Faculty Profiles - KAMEGAWA Tetsushi

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ゲインシフトによるヘビ型ロボットのU字曲管外周に沿った移動の実現

ロボティクス・メカトロニクス講演会2016 2016

術者の放射線被ばくを低減するCT-IVRロボットの提案

松野隆幸, 亀川哲志, 平木隆夫

日本コンピュータ外科学会誌 2015.10

CT-IVR ロボットの穿刺速度に関する検証

RSJ 第33回日本ロボット学会学術講演会 2015

視線傾向を用いたレスキューロボット操作ユーザインタフェースの評価

ヒューマンインタフェースシンポジウム 2015 2015

100リンクヘビ型ロボットByaco の開発(ハードウェアの構築)

第16回計測自動制御学会システムインテグレーション部門講演会(SI2014) 2015

1A1-D04 Development of a puncture robot for computed tomography-guided interventional radiology : Evaluation of positioning performance of a puncture robot

ISHII Hajime, KAMEGAWA Tetsushi, MATSUNO Takayuki, HIRAKI Takao, GOFUKU Akio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015

Language：Japanese

Interventional radiology is a minimally invasive image-guided procedure that can be performed percutaneously. When computed tomography (CT) is used as an image-guidance for interventional radiology, the radiation exposure is a major problem to an operator who stands close to a CT gantry. To solve this problem, we are developing a remote control needle puncture robot which has five degrees of freedom. However, evaluation of the positioning performance of the robot was not conducted. In this paper, evaluation criteria of positioning performance required for a needle puncture robot is determined, and the performance of the robot is evaluated.

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2P1-Q02 A Proposal of Across-pipe Motion for a Snake Robot

KOMATSU Makoto, KAMEGAWA Tetsushi, GOFUKU Akio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015

Language：Japanese

Researches for snake robots has been studied and they are hoped to be made practicable. In this research, it is assumed that environments where snake robots work constructed by pipes which are arranged parallel and densely. We made a snake robot which has joints of yaw and pitch using servo motor Dynamixel XL-320, and software to control the robot. This robot is so tiny that we accomplish a task of elevation in the mock environment using helical-rolling motion. In addition, we propose a new motion so we call as across-pipes motion which can move from a pipe to another pipe.

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CTガイド下針穿刺ロボットの開発第１報動物実験による性能評価

第16回計測自動制御学会システムインテグレーション部門講演会(SI2014) 2015

レール軌道上移動式橋梁点検ロボットの提案と試作機の開発

第16回計測自動制御学会システムインテグレーション部門講演会(SI2014) 2015

CTガイド下針穿刺ロボットの開発第3報簡易型ロボット操作システム

第16回計測自動制御学会システムインテグレーション部門講演会(SI2014) 2015

CTガイド下針穿刺ロボットの開発第2報平行リンク機構による針把持部の力学解析と術者への力覚提示

第16回計測自動制御学会システムインテグレーション部門講演会(SI2014) 2015

100リンクヘビ型ロボットByacoの開発（ヘビ型ロボットの基本モーションの実装）

第16回計測自動制御学会システムインテグレーション部門講演会(SI2014) 2015

CTガイド下針穿刺ロボットの開発第４報手先機構の改良設計

第16回計測自動制御学会システムインテグレーション部門講演会(SI2014) 2015

2A2-O01 Development of Crank Mechanism One-Legged Jumping Robot with a Hip Joint

NISHIMOTO Sho, MATSUOKA Haruki, KAMEGAWA Tetsushi, GOFUKU Akio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015

Language：Japanese

We have developed one-legged jumping robots using crank mechanism. The robot has a spring and a motor and it succeeded in continuous jumping supported by a stand to restrain its motion in the vertical direction of one degree of freedom. In this study, we improved the one-legged jumping robot in order to remove the stand from the robot and to jump continuously without falling in three degrees of freedom on a vertical two-dimensional plane. The robot is constructed by adding a hip joint to the previous robot. We also developed smaller robot. Some experiments are conducted to verify the robot. The experimental results of implementing a posture stabilization control are shown.

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1A1-F06 Improvement of Operability of IVR Robot by Inverse Kinematics

SUGIYAMA Kohei, INOUE Takuya, MATSUNO Takayuki, KAMEGAWA Tetsushi, HIRAKI Takao, YANOU Akira, MINAMI Mamoru, GOFUKU Akio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2015

Language：Japanese

There is a surgical method called Interventional Radiology (IVR). We have been developing surgery support robot of IVR. IVR has the advantage that invasiveness is low, therefore the number of IVR surgery has been increasing in recent years. In lung cancer treatments, however, it has the problem that doctors are exposed to radiation because IVR is conducted in CT equipment. The purpose of this study is to avoid the problem by operating remote steerable IVR robot. IVR robot with 5 DOF have been developed in the prior study. Previously, each joint was controlled independently. Therefore, when the posture of needle is changed, the position also should be corrected manually. To improve operability of IVR robot, the forward kinematics and the inverse kinematics is solved. Finally, accuracy of needle tip position is evaluated.

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3P1-C03 Development of the 3rd prototype of robotic interventional radiology(Medical Robotics and Mechatronics (2))

KITAMURA Hiroki, KAMEGAWA Tetsushi, KAWAHARA Hiroshi, MATSUNO Takayuki, HIRAKI Takao, GOFUKU Akio, MINAMI Mamoru

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014

Language：Japanese

Interventional Radiology (IVR) is a minimally invasive procedure that can be usually performed percutaneously. IVR has an advantage in that it is less invasive than conventional surgical intervention. On the other hand, IVR has a disadvantage in that operators are exposed to radiation during procedure when fluoroscopy or computed tomography (CT) is used as an image-guidance. To solve this problem, we are developing a remote controlled robot that handles a needle for CT-guided IVR. In this paper, our 3rd prototype IVR robotic system is reported. The 3rd prototype robot is consist of five degrees of freedom, three liner mechanism and two rotational mechanism. Especially, round guild rail is adopted for the 2nd degree of freedom. We also adopt parallel link mechanism for the hand part of the robot. The developed prototype was used in a real operation room with CT machine and achieve puncturing a phantom. The experimental result is also reported in this paper.

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3A1-C04 Development and Evaluation of Phantom for CT-IVR(Medical Robotics and Mechatronics (1))

NAKAYA Hirotaka, MATSUNO Takayuki, KAMEGAWA Tetsushi, HIRAKI Takao, INOUE Takuya, MINAMI Mamoru, YANOU Akira, GOFUKU Akio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2014

Language：Japanese

There is a surgical method called Interventional Radiology (IVR) as one of lung cancer treatments. It has a problem that doctors are exposed to radiation because IVR is conducted in CT equipment. In order to avoid the problem, a robotic IVR system that doctors conduct the operation with a robot is developed. An operation test is necessary to develop the robotic IVR system, however, an experiment with real patients is rejected based on ethic regulation. Therefore, we use a phantom in experiments instead of patients. A phantom is a model of human used for evaluation and adjustment of medical imaging equipments such as CT and MRI. However, ready-made phantoms can not be punctured, because they are only aimed for radiography and their surface are hard. Therefore a phantom for CT-IVR which can be punctured is developed.

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狭隘空間で側面が接触した際に反射的な動作を行うヘビ型ロボットの試作

第15回計測自動制御学会システムインテグレーション部門講演会 2014

618 Evaluation of an interface for a rescue robot by measuring eye fixation

OKADA Shogo, KAMEGAWA Tetsushi, GOFUKU Akio

The Proceedings of Conference of Chugoku-Shikoku Branch 2014

Top-URGを用いた水中計測の基礎実験と考察

第15回計測自動制御学会システムインテグレーション部門講演会 2014

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