Faculty Profiles - KAMEGAWA Tetsushi

Presentations -

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Consideration of a System that a Mobile Robot Automatically Recovers from the Case of Lost Wireless Communication

Sota Nakano, Tetsushi Kamegawa, Akio Gofuku

Proceedings of STSS/ISOFIC/ISSNP 2021 2021.11

Examination of a System that Remotely Controls a Mobile Robot by 3D Stereoscopic Vision Using a Stereo Camera and HMD

Taiga Teshima, Tetsushi Kamegawa, Akio Gofuku

Proceedings of STSS/ISOFIC/ISSNP 2021 2021.11

Simulation of Needle Bending Estimation in Puncture Robot

2021.5.26

Area Identification Simulator for Real-time Contact Judgment in IVR Robot

酒井菜々子, 松野隆幸, 城戸脩希, 門田成司, 亀川哲志, 平木隆夫, 戸田雄一郎, 見浪護

日本コンピュータ外科学会誌 2021

Needle Shape Estimation Using Force Sensor Information during Small Movements in IVR Robot

松野隆幸, 村上輝, 亀川哲志, 酒井菜々子, 眞弓虎太郎, 戸田雄一郎, 平木隆夫, 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) 2021

Utilizing a robot teaching kit to develop a new experiment menu for students

亀川哲志, 松野隆幸, 脇元修一, 戸田雄一郎, 岡野訓尚, 山口大介

システム制御情報学会研究発表講演会講演論文集(CD-ROM) 2021

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 The Japan Society of Mechanical Engineers

Event date： 2020

Language：Japanese

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.

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Abnormal Insertion Detection by GMRF Mixture Model for Needle Insertion Robot

立花優伍, 亀川哲志, 松野隆幸, 平木隆夫, 五福明夫

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) 2020

The development of needle gripper of a remote needle release mechanism for CT guided needle puncture robot

三木雄太, 亀川哲志, 谷本圭司, 松野隆幸, 平木隆夫, 五福明夫

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) 2020

Needle Bend Restrain Algorithms by Using a Floating Mechanism

MIYAMOTO Takaaki, MATSUNO Takayuki, MURAKAMI Hikaru, KAMEGAWA Tetsushi, HIRAKI Takao, TODA Yuichiro, MINAMI Mamoru

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2020 The Japan Society of Mechanical Engineers

Event date： 2020

Language：Japanese

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. We are currently developing an automated puncture system. Deviation of puncture point on body surface causes needle deflection during the automatic puncture. Because the needle deflection grows with the inserted depth, it makes the needle difficult to reach the target tumor. So as to solve them, the floating mechanism is developed to suppress needle deflection. Displacement sensor on floating mechanism can measure the movement of the floating part. In addition, the puncture reaction force can be measured by the force sensor on the robot. Algorithms to suppress the needle deflection using this information are proposed in this paper.

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Development of a simulator using Coopeliasim for a CT-guided needle insertion robot

梅枝正典, 亀川哲志, 平木隆夫, 松野隆幸, 五福明夫

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) 2020

Detection of abnormal states of insertion by a force sensor for a CT-guided needle insertion robot

TACHIBANA Yugo, KAMEGAWA Tetsushi, MATSUNO Takayuki, HIRAKI Takao, TANIMOTO Keiji, GOFUKU Akio

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 The Japan Society of Mechanical Engineers

Event date： 2019

Language：Japanese

A remote-controlled robot for CT-guided needle insertion has been developed to prevent a doctor from radiation exposure. However, it is difficult for a doctor to recognize abnormal states of insertion when the doctor uses the robot because the doctor cannot obtain force sense information from the needle directly. Such an abnormal state occurs when a needle contacts with a bone. Therefore, we propose detecting abnormal states of insertion if force sensor value exceed a threshold and stopping the robot automatically. First, we conducted experiments to determine thresholds. We measured force values when a doctor feels the sign of plastic deformation in needles. In consideration of the stop time delay, thresholds were set by subtracting the rise values of force from the measured force values. Then, we verified that the robot can stop appropriately by the thresholds without occurring plastic deformation.

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ロボティックIVRにおけるマニピュレータと周辺環境との接触判定アルゴリズム

城戸脩希, 松野隆幸, 亀川哲志, 平木隆夫, 見浪護

日本ロボット学会学術講演会予稿集(CD-ROM) 2019

CT透視ガイド下針穿刺ロボツトの臨床試験により得られた穿刺力データの解析

亀川哲志, 松野隆幸, 平木隆夫

日本ロボット学会学術講演会予稿集(CD-ROM) 2019

CT透視ガイド下針穿刺ロボットの半自動化のためのシステム構築

斎藤奎介, 亀川哲志, 松野隆幸, 平木隆夫, 五福明夫

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) 2019

穿刺手術ロボットのボリュームCT画像を用いた針の姿勢補正手法の検討

松野隆幸, 亀川哲志, 平木隆夫, 見浪護

ロボティクスシンポジア予稿集 2019

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 The Japan Society of Mechanical Engineers

Event date： 2019

Language：Japanese

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.

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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) 2019

CTガイド下IVR用針穿刺ロボットZerobotの開発 Invited

亀川哲志

第２９回日本コンピュータ外科学会シンポジウム（1）「本邦におけるロボット支援手術の今後の展開」 2020.11.22

ロボット技術の社会実装に向けて－災害対応ロボットと医療ロボットー Invited

亀川哲志

計測自動制御学会中国支部講演会 2019.9.27

ヘビ型ロボットの開発と応用性 Invited

亀川哲志

日本原子力学会２０１８秋の大会企画セッションプラント運転・保守へのロボット技術の適用 2018.9.5

ボリュームCT画像情報を用いた針穿刺ロボットの姿勢修正に関する研究

松野隆幸, 亀川哲志, 平木隆夫, 木村和志, 城戸脩希, 見浪護

日本ロボット学会学術講演会予稿集(CD-ROM) 2018.9.4

ヘビ型ロボットの開発と応用性

亀川哲志

日本原子力学会秋の大会予稿集(CD-ROM) 2018.8.20

ImPACT TRCにおけるタフなヘビ型ロボットの開発

亀川哲志, QI Wei, 須原大貴, 松田絵梨子, 秋山太一, 酒井聡志, 宇根和志, 竹森達也, 藤原始史, 松野文俊, 鈴木陽介, 坂東宜昭, 糸山克寿, 奥乃博