研究者詳細 - 亀川　哲志

Development of a Gripper with Variable Stiffness for a CT-Guided Needle Insertion Robot. 査読

Kento Yokouchi, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Takuya Yamaguchi, Akio Gofuku

JOURNAL OF ROBOTICS AND MECHATRONICS 32 ( 3 ) 692 - 700 2020年

Odometry of 3-Dimensional Snake-like Robot and its Application 査読

2019 IEEE International Symposium on Safety, Security, and Rescue Robotics 1 - 6 2019年9月

Implementation of Helical Wave Propagation Motion in Snake Robot Moving on Exterior of a Pipe 査読

Wei Qi, Tetsushi Kamegawa, Akio Gofuku

International Journal of Advanced Mechatronic Systems 7 ( 6 ) 359 - 367 2019年4月

Proposal of locomotion of a snake robot in crewded pipes

Yongdong WANG, Tetsushi KAMEGAWA, Eriko MATSUDA, Akio GOFUKU

The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2019 2A2 - D10 2019年

Robotic Insertion of Various Ablation Needles Under Computed Tomography Guidance: Accuracy in Animal Experiments 査読

Takao Hiraki, Takayuki Matsuno, Tetsushi Kamegawa, Toshiyuki Komaki, Jun Sakurai, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshihiro Iguchi, Yusuke Matsui, Hideo Gobara, Susumu Kanazawa

European Journal of Radiology 105 162 - 167 2018年8月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：Elsevier Ireland Ltd

Objective: To evaluate the accuracy of robotic insertion of various ablation needles at various locations under computed tomography (CT) guidance in swine. Materials and methods: The robot was used for CT-guided insertion of four ablation needles, namely a single internally cooled radiofrequency ablation (RFA) needle (Cool-tip), a multi-tined expandable RFA needle (LeVeen), a cryoablation needle (IceRod), and an internally cooled microwave ablation needle (Emprint). One author remotely operated the robot with the operation interface in order to orient and insert the needles under CT guidance. Five insertions of each type of ablation needle towards 1.0-mm targets in the liver, kidney, lung, and hip muscle were attempted on the plane of an axial CT image in six swine. Accuracy of needle insertion was evaluated as the three-dimensional length between the target centre and needle tip. The accuracy of needle insertion was compared according to the type of needle used and the location using one-way analysis of variance. Results: The overall mean accuracy of all four needles in all four locations was 2.8 mm. The mean accuracy of insertion of the Cool-tip needle, LeVeen needle, IceRod needle, and Emprint needle was 2.8 mm, 3.1 mm, 2.5 mm, and 2.7 mm, respectively. The mean accuracy of insertion into the liver, kidney, lung, and hip muscle was 2.7 mm, 2.9 mm, 2.9 mm, and 2.5 mm, respectively. There was no significant difference in insertion accuracy among the needles (P =.38) or the locations (P =.53). Conclusion: Robotic insertion of various ablation needles under CT guidance was accurate regardless of type of needle or location in swine.

DOI： 10.1016/j.ejrad.2018.06.006

PubMed

Helical wave propagation motion for a snake robot on a vertical pipe containing a branch 査読

Wei Qi, Tetsushi Kamegawa, Akio Gofuku

Artificial Life and Robotics 2018年1月

掲載種別：研究論文（学術雑誌）

© 2018, ISAROB. Snake robots could be utilized in many fields because of their hyper-redundant properties, although there are still control problems when they are operated in complex environments. For example, a helical rolling motion has been used to climb a pipe. By using this kind of motion, a snake robot can move along the inside or outside of a pipe. However, this motion has limitations when the robot moves along a pipe containing a high gap or a branch point. In this study, we propose a type of motion for snake robots that involves wrapping around the outside of a pipe to overcome a branch point on it. This new motion uses a hyperbolic function to make a helical wave curve, which is then propagated by shifting the shape of the hyperbolic function along the body of the snake robot. The joint angles of the snake robot are derived by calculating the curvature and torsion of the curve on the basis of the formula of the continuous curve model. Finally, the results of simulations performed using the Robot Operating System and Gazebo programs are shown to validate the effectiveness of the new motion.

DOI： 10.1007/s10015-018-0479-1

Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment. 査読

Akisato Nagao, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki

IJMA 6 ( 4 ) 190 - 200 2018年

Robotically Driven CT-guided Needle Insertion: Preliminary Results in Phantom and Animal Experiments 査読

Takao Hiraki, Tetsushi Kamegawa, Takayuki Matsuno, Jun Sakurai, Yasuzo Kirita, Ryutaro Matsuura, Takuya Yamaguchi, Takanori Sasaki, Toshiharu Mitsuhashi, Toshiyuki Komaki, Yoshihisa Masaoka, Yusuke Matsui, Hiroyasu Fujiwara, Toshihiro Iguchi, Hideo Gobara, Susumu Kanazawa

RADIOLOGY 285 ( 2 ) 454 - 461 2017年11月

記述言語：英語掲載種別：研究論文（学術雑誌）出版者・発行元：RADIOLOGICAL SOC NORTH AMERICA

Purpose: To evaluate the accuracy of the remote-controlled robotic computed tomography (CT)-guided needle insertion in phantom and animal experiments.
Materials and Methods: In a phantom experiment, 18 robotic and manual insertions each were performed with 19-gauge needles by using CT fluoroscopic guidance for the evaluation of the equivalence of accuracy of insertion between the two groups with a 1.0-mm margin. Needle insertion time, CT fluoroscopy time, and radiation exposure were compared by using the Student t test. The animal experiments were approved by the institutional animal care and use committee. In the animal experiment, five robotic insertions each were attempted toward targets in the liver, kidneys, lungs, and hip muscle of three swine by using 19-gauge or 17-gauge needles and by using conventional CT guidance. The feasibility, safety, and accuracy of robotic insertion were evaluated.
Results: The mean accuracies of robotic and manual insertion in phantoms were 1.6 and 1.4 mm, respectively. The 95% confidence interval of the mean difference was 20.3 to 0.6 mm. There were no significant differences in needle insertion time, CT fluoroscopy time, or radiation exposure to the phantom between the two methods. Effective dose to the physician during robotic insertion was always 0 mSv, while that during manual insertion was 5.7 mSv on average (P<.001). Robotic insertion was feasible in the animals, with an overall mean accuracy of 3.2 mm and three minor procedure-related complications.
Conclusion: Robotic insertion exhibited equivalent accuracy as manual insertion in phantoms, without radiation exposure to the physician. It was also found to be accurate in an in vivo procedure in animals. (C) RSNA, 2017

DOI： 10.1148/radiol.2017162856

Installation angle offset compensation of puncture robot based on measurement of needle by CT equipment 査読

Akisato Nagao, Takayuki Matsuno, Kazusi Kimura, Tetsushi Kamegawa, Mamoru Minami, Takao Hiraki

2017 IEEE International Conference on Mechatronics and Automation, ICMA 2017 451 - 457 2017年8月

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：Institute of Electrical and Electronics Engineers Inc.

A medical procedure called Interventional Radiology(IR) is paid much attention in recent years. IR can be performed percutaneously while a doctor observes patient's fluoroscopic image. Therefore this surgical method is low-invasiveness method. In this surgery, computed tomography (CT) equipment is often used. But a doctor is exposed to strong radiation from CT. Thus, we have developed a remote-controlled surgery support robot called 'Zerobot'. Because Zerobot is placed front of CT equipment by human, an angle offset from installation target position occurs. If a doctor punctures without noticing that Zerobot has an installation angle offset, there is danger of hurting the part that should not be hurt around a target cancer. In order to solve this problem, we propose an angle offset compensation method and the installation angle offset derivation method using a CT equipment is proposed. Then, effectiveness of proposed method is confirmed through experiments.

DOI： 10.1109/ICMA.2017.8015859

未知の斜面における4脚歩行ロボットのZMPに基づくトロット歩容査読

亀川哲志, 北郷淳一, 五福明夫

日本ロボット学会誌 = Journal of the Robotics Society of Japan 35 ( 4 ) 317 - 326 2017年5月

Helical wave propagate motion on a vertical pipe with a branch for a snake robot" 査読

Wei Qi, Tetsushi Kamegawa, Akio Gofuku

Proceedings of The 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics 2017年

Needle pose adjustment based on force information with needle puncturing robot. 査読

Kazushi Kimura, Takayuki Matsuno, Kohei Sugiyama, Akisato Nagao, Tetsushi Kamegawa, Mamoru Minami, Takao Hiraki

IEEE/SICE International Symposium on System Integration(SII) 626 - 631 2017年

Needle Tip Position Accuracy Evaluation Experiment for Puncture Robot in Remote Center Control. 査読

Kohei Sugiyama, Takayuki Matsuno, Tetsushi Kamegawa, Takao Hiraki, Hirotaka Nakaya, Masayuki Nakamura, Akira Yanou, Mamoru Minami

J. Robotics Mechatronics 28 ( 6 ) 911 - 920 2016年12月

掲載種別：研究論文（学術雑誌）

© 2016 Fuji Technology Press Ltd. All Rights Reserved. In recent years, a medical procedure called interventional radiology (IR) has been attracting considerable attention. Doctors can perform IR percutaneously while observing the fl roscopic image of patients. Therefore, this surgical method is less invasive. In this surgery, computed tomography (CT) equipment is often used for precise fl roscopy. However, doctors are exposed to strong radiation from the CT equipment. In order to overcome this problem, we have developed a remote-controlled surgical assistance robot called Zerobot. In animal puncture experiment, the operation of Zerobot was based on joint control. Therefore, during a surgery, the tip of the needle moves when a surgeon orders for a change in the direction of the needle. This makes the robot less user-friendly because the surgeon tracks the trajectory of the tip of the needle. This problem can be solved by using remote center control.

DOI： 10.20965/jrm.2016.p0911

Development of Instantaneously Puncture System for CT Fluoroscopy-guided Interventional Radiology 査読

Akira Heya, Tetsushi Kamegawa, Takayuki Matsuno, Takao Hiraki, Akio Gofuku

2016 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS 2016) 2016-November 2369 - 2374 2016年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

There is minimally invasive method called Interventional Radiology (IR) that achieves an operation by using diagnostic imaging equipment such as Computed Tomography (CT). IR has advantages that it is a minimally invasive method and it is applied widely such as lung cancer treatment, liver cancer treatment, biopsy, and so on. However, it has a problem that doctors are exposed by X-ray due to a procedure in the vicinity of the CT gantry. To solve this problem, we have developed a robot so we calling "Zerobot". Zerobot has six DOF and controlled remotely. We previously conducted animal experiment using a rabbit to evaluate Zerobot. As a result, percutaneous puncture was impossible without epidermis cutting. Therefore, we developed a new function called instantaneously puncture that can achieve high speed and short stroke puncture like a human operator. In this paper, overview of Zerobot is described first. Then, measurement of puncture speed of a human operator is described. Furthermore, design and system structure of instantaneously puncture system is described. Finally, we present results of animal experiment using the instantaneously puncture system.

DOI： 10.1109/IROS.2016.7759369

Development of a Prototype of Puncturing Robot for CT-guided Intervention 査読

Hajime Ishii, Tetsushi Kamegawa, Hiroki Kitamura, Takayuki Matsuno, Takao Hiraki, Akio Gofuku

PROCEEDINGS OF THE 2016 IEEE 11TH CONFERENCE ON INDUSTRIAL ELECTRONICS AND APPLICATIONS (ICIEA) 1020 - 1025 2016年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

Interventional radiology is a minimally invasive image-guided procedure. In the case of using computed tomography (CT) 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-controlled puncturing robot which has five degrees of freedom. In this paper, we describe the details of the prototype robot and show experimental results to evaluate the robot's repeatability and a result of puncturing to a phantom.

DOI： 10.1109/ICIEA.2016.7603732

Proposal of helical wave propagate motion for a snake robot to across a branch on a pipe 査読

Wei Qi, Tetsushi Kamegawa, Akio Gofuku

2016 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII) 821 - 826 2016年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

Hyper redundant snake robots have a possibility of utilizing in many fields, although there are control complexity problems when it is applied to complicated environment. For example, helical rolling motion have been used to climb a pipe. By using the helical rolling motion, a snake robot can move along the inside or the outside of a pipe. However, this motion has limitation when it moves in a pipe with a high gap or a branch point. In this study, we propose a motion of a snake robot, which wraps around the outside of a pipe, to overcome a branch point on a pipe. The new motion uses a hyperbolic function to make a helical wave curve. The helical wave curve is propagated by changing the parameter of hyperbolic function. Then, the joint angles of a snake robot is derived by calculating curvature and torsion of the curve based on the formula of continuous curve model. Finally, the result of simulational experiment on ROS and Gazebo are shown to validate the effectiveness of the new motion.

DOI： 10.1109/SII.2016.7844101

Sound-based Online Localization for an In-pipe Snake Robot 査読

Yoshiaki Bando, Hiroki Suhara, Motoyasu Tanaka, Tetsushi Kamegawa, Katsutoshi Itoyama, Kazuyoshi Yoshii, Fumitoshi Matsuno, Hiroshi G. Okuno

2016 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR) 207 - 213 2016年

記述言語：英語掲載種別：研究論文（国際会議プロシーディングス）出版者・発行元：IEEE

This paper presents a sound-based online localization method for an in-pipe snake robot with an inertial measurement unit (IMU). In-pipe robots, in particular, snake robots need online localization for autonomous inspection and for remote operator supports. The GPS is denied in a pipeline, and conventional odometry-based localization may deteriorate due to slippage and sudden unintended movements. By putting a microphone on the robot and a loudspeaker at the entrance of the pipeline, their distance can be estimated by measuring the time of flight (ToF) of a reference sound emitted from the loudspeaker. Since the sound propagation path in the pipeline is necessary for estimating the robot location, the proposed sound-based online localization method simultaneously estimates the robot location and the pipeline map by combining the distance obtained by the ToF and orientation estimated by the IMU. The experimental results showed that the error of the distance estimation was less than 7% and the accuracy of the pipeline map was more than 68.0%.

DOI： 10.1109/SSRR.2016.7784300