
en-affil=
kn-affil=Uchiyama Manufacturing Corporation
END

start-ver=1.4
cd-journal=joma
no-vol=35
cd-vols=
no-issue=1-2
article-no=
start-page=155
end-page=161
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2001
dt-pub=20010327
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Methods for Tele-Operation of Mobile Type Maintenance Robot
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper proposes a concept of a mobile type maintenance robot (MMR in shortly) that is controlled by the tele-operation for assuring the safety and health improvement of work forces. The main components of this system are the industrial robot, an image processing unit, vehicle and computers for tele-operation. Our focus is paid on a method that determine a pathway to move every places where troubles would occur. This method makes it possible that the MMR could arrive any place in the factory with three times of turns at most. Additionally, turning radius of the vehicle is considered for correcting the pathway near the corners to make it possible that it arrives to the place accurately.
en-copyright=
kn-copyright=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=TakahashiHiromitsu
kn-aut-sei=Takahashi
kn-aut-mei=Hiromitsu
aut-affil-num=1
ORCID=

en-aut-name=MunesawaYoshiomi
en-aut-sei=Munesawa
en-aut-mei=Yoshiomi
kn-aut-name=宗澤良臣
kn-aut-sei=宗澤
kn-aut-mei=良臣
aut-affil-num=2
ORCID=

en-aut-name=KajiharaYasuhiro
en-aut-sei=Kajihara
en-aut-mei=Yasuhiro
kn-aut-name=梶原康博
kn-aut-sei=梶原
kn-aut-mei=康博
aut-affil-num=3
ORCID=

en-aut-name=OsakiHirokazu
en-aut-sei=Osaki
en-aut-mei=Hirokazu
kn-aut-name=大崎紘一
kn-aut-sei=大崎
kn-aut-mei=紘一
aut-affil-num=4
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=WadaYatarou
kn-aut-sei=Wada
kn-aut-mei=Yatarou
aut-affil-num=5
ORCID=

affil-num=1
en-affil=
kn-affil=Department of Systems Engineering

affil-num=2
en-affil=
kn-affil=Department of Systems Engineering

affil-num=3
en-affil=
kn-affil=Department of Systems Engineering

affil-num=4
en-affil=
kn-affil=Department of Systems Engineering

affil-num=5
en-affil=
kn-affil=Department of Systems Engineering
END

start-ver=1.4
cd-journal=joma
no-vol=2008
cd-vols=
no-issue=1
article-no=
start-page=179
end-page=184
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2008
dt-pub=20081211
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Development of a Training-Assist Robotic System Adapting to Individual Motor Abilities in Virtual Tennis Task
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=The present paper develops a training-assist robotic
system that can adapt a reference hand motion for a virtual tennis task to individual motor abilities. The system first measures maximum hand force and velocity in reaching arm movements prior to the training, and designs a suitable reference trajectory for teaching motion smoothness and timing in the virtual tennis task based on the measured results. A quantitative index for evaluating task performance and motor functions are then defined with consideration of task dynamics. Finally, the effectiveness of the developed training system is validated through a set of preliminary training experiments with health subjects.
en-copyright=
kn-copyright=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=IshiiMasataka
kn-aut-sei=Ishii
kn-aut-mei=Masataka
aut-affil-num=1
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=TanakaYoshiyuki
kn-aut-sei=Tanaka
kn-aut-mei=Yoshiyuki
aut-affil-num=2
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=TsujiToshio
kn-aut-sei=Tsuji
kn-aut-mei=Toshio
aut-affil-num=3
ORCID=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=ImamuraNobuaki
kn-aut-sei=Imamura
kn-aut-mei=Nobuaki
aut-affil-num=4
ORCID=

affil-num=1
en-affil=
kn-affil=Hiroshima University

affil-num=2
en-affil=
kn-affil=Hiroshima University

affil-num=3
en-affil=
kn-affil=Hiroshima University

affil-num=4
en-affil=
kn-affil=Hiroshima International University
END

start-ver=1.4
cd-journal=joma
no-vol=42
cd-vols=
no-issue=1
article-no=
start-page=91
end-page=103
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2008
dt-pub=200801
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Cooperation of Production, Product Handling and TransferScheduling for Semiconductor Fabrication
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=Various kind of productions are made in semiconductor fabrications, where it employs the production system with multiprocesses and multiple Automated Guided Vehicles(AGVs)
for transportation. It is difficult to optimize planning of production and transportation simultaneously
because of the complicated flow of semifinished products. This paper describes the formulations of production scheduling, transportation routing and sequence planning of
material handling system, and algorithm for simultaneous optimization of plannings by using solution space reduction and simulated annealing method. In this paper, all production system is decomposed to the production scheduling problem, transportation routing problem
by AGVs and sequence planning of material handling system with managing stockers and buffers. Production scheduling problem and transportation routing problem are solved
by the optimization algorithm using the decomposition routing problem. Sequence planning of material handling robot problem is solved by the algorithm using simulated annealing method.
en-copyright=
kn-copyright=

en-aut-name=RyoheiHamana
en-aut-sei=Ryohei
en-aut-mei=Hamana
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=KonishiMasami
en-aut-sei=Konishi
en-aut-mei=Masami
kn-aut-name=小西正躬
kn-aut-sei=小西
kn-aut-mei=正躬
aut-affil-num=2
ORCID=

en-aut-name=ImaiJun
en-aut-sei=Imai
en-aut-mei=Jun
kn-aut-name=今井純
kn-aut-sei=今井
kn-aut-mei=純
aut-affil-num=3
ORCID=

affil-num=1
en-affil=
kn-affil=Division of Electronic and Information System Engineering Graduate School of Natural Science and Technology Okayama University

affil-num=2
en-affil=
kn-affil=Division of Industrial Innovation Science Graduate School of Natural Science and Technology Okayama University

affil-num=3
en-affil=
kn-affil=Division of Industrial Innovation Science Graduate School of Natural Science and Technology Okayama University
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2008
dt-pub=20080325
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=重症急性肺血栓塞栓症に対する新しい経皮的カテーテル血栓除去術：双方向回転性血栓除去術(ROBOT)
kn-title=Novel Percutaneous Catheter Thrombectomy in Acute Massive Pulmonary Embolism: Rotational Bidirectional Thrombectomy (ROBOT)
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=YoshidaMasashi
en-aut-sei=Yoshida
en-aut-mei=Masashi
kn-aut-name=吉田賢司
kn-aut-sei=吉田
kn-aut-mei=賢司
aut-affil-num=1
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=
end-page=
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1992
dt-pub=19920930
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=レーザレンジフｧインダのロボットビジョンシステムとしての応用研究
kn-title=APPLICATION RESEARCH OF LASER RANGE FINDERS USED AS ROBOT VISION SYSTEM
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=
en-copyright=
kn-copyright=

en-aut-name=
en-aut-sei=
en-aut-mei=
kn-aut-name=高宏
kn-aut-sei=高
kn-aut-mei=宏
aut-affil-num=1
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学
END

start-ver=1.4
cd-journal=joma
no-vol=74
cd-vols=
no-issue=1
article-no=
start-page=21
end-page=27
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1989
dt-pub=1989
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=農業用8自由度ロボットの研究(I) 8自由度マニピュレータの試作
kn-title=Agricultural Robot with 8 Degrees of Freedom (I) : Trial Manufacture of 8 DOF Manipulator
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=8 degrees of freedom manipulator which articulated manipulator and polar coordinates manipulator were combined was made as a trial. The size of the manipulator was 2100mm in length, 540mm in width, 800mm in height from ground to shoulder joint, and weighed 200 kg. Fruit approaching experiment and plant pulling experiment were done in order to investigate the effectiveness of the redundant mechanism of the manipulator. From the results, it was observed that the manipulator could approach to the objects avoiding the obstacles because of the redundance, and that it could be used form many objects.
en-copyright=
kn-copyright=

en-aut-name=KondoNaoshi
en-aut-sei=Kondo
en-aut-mei=Naoshi
kn-aut-name=近藤直
kn-aut-sei=近藤
kn-aut-mei=直
aut-affil-num=1
ORCID=

en-aut-name=ShibanoYasunori
en-aut-sei=Shibano
en-aut-mei=Yasunori
kn-aut-name=芝野保徳
kn-aut-sei=芝野
kn-aut-mei=保徳
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学

affil-num=2
en-affil=
kn-affil=岡山大学
END

start-ver=1.4
cd-journal=joma
no-vol=72
cd-vols=
no-issue=1
article-no=
start-page=69
end-page=76
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=1988
dt-pub=1988
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=ハンドアイシステムにおけるビジュアルフィードバックを用いた果実の検出(I) 関節型マニピュレータを用いた果実検出実験
kn-title=Detecting Fruit by Visual Feedback on Hand-Eye System (I) : Fruit Detecting Experiment Using Anthropomorphic Type Manipulator
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=A visual sensor which could recognize fruits was made in order to develop the sight sense of the fruit harvesting robot. This visual sensor was attached to an anthropomorphic type manipulator, and a fruit detecting experiment using a method of visual feedback was done. The results were obtained as follows ;  　It was observed that the hand was able to grip the orange balls which positioned at 30 cm in front of the visual sensor. It was given as defects that the error depended on the fruit diameter arose, number of the image input was big, and so on. It was considered that this method was more advantageous to telescopic type manipulator than anthropomorphic type manipulator.
en-copyright=
kn-copyright=

en-aut-name=KondoNaoshi
en-aut-sei=Kondo
en-aut-mei=Naoshi
kn-aut-name=近藤直
kn-aut-sei=近藤
kn-aut-mei=直
aut-affil-num=1
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学
END