研究者詳細 - 戸田　雄一郎

論文 - 戸田　雄一郎

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Growing Neural Gasを用いた3次元サリエンシーマップ推定査読

古田優泰, 戸田雄一郎, 松野隆幸

知能と情報 37 ( 2 ) 607 - 617 2025年5月

Length Estimation of Pneumatic Artificial Muscle with Optical Fiber Sensor Using Machine Learning 査読

Yilei Ni, Shuichi Wakimoto, Weihang Tian, Yuichiro Toda, Takefumi Kanda, Daisuke Yamaguchi

25 ( 7 ) 2221 - 2221 2025年4月

Case Study on a Navigation System using Growing Neural Gas 査読

Koki Sakamoto, Yuichiro Toda, Makoto Tsujimoto, Kazuhiko Taniguchi, Takayuki Matsuno

1 - 3 2024年11月

Development of an Underwater Environment Analysis System Based on Neural Network Using Omnidirectional Camera 査読

Kento Utsunomiya, Yuichiro Toda, Takayuki Matsuno

1 - 3 2024年11月

Global Path Planning Based on Rough Terrain Perception Using Growing Neural Gas 査読

Haruka Ozaki, Yuichiro Toda, Dalin Zhou, Takayuki Matsuno

1 - 3 2024年11月

Passability-Based Local Planner Using Growing Neural Gas for an Autonomous Mobile Robot 査読

Koki Ozasa, Yuichiro Toda, Yoshimasa Nakamura, Toshiki Masuda, Hirohide Konishi, Takayuki Matsuno

IEEE Access 12 171824 - 171835 2024年11月

Adaptive Resonance Theory-Based Global Topological Map Building for an Autonomous Mobile Robot 査読

Yuichiro Toda, Naoki Masuyama

IEEE Access 12 111371 - 111385 2024年

Privacy-Preserving Continual Federated Clustering via Adaptive Resonance Theory. 査読

Naoki Masuyama, Yusuke Nojima, Yuichiro Toda, Chu Kiong Loo, Hisao Ishibuchi, Naoyuki Kubota

IEEE Access 12 139692 - 139710 2024年

Proposal of new topology information Face-list for manipulation planning of deformable string tying 査読

Junxiang Wang, Tomoya Shirakawa, Tomotoshi Watanabe, Yuichiro Toda, Takayuki Matsuno

SICE Journal of Control, Measurement, and System Integration 16 ( 1 ) 257 - 272 2023年7月

Growing Neural Gas based Traversability Clustering for an Autonomous Robot. 査読

Koki Ozasa, Yuichiro Toda, Takayuki Matsuno

IJCNN 1 - 6 2023年

Automatic Detection of Puncture Needle from CT Image with Deep Learning and Difference of CT Value Along Craniocaudal Direction. 査読

Seiya Kobayashi, Yuichiro Toda, Takayuki Matsuno, Kotaro Mayumi, Wataru Muramoto, Nozomu Fujitsuka, Takaaki Tanaka, Tetsushi Kamegawa, Takao Hiraki

SMC 4947 - 4952 2023年

Growing neural gas based navigation system in unknown terrain environment for an autonomous mobile robot 査読

Yuichiro Toda, Koki Ozasa, Takayuki Matsuno

Artificial Life and Robotics 2022年11月

A method for estimating the volume of clusters built by Growing Neural Gas 査読

QI LI, Yuichiro Toda, Takayuki Matsuno

2022年11月

Topological based Environmental Reconstruction for Efficient Multi-Level Control of Robot Locomotion 査読

Azhar Aulia Saputra, Chin Wei Hong, Mohamad Yani, Fernando Ardilla, Adnan Rachmat Anom Besari, Yuichiro Toda, Naoyuki Kubota

2022 International Electronics Symposium (IES) 491 - 496 2022年8月

Environmental Map Learning Method based on Growing Neural Gas for a Mobile Robot 査読

Qi Li, Yuichiro Toda, Keisuke Nagao, Takayuki Matsuno

2022 International Joint Conference on Neural Networks (IJCNN) 2022年7月

Estimation of Needle Puncturing Form during Slight Needle Movement Based on Force Data for Robotic Automated Puncturing Function 査読

Takayuki Matsuno, Hikaru Murakami, Tetsushi Kamegawa, Nanako Sakai, Takao Hiraki, Yuichiro Toda

Journal of Medical Robotics Research 07 ( 02n03 ) 2022年6月

掲載種別：研究論文（学術雑誌）出版者・発行元：World Scientific Pub Co Pte Ltd

In this paper, we focused on the medical procedure to insert needles under computer tomography (CT) guidance as a target for the robotization of medical surgery, which is one of Interventional Radiology (IR). IR is a general term for treatments that use devices to visualize patients’ bodies. During surgery, our developed robot, known as Zerobot, specializes in inserting a needle into the patient under CT guidance. Its surgery is less invasive and more effective in treating small cancer tumors because the temperature of the inserted needle tip is controlled. Zerobot was originally designed to be remotely controlled by doctors, and first-in-human feasibility trials in 2018 confirmed its surgical capability. We are currently focusing on the automatic insertion function to reduce the workload of doctors. In an animal experiment, Zerobot was unable to insert the needle into the animal during IR surgery if the needle was bent. As a result, the goal of this research is to have the robot function automatically so that the needle does not bend during surgery. We propose a method for estimating the form of the needle using a force sensor. There are three different types of needle forms. Next, the proposed method distinguishes between these needle forms by measuring the difference in force sensor data when the needle root is moved slightly. In addition, we conducted tests to confirm the efficacy of the proposed method.

DOI： 10.1142/s2424905x22410045

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Growing Neural Gas with Different Topologies for 3D Space Perception 査読

Yuichiro Toda, Akimasa Wada, Hikari Miyase, Koki Ozasa, Takayuki Matsuno, Mamoru Minami

Applied Sciences 12 ( 3 ) 1705 - 1705 2022年2月

A new method to estimate the pose of an arbitrary 3D object without prerequisite knowledge: projection-based 3D perception. 査読

Yejun Kou, Yuichiro Toda, Mamoru Minami

Artif. Life Robotics 27 ( 1 ) 149 - 158 2022年

Stereo-vision-based AUV navigation system for resetting the inertial navigation system error. 査読

Horng-Yi Hsu, Yuichiro Toda, Kohei Yamashita, Keigo Watanabe, Masahiko Sasano, Akihiro Okamoto, Shogo Inaba, Mamoru Minami

Artif. Life Robotics 27 ( 1 ) 165 - 178 2022年

Automatic Puncture Needle Detection by Image Processing Using Deep Learning and CT Values.

Kotaro Mayumi, Takayuki Matsuno, Tetsushi Kamegawa, Ken'ichi Morooka, Takao Hiraki, Yuichiro Toda

International Symposium on Micro-NanoMechatronics and Human Science(MHS) 1 - 6 2022年

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論文 - 戸田 雄一郎

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論文 - 戸田　雄一郎