Faculty Profiles - TODA Yuuichirou

MISC - TODA Yuuichirou

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Simulation to Detect Collision with a Patient for a Puncture Robot on Preplanning of surgery

SAKAI Nanako, MATSUNO Takayuki, KIDO Naoki, KAMEGAWA Tetsushi, HIRAKI Takao, TODA Yuichiro, MINAMI Mamoru

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 2A1 - E06 2020

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Since this surgical method is less invasive, the number of this surgery tends to increase. However, doctors are exposed to strong radiation in the case under CT-guidance. In order to overcome this problem, we developed remote-controlled IR assistance robot. When doctors operate by remote control, there is possibility that parts of the robot collide with peripheral devices or a patient. Especially, if in the case of collision with the patient, it could become a serious incident. Accordingly, it is important to build a suitable path plan of the needle insertion before the surgery. Doctors, however, currently, do not have methods to grasp the possibility of the collision. Therefore, a simulation which detect collision with a patient in the advanced planning is proposed in this paper. The effectiveness of proposed simulation is confirmed.

DOI： 10.1299/jsmermd.2020.2A1-E06

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Topological Structure Learning of Point Cloud data using Modified Region of Interest Growing Neural Gas

戸田雄一郎, 松野隆幸, 見浪護

ロボティクスシンポジア予稿集 25th 2020

Intelligent Image Processing and Sea Docking Using Stereo-vision-based 3D Real-time Pose Estimation System

Mamoru Minami, Yuichiro Toda

Marine Engineering 54 ( 6 ) 821 - 827 2019.11

Fish’s Motion Intelligence Measurement based on Antagonistic Relationship of Robot and Fish and Trial of Intelligence Creation Using Chaos Reviewed

見浪護, 戸田雄一郎, 松野隆幸, 矢納陽

計測と制御 58 ( 1 ) 8 - 14 2019

ImPACT-TRC Legged Robot Improvement and User Interface Reviewed

橋本健二, 佐藤徳孝, 松野文俊, 並木明夫, 戸田雄一郎, 久保田直行, 佐々木洋子, 高西淳夫

日本ロボット学会誌 37 ( 9 ) 818 - 823 2019

知的画像処理とステレオビジョンによる実時間空間認識を用いた水中ロボットの実海域ドッキング Reviewed

見浪護, 戸田雄一郎

日本マリンエンジニアリング学会誌 54 ( 6 ) 23 - 29 2019

自律走行型照度測定ロボットの開発

辻元誠, 谷口和彦, 久保田直行, 新井智之, 井上椋太, 戸田雄一郎

電気設備学会全国大会講演論文集 37th 2019

照度測定ロボットの開発

辻元誠, 谷口和彦, 久保田直行, 戸田雄一郎

建築設備と配管工事 57 ( 13 ) 2019

マルチセンサフュージョンに基づく照度計測ロボットの行動制御

井上椋太, 新井智之, 戸田雄一郎, 辻元誠, 谷口和彦, 久保田直行

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2019 2019

屋内環境における自律照度測定ロボットの開発

新井智之, 井上椋太, 戸田雄一郎, 辻元誠, 谷口和彦, 相野谷威雄, 笠松慶子, 久保田直行

日本保全学会学術講演会要旨集 16th 2019

CT透視下IVRロボットの自動穿刺に関する研究

松野隆幸, 城戸脩希, 村上輝, 亀川哲志, 平木隆夫, 戸田雄一郎, 見浪護

計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 20th 2019

Environmental Perception for Mobile Robots Using a Variable Ranging Sensor Array

ARAI Tomoyuki, INOUE Ryota, KITAI Sasuga, TODA Yuichiro, WADA Kazuyoshi, TAKESUE Naoyuki, KUBOTA Naoyuki

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 ( 0 ) 2P1 - D02 2019

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

Recently, large-scale disasters occur frequently, and the demand for disaster robots is increasing. Environmental perception is necessary for mobile robots to act autonomously in complex environments such as disaster sites. Various measurements are necessary for environmental perception in such environments. For example, global measurement for recognizing the entire surrounding environment, local measurement for recognizing an obstacle, and the like are included. Therefore, in this research, we develop a Variable Ranging Sensor Array equipped with multiple Laser Range Finders. In this paper, we propose a control method of the sensor array measurement using the concept of Multi-Objective Behavior Coordination. We showed the effectiveness of the proposed method by experiment that moved the mobile robot autonomously based on the environmental perception result from the sensor array.

DOI： 10.1299/jsmermd.2019.2P1-D02

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The Study about Estimating a Form of Needle by Using a Force Sensor Information for Puncture Robot

MURAKAMI Hikaru, MATSUNO Takayuki, KIMURA Kazushi, KAMEGAWA Tetsushi, HIRAKI Takao, MINAMI Mamoru, TODA Yuichiro

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 1P1 - A02 2019

Language：Japanese Publisher：The Japan Society of Mechanical Engineers

In recent years, interventional radiology (IR) which is a medical procedure has been attracting considerable attention. Since this surgical method is less invasive, but doctors are exposed to strong radiation in the case under CT-guidance. In order to overcome this problem, we developed remote-controlled IR assistance robot. As a research topic, automated needle puncturing by the robot is focused on. However, currently the robot cannot obtain CT image in real time. So, the robot cannot obtain the form of needle based on CT image and cannot control state of needle accurately. On the other hands, we aim that the robot moves automatically for restraining a bend of needle. As the first step for this, the method to estimate a form of needle by using a force sensor information is proposed in this paper. If a form of the needle is displayed in user interface, it become easy for doctors to remove a bend of the needle during surgery with remote-controlled IR assistance robot. Additionally, we conducts the experiment to confirm effectiveness of proposed method.

DOI： 10.1299/jsmermd.2019.1P1-A02

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遺伝的アルゴリズムを用いたヒューマノイドの歩行解析

和田亮雅, 戸田雄一郎, 松野隆幸, 見浪護

インテリジェント・システム・シンポジウム(CD-ROM) 29th 2019

改良型Growing Neural Gas with Utilityを用いた時系列3次元点群からの特徴量抽出と領域分割

戸田雄一郎, 松野隆幸, 見浪護

計測自動制御学会システムインテグレーション部門講演会(CD-ROM) 20th 2019

Region of Interest Growing Neural Gasに関する検討

戸田雄一郎, 松野隆幸, 見浪護

インテリジェント・システム・シンポジウム(CD-ROM) 29th 2019

ステレオビジョンを用いた信号機の位置姿勢実時間認識

WANG Lujie, TIAN Hongzhi, KOU Yejun, WANG Junxiang, LI Xiang, 山本太郎, 戸田雄一郎, 松野隆幸, 見浪護

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2019 2019

発光3Dマーカーによる混濁深海模擬環境下での認識性能評価

岡田優也, 山田大喜, LI Xiang, HSU Horng-Yi, 神田佳希, 山下耕平, 中村翔, 門田拓也, 戸田雄一郎, 松野隆幸, 見浪護

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2019 2019

水中ロボットのための完全自律式回転型充電システムの構築

門田拓也, 山下耕平, 神田佳希, 中村翔, 山田大喜, 岡田優也, 松野隆幸, 戸田雄一郎, 見浪護

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2019 2019

ステレオビジョンによる新しい空間認識手法の提案

川上拓朗, 山本太郎, KOU Yejun, TIAN Hongzhi, LI Xiang, 戸田雄一郎, 松野隆幸, 見浪護

日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM) 2019 2019

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