TOHOKU UNIVERSITY Researchers - Mitsuhiro Hayashibe

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Mitsuhiro Hayashibe

Section

Graduate School of Engineering

Job title

Professor

Degree

博士（工学）（東京大学）
修士（工学）（東京大学）

researchmap

https://researchmap.jp/read0072097

J-GLOBAL ID

200901059435037103

Research History 6

2017/04 - Present

東北大学大学院　工学研究科および医工学研究科　教授
2012/01 - 2017/03

フランス国立情報学研究所　モンペリエ大学　常勤研究員CR1st クラス
2016/08 - 2016/10

スイス連邦工科大学ローザンヌ校　EPFL　客員研究員
2008/09 - 2011/12

フランス国立情報学研究所　モンペリエ大学　常勤研究員CR2nd クラス
2007/01 - 2008/08

フランス国立情報学研究所　博士研究員
2001/04 - 2006/06

Jikei University　Faculty of Medicine

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Education 5

モンペリエ大学 Habilitation degree（HDR）

2015/10 - Present
The University of Tokyo

2005/03 - 2005/03
The University of Tokyo

1999/04 - 2001/03
The University of Tokyo　Graduate School, Division of Engineering

- 2001
Tokyo Institute of Technology　School of Engineering　Dept. of Mechano-Aerospace Engineering

1995/04 - 1999/03

Professional Memberships 2

THE SOCIETY OF INSTRUMENT AND CONTROL ENGINEERS
IEEE

Research Interests 5

Neuro-Computing
Human Informatics
Motor Learning
Robotics
知能機械学・機械システム

Research Areas 5

Informatics / Soft computing /
Informatics / Intelligent informatics /
Informatics / Intelligent robotics /
Informatics / Mechanics and mechatronics /
Informatics / Robotics and intelligent systems /

Awards 5

Japan, Toyota Riken Scholar

2019/03
Delsys Prize

2017/11　USA, De Luca Foundation,　(First Japanese Recipient)
Swiss National Science Foundation fellowship

2016/08　Switzerland, EPFL
CAS Young Investigator Award, Gold Prize (日立メディコゴールド賞）

2005
CAS Young Investigator Award, Gold Prize (Hitachi Medical Systems Award）

2005

Papers 105

Synergy-Based Evaluation of Hand Motor Function in Object Handling Using Virtual and Mixed Realities

Yuhei Sorimachi, Hiroki Akaida, Kyo Kutsuzawa, Dai Owaki, Mitsuhiro Hayashibe

Sensors　25　(7)　2080-2080　2025/03/26
Publisher: MDPI AG
DOI： 10.3390/s25072080 　

eISSN： 1424-8220

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This study introduces a novel system for evaluating hand motor function through synergy-based analysis during object manipulation in virtual and mixed-reality environments. Conventional assessments of hand function are often subjective, relying on visual observation by therapists or patient-reported outcomes. To address these limitations, we developed a system that utilizes the leap motion controller (LMC) to capture finger motion data without the constraints of glove-type devices. Spatial synergies were extracted using principal component analysis (PCA) and Varimax rotation, providing insights into finger motor coordination with the sparse decomposition. Additionally, we incorporated the HoloLens 2 to create a mixed-reality object manipulation task that enhances spatial awareness for the user, improving natural interaction with virtual objects. Our results demonstrate that synergy-based analysis allows for the systematic detection of hand movement abnormalities that are not captured through traditional task performance metrics. This system demonstrates promise in advancing rehabilitation by enabling more objective and detailed evaluations of finger motor function, facilitating personalized therapy, and potentially contributing to the early detection of motor impairments in the future.
Versatile graceful degradation framework for bio-inspired proprioception with redundant soft sensors

Taku Sugiyama, Kyo Kutsuzawa, Dai Owaki, Elijah Almanzor, Fumiya Iida, Mitsuhiro Hayashibe

Frontiers in Robotics and AI　11　2025/01/06
Publisher: Frontiers Media SA
DOI： 10.3389/frobt.2024.1504651 　

eISSN： 2296-9144

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Reliable proprioception and feedback from soft sensors are crucial for enabling soft robots to function intelligently in real-world environments. Nevertheless, soft sensors are fragile and are susceptible to various damage sources in such environments. Some researchers have utilized redundant configuration, where healthy sensors compensate instantaneously for lost ones to maintain proprioception accuracy. However, achieving consistently reliable proprioception under diverse sensor degradation remains a challenge. This paper proposes a novel framework for graceful degradation in redundant soft sensor systems, incorporating a stochastic Long Short-Term Memory (LSTM) and a Time-Delay Feedforward Neural Network (TDFNN). The LSTM estimates readings from healthy sensors to compare them with actual data. Then, statistically abnormal readings are zeroed out. The TDFNN receives the processed sensor readings to perform proprioception. Simulation experiments with a musculoskeletal leg that contains 40 nonlinear soft sensors demonstrate the effectiveness of the proposed framework. Results show that the knee angle proprioception accuracy is retained across four distinct degradation scenarios. Notably, the mean proprioception error increases by less than 1.91°(1.36%) when of the sensors are degraded. These results suggest that the proposed framework enhances the reliability of soft sensor proprioception, thereby improving the robustness of soft robots in real-world applications.
Learning-based object's stiffness and shape estimation with confidence level in multi-fingered hand grasping

Kyo Kutsuzawa, Minami Matsumoto, Dai Owaki, Mitsuhiro Hayashibe

Frontiers in Neurorobotics　18　2024/11/19
Publisher: Frontiers Media SA
DOI： 10.3389/fnbot.2024.1466630 　

eISSN： 1662-5218

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Introduction When humans grasp an object, they are capable of recognizing its characteristics, such as its stiffness and shape, through the sensation of their hands. They can also determine their level of confidence in the estimated object properties. In this study, we developed a method for multi-fingered hands to estimate both physical and geometric properties, such as the stiffness and shape of an object. Their confidence levels were measured using proprioceptive signals, such as joint angles and velocity. Method We have developed a learning framework based on probabilistic inference that does not necessitate hyperparameters to maintain equilibrium between the estimation of diverse types of properties. Using this framework, we have implemented recurrent neural networks that estimate the stiffness and shape of grasped objects with their uncertainty in real time. Results We demonstrated that the trained neural networks are capable of representing the confidence level of estimation that includes the degree of uncertainty and task difficulty in the form of variance and entropy. Discussion We believe that this approach will contribute to reliable state estimation. Our approach would also be able to combine with flexible object manipulation and probabilistic inference-based decision making.
Synergy quality assessment of muscle modules for determining learning performance using a realistic musculoskeletal model

Akito Fukunishi, Kyo Kutsuzawa, Dai Owaki, Mitsuhiro Hayashibe

Frontiers in Computational Neuroscience　18　2024/05/30
Publisher: Frontiers Media SA
DOI： 10.3389/fncom.2024.1355855 　

eISSN： 1662-5188

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How our central nervous system efficiently controls our complex musculoskeletal system is still debated. The muscle synergy hypothesis is proposed to simplify this complex system by assuming the existence of functional neural modules that coordinate several muscles. Modularity based on muscle synergies can facilitate motor learning without compromising task performance. However, the effectiveness of modularity in motor control remains debated. This ambiguity can, in part, stem from overlooking that the performance of modularity depends on the mechanical aspects of modules of interest, such as the torque the modules exert. To address this issue, this study introduces two criteria to evaluate the quality of module sets based on commonly used performance metrics in motor learning studies: the accuracy of torque production and learning speed. One evaluates the regularity in the direction of mechanical torque the modules exert, while the other evaluates the evenness of its magnitude. For verification of our criteria, we simulated motor learning of torque production tasks in a realistic musculoskeletal system of the upper arm using feed-forward neural networks while changing the control conditions. We found that the proposed criteria successfully explain the tendency of learning performance in various control conditions. These result suggest that regularity in the direction of and evenness in magnitude of mechanical torque of utilized modules are significant factor for determining learning performance. Although the criteria were originally conceived for an error-based learning scheme, the approach to pursue which set of modules is better for motor control can have significant implications in other studies of modularity in general.
Integrated Quantitative Evaluation of Spatial Cognition and Motor Function with HoloLens Mixed Reality

Kenya Tada, Yuhei Sorimachi, Kyo Kutsuzawa, Dai Owaki, Mitsuhiro Hayashibe

Sensors　24　(2)　528-528　2024/01/15
Publisher: MDPI AG
DOI： 10.3390/s24020528 　

eISSN： 1424-8220

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The steady increase in the aging population worldwide is expected to cause a shortage of doctors and therapists for older people. This demographic shift requires more efficient and automated systems for rehabilitation and physical ability evaluations. Rehabilitation using mixed reality (MR) technology has attracted much attention in recent years. MR displays virtual objects on a head-mounted see-through display that overlies the user’s field of vision and allows users to manipulate them as if they exist in reality. However, tasks in previous studies applying MR to rehabilitation have been limited to tasks in which the virtual objects are static and do not interact dynamically with the surrounding environment. Therefore, in this study, we developed an application to evaluate cognitive and motor functions with the aim of realizing a rehabilitation system that is dynamic and has interaction with the surrounding environment using MR technology. The developed application enabled effective evaluation of the user’s spatial cognitive ability, task skillfulness, motor function, and decision-making ability. The results indicate the usefulness and feasibility of MR technology to quantify motor function and spatial cognition both for static and dynamic tasks in rehabilitation.
Muscle Control Analysis of Human Walking and Cycling in Speed and Load Variations with Time-Varying Synergy

Takumi Matsumura, Eiji Inomata, Kyo Kutsuzawa, Dai Owaki, Mitsuhiro Hayashibe

IEEE Sensors Journal　1-1　2024
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/jsen.2024.3486294 　

ISSN： 1530-437X

eISSN： 1558-1748 2379-9153
Latent Representation-Based Learning Controller for Pneumatic and Hydraulic Dual Actuation of Pressure-Driven Soft Actuators

Taku Sugiyama, Kyo Kutsuzawa, Dai Owaki, Mitsuhiro Hayashibe

Soft Robotics　2023/08/17
Publisher: Mary Ann Liebert Inc
DOI： 10.1089/soro.2022.0224 　

ISSN： 2169-5172

eISSN： 2169-5180
Transhumeral Arm Reaching Motion Prediction through Deep Reinforcement Learning-Based Synthetic Motion Cloning

Muhammad Hannan Ahmed, Kyo Kutsuzawa, Mitsuhiro Hayashibe

Biomimetics　8　(4)　367-367　2023/08/15
Publisher: MDPI AG
DOI： 10.3390/biomimetics8040367 　

eISSN： 2313-7673

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The lack of intuitive controllability remains a primary challenge in enabling transhumeral amputees to control a prosthesis for arm reaching with residual limb kinematics. Recent advancements in prosthetic arm control have focused on leveraging the predictive capabilities of artificial neural networks (ANNs) to automate elbow joint motion and wrist pronation–supination during target reaching tasks. However, large quantities of human motion data collected from different subjects for various activities of daily living (ADL) tasks are required to train these ANNs. For example, the reaching motion can be altered when the height of the desk is changed; however, it is cumbersome to conduct human experiments for all conditions. This paper proposes a framework for cloning motion datasets using deep reinforcement learning (DRL) to cater to training data requirements. DRL algorithms have been demonstrated to create human-like synergistic motion in humanoid agents to handle redundancy and optimize movements. In our study, we collected real motion data from six individuals performing multi-directional arm reaching tasks in the horizontal plane. We generated synthetic motion data that mimicked similar arm reaching tasks by utilizing a physics simulation and DRL-based arm manipulation. We then trained a CNN-LSTM network with different configurations of training motion data, including DRL, real, and hybrid datasets, to test the efficacy of the cloned motion data. The results of our evaluation showcase the effectiveness of the cloned motion data in training the ANN to predict natural elbow motion accurately across multiple subjects. Furthermore, motion data augmentation through combining real and cloned motion datasets has demonstrated the enhanced robustness of the ANN by supplementing and diversifying the limited training data. These findings have significant implications for creating synthetic dataset resources for various arm movements and fostering strategies for automatized prosthetic elbow motion.
Synergy-Space Recurrent Neural Network for Transferable Forearm Motion Prediction from Residual Limb Motion

Muhammad Hannan Ahmed, Jiazheng Chai, Shingo Shimoda, Mitsuhiro Hayashibe

Sensors　23　(9)　4188-4188　2023/04/22
Publisher: MDPI AG
DOI： 10.3390/s23094188 　

eISSN： 1424-8220

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Transhumeral amputees experience considerable difficulties with controlling a multifunctional prosthesis (powered hand, wrist, and elbow) due to the lack of available muscles to provide electromyographic (EMG) signals. The residual limb motion strategy has become a popular alternative for transhumeral prosthesis control. It provides an intuitive way to estimate the motion of the prosthesis based on the residual shoulder motion, especially for target reaching tasks. Conventionally, a predictive model, typically an artificial neural network (ANN), is directly trained and relied upon to map the shoulder–elbow kinematics using the data from able-bodied subjects without extracting any prior synergistic information. However, it is essential to explicitly identify effective synergies and make them transferable across amputee users for higher accuracy and robustness. To overcome this limitation of the conventional ANN learning approach, this study explicitly combines the kinematic synergies with a recurrent neural network (RNN) to propose a synergy-space neural network for estimating forearm motions (i.e., elbow joint flexion–extension and pronation–supination angles) based on residual shoulder motions. We tested 36 training strategies for each of the 14 subjects, comparing the proposed synergy-space and conventional neural network learning approaches, and we statistically evaluated the results using Pearson’s correlation method and the analysis of variance (ANOVA) test. The offline cross-subject analysis indicates that the synergy-space neural network exhibits superior robustness to inter-individual variability, demonstrating the potential of this approach as a transferable and generalized control strategy for transhumeral prosthesis control.
Imitation Learning With Time-Varying Synergy for Compact Representation of Spatiotemporal Structures

Kyo Kutsuzawa, Mitsuhiro Hayashibe

IEEE Access　11　34150-34162　2023
Publisher: Institute of Electrical and Electronics Engineers (IEEE)
DOI： 10.1109/access.2023.3264213 　

eISSN： 2169-3536
Synergetic synchronized oscillation by distributed neural integrators to induce dynamic equilibrium in energy dissipation systems

Mitsuhiro Hayashibe, Shingo Shimoda

Scientific Reports　12　(1)　2022/10/13
Publisher: Springer Science and Business Media LLC
DOI： 10.1038/s41598-022-21261-w 　

eISSN： 2045-2322

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Abstract The synchronization phenomenon is common to many natural mechanical systems. Joint friction and damping in humans and animals are associated with energy dissipation. A coupled oscillator model is conventionally used to manage multiple joint torque generations to form a limit cycle in an energy dissipation system. The coupling term design and the frequency and phase settings become issues when selecting the oscillator model. The relative coupling relationship between oscillators needs to be predefined for unknown dynamics systems, which is quite challenging problem. We present a simple distributed neural integrators method to induce the limit cycle in unknown energy dissipation systems without using a coupled oscillator. The results demonstrate that synergetic synchronized oscillation could be produced that adapts to different physical environments. Finding the balanced energy injection by neural inputs to form dynamic equilibrium is not a trivial problem, when the dynamics information is not priorly known. The proposed method realized self-organized pattern generation to induce the dynamic equilibrium for different mechanical systems. The oscillation was managed without using the explicit phase or frequency knowledge. However, phase, frequency, and amplitude modulation emerged to form an efficient synchronized limit cycle. This type of distributed neural integrator can be used as a source for regulating multi-joint coordination to induce synergetic oscillations in natural mechanical systems.
Motor synergy generalization framework for new targets in multi-planar and multi-directional reaching task Peer-reviewed

Kyo Kutsuzawa, Mitsuhiro Hayashibe

Royal Society Open Science　9　(5)　2022/05
Publisher: The Royal Society
DOI： 10.1098/rsos.211721 　

ISSN： 2054-5703

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<jats:p> Humans can rapidly adapt to new situations, even though they have redundant degrees of freedom (d.f.). Previous studies in neuroscience revealed that human movements could be accounted for by low-dimensional control signals, known as <jats:italic>motor synergies</jats:italic> . Many studies have suggested that humans use the same repertories of motor synergies among similar tasks. However, it has not yet been confirmed whether the combinations of motor synergy repertories can be re-used for new targets in a systematic way. Here we show that the combination of motor synergies can be generalized to new targets that each repertory cannot handle. We use the multi-directional reaching task as an example. We first trained multiple policies with limited ranges of targets by reinforcement learning and extracted sets of motor synergies. Finally, we optimized the activation patterns of sets of motor synergies and demonstrated that combined motor synergy repertories were able to reach new targets that were not achieved with either original policies or single repertories of motor synergies. We believe this is the first study that has succeeded in motor synergy generalization for new targets in new planes, using a full 7-d.f. arm model, which is a realistic mechanical environment for general reaching tasks. </jats:p>
An optimal transport based transferable system for detection of erroneous somato-sensory feedback from neural signals

Saugat Bhattacharyya, Mitsuhiro Hayashibe

Brain Sciences　11　(11)　2021/11/01
Publisher: MDPI
DOI： 10.3390/brainsci11111393 　

ISSN： 2076-3425
Muscle Fatigue Induced Hand Tremor Clustering in Dynamic Laparoscopic Manipulation

Sourav Chandra, Mitsuhiro Hayashibe, Asokan Thondiyath

IEEE Transactions on Systems, Man, and Cybernetics: Systems　50　(12)　5420-5431　2020/12/01
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI： 10.1109/TSMC.2018.2882957 　

ISSN： 2168-2232 2168-2216
Augmenting Motor Imagery Learning for Brain-Computer Interfacing Using Electrical Stimulation as Feedback

Saugat Bhattacharyya, Maureen Clerc, Mitsuhiro Hayashibe

IEEE Transactions on Medical Robotics and Bionics　1　(4)　247-255　2019/11/01
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI： 10.1109/TMRB.2019.2949854 　

ISSN： 2576-3202
Brain-computer interface-functional electrical stimulation: From control to neurofeedback in rehabilitation

Saugat Bhattacharyya, Mitsuhiro Hayashibe

Bioelectronics and Medical Devices: From Materials to Devices - Fabrication, Applications and Reliability　779-792　2019/01/01
Publisher: Elsevier
DOI： 10.1016/B978-0-08-102420-1.00037-6 　
Theoretical Approach for Designing the Rehabilitation Robot Controller Peer-reviewed

Shotaro Okajima, Fady S. Alnajjar, Mitsuhiro Hayashibe, Yasuhisa Hasegawa, Shingo Shimoda

Advanced Robotics　33　(14)　674-686　2019

DOI： 10.1080/01691864.2019.1633402 　

ISSN： 0169-1864

eISSN： 1568-5535
Synergetic Learning Control Paradigm for Redundant Robot to Enhance Error-Energy Index

Mitsuhiro Hayashibe, Shingo Shimoda

IEEE Transactions on Cognitive and Developmental Systems　10　(3)　573-584　2018/09

DOI： 10.1109/tcds.2017.2697904 　

ISSN： 2379-8920

eISSN： 2379-8939
Real-Time Closed-Loop Functional Electrical Stimulation Control of Muscle Activation with Evoked Electromyography Feedback for Spinal Cord Injured Patients Peer-reviewed

Zhan Li, David Guiraud, David Andreu, Anthony Gelis, Charles Fattal, Mitsuhiro Hayashibe

International Journal of Neural Systems　28　(6)　1750063　2018/08/01

DOI： 10.1142/S0129065717500630 　

ISSN： 0129-0657
Generation of Human-Like Movement from Symbolized Information Peer-reviewed

Okajima Shotaro, Tournier Maxime, Ainajjar Fady S, Hayashibe Mitsuhiro, Hasegawa Yasuhisa, Shimoda Shingo

FRONTIERS IN NEUROROBOTICS　12　2018/07/17

DOI： 10.3389/fnbot2018.00043 　

ISSN： 1662-5218

eISSN： 1662-5218
Virtual reality-based center of mass-assisted personalized balance training system Peer-reviewed

Deepesh Kumar, Alejandro González, Abhijit Das, Anirban Dutta, Philippe Fraisse, Mitsuhiro Hayashibe, Uttama Lahiri

Frontiers in Bioengineering and Biotechnology　5　85　2018/01/12
Publisher: Frontiers Media S.A.
DOI： 10.3389/fbioe.2017.00085 　

ISSN： 2296-4185
Generation of Human-Like Movement from Symbolized Information. Peer-reviewed

Okajima S, Tournier M, Alnajjar FS, Hayashibe M, Hasegawa Y, Shimoda S

Frontiers in neurorobotics　12　43　2018

DOI： 10.3389/fnbot.2018.00043 　

eISSN： 1662-5218
Differential analysis of muscle fatigue induced elbow and wrist tremor in controlled laparoscopic manoeuvring Peer-reviewed

Sourav Chandra, Mitsuhiro Hayashibe, Asokan Thondiyath, Manickam Ramalingam

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY　13　(3)　2017/09

DOI： 10.1002/rcs.1772 　

ISSN： 1478-5951

eISSN： 1478-596X
Automatic Human Movement Assessment With Switching Linear Dynamic System: Motion Segmentation and Motor Performance Peer-reviewed

Roberto de Souza Baptista, Antonio P. L. Bo, Mitsuhiro Hayashibe

IEEE TRANSACTIONS ON NEURAL SYSTEMS AND REHABILITATION ENGINEERING　25　(6)　628-640　2017/06

DOI： 10.1109/TNSRE.2016.2591783 　

ISSN： 1534-4320

eISSN： 1558-0210
A Generic Transferable EEG Decoder for Online Detection of Error Potential in Target Selection Peer-reviewed

Saugat Bhattacharyya, Amit Konar, D. N. Tibarewala, Mitsuhiro Hayashibe

FRONTIERS IN NEUROSCIENCE　11　2017/05

DOI： 10.3389/fnins.2017.00226 　

ISSN： 1662-453X
Neural interfacing non-invasive brain stimulation with NIRS-EEG joint imaging for closed-loop control of neuroenergetics in ischemic stroke Peer-reviewed

2017 8TH INTERNATIONAL IEEE/EMBS CONFERENCE ON NEURAL ENGINEERING (NER)　349-353　2017

DOI： 10.1109/NER.2017.8008362 　

ISSN： 1948-3546
Empirical Mode Decomposition-based filtering for fatigue induced hand tremor in laparoscopic manipulation Peer-reviewed

Sourav Chandra, Mitsuhiro Hayashibe, Asokan Thondiyath

BIOMEDICAL SIGNAL PROCESSING AND CONTROL　31　339-349　2017/01

DOI： 10.1016/j.bspc.2016.08.025 　

ISSN： 1746-8094

eISSN： 1746-8108
A Generic Transferable EEG Decoder for Online Detection of Error Potential in Target Selection. Peer-reviewed

Bhattacharyya S, Konar A, Tibarewala DN, Hayashibe M

Frontiers in neuroscience　11　226　2017

DOI： 10.3389/fnins.2017.00226 　

ISSN： 1662-4548
NIRS-EEG joint imaging during transcranial direct current stimulation: Online parameter estimation with an autoregressive model Peer-reviewed

Mehak Sood, Pierre Besson, Makii Muthalib, Utkarsh Jindal, Stephane Perrey, Anirban Dutta, Mitsuhiro Hayashibe

JOURNAL OF NEUROSCIENCE METHODS　274　71-80　2016/12

DOI： 10.1016/j.jneumeth.2016.09.008 　

ISSN： 0165-0270

eISSN： 1872-678X
A Synergetic Brain-Machine Interfacing Paradigm for Multi-DOF Robot Control Peer-reviewed

Saugat Bhattacharyya, Shingo Shimoda, Mitsuhiro Hayashibe

IEEE Transactions on Systems, Man, and Cybernetics: Systems　46　(7)　957-968　2016/07/01
Publisher: Institute of Electrical and Electronics Engineers Inc.
DOI： 10.1109/TSMC.2016.2560532 　

ISSN： 1083-4427
A Synergetic Brain-Machine Interfacing Paradigm for Multi-DOF Robot Control Peer-reviewed

Saugat Bhattacharyya, Shingo Shimoda, Mitsuhiro Hayashibe

IEEE TRANSACTIONS ON SYSTEMS MAN CYBERNETICS-SYSTEMS　46　(7)　957-968　2016/07

DOI： 10.1109/TSMC.2016.2560532 　

ISSN： 2168-2216
Real-time estimation of FES-induced joint torque with evoked EMG Peer-reviewed

Zhan Li, David Guiraud, David Andreu, Mourad Benoussaad, Charles Fattal, Mitsuhiro Hayashibe

JOURNAL OF NEUROENGINEERING AND REHABILITATION　13　2016/06

DOI： 10.1186/s12984-016-0169-y 　

ISSN： 1743-0003
A Study on the Effect of Electrical Stimulation as a User Stimuli for Motor Imagery Classification in Brain-Machine Interface. Peer-reviewed

Bhattacharyya S, Clerc M, Hayashibe M

European journal of translational myology　26　(2)　6041　2016/06

DOI： 10.4081/ejtm.2016.6041 　

ISSN： 2037-7452
A Hybrid Functional Electrical Stimulation for Real-Time Estimation of Joint Torque and Closed-Loop Control of Muscle Activation. Peer-reviewed

Li Z, Guiraud D, Andreu D, Fattal C, Gelis A, Hayashibe M

European journal of translational myology　26　(3)　6064　2016/06

DOI： 10.4081/ejtm.2016.6064 　

ISSN： 2037-7452
A Study on the Effect of Electrical Stimulation During Motor Imagery Learning in Brain-Computer Interfacing Peer-reviewed

Saugat Bhattacharyya, Maureen Clerc, Mitsuhiro Hayashibe

2016 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC)　2840-2845　2016

DOI： 10.1109/SMC.2016.7844670 　

ISSN： 1062-922X
Evoked Electromyographically Controlled Electrical Stimulation. Peer-reviewed

Hayashibe M

Frontiers in neuroscience　10　335　2016

DOI： 10.3389/fnins.2016.00335 　

ISSN： 1662-4548
Empirical Mode Analysis for Characterization of Hand Tremor in the Design of Laparoscopic Tools Peer-reviewed

Sourav Chandra, Mitsuhiro Hayashibe, Asokan Thondiyath

JOURNAL OF MEDICAL DEVICES-TRANSACTIONS OF THE ASME　9　(3)　2015/09

DOI： 10.1115/1.4030563 　

ISSN： 1932-6181

eISSN： 1932-619X
Human Movement Understanding Peer-reviewed

Emel Demircan, Dana Kulic, Denny Oetomo, Mitsuhiro Hayashibe

IEEE ROBOTICS & AUTOMATION MAGAZINE　22　(3)　22-24　2015/09

DOI： 10.1109/MRA.2015.2452171 　

ISSN： 1070-9932

eISSN： 1558-223X
Adaptive Interface for Personalized Center of Mass Self-Identification in Home Rehabilitation Peer-reviewed

Alejandro Gonzalez, Philippe Fraisse, Mitsuhiro Hayashibe

IEEE SENSORS JOURNAL　15　(5)　2814-2823　2015/05

DOI： 10.1109/JSEN.2014.2379431 　

ISSN： 1530-437X

eISSN： 1558-1748
Synthesis of optimal electrical stimulation patterns for functional motion restoration: applied to spinal cord-injured patients Peer-reviewed

Mourad Benoussaad, Philippe Poignet, Mitsuhiro Hayashibe, Christine Azevedo-Coste, Charles Fattal, David Guiraud

MEDICAL & BIOLOGICAL ENGINEERING & COMPUTING　53　(3)　227-240　2015/03

DOI： 10.1007/s11517-014-1227-x 　

ISSN： 0140-0118

eISSN： 1741-0444
Tacit learning for emergence of task-related behaviour through signal accumulation Peer-reviewed

Vincent Berenz, Fady Alnajjar, Mitsuhiro Hayashibe, Shingo Shimoda

Advances in Intelligent Systems and Computing　316　31-38　2015
Publisher: Springer Verlag
DOI： 10.1007/978-3-319-10783-7_3 　

ISSN： 2194-5357
Functional Connectivity Analysis of Motor Imagery EEG signal for Brain-computer Interfacing Application Peer-reviewed

Poulami Ghosh, Ankita Mazumder, Saugat Bhattacharyya, D. N. Tibarewala, Mitsuhiro Hayashibe

2015 7TH INTERNATIONAL IEEE/EMBS CONFERENCE ON NEURAL ENGINEERING (NER)　210-213　2015

ISSN： 1948-3546
Methodology for Automatic Movement Cycle Extraction using Switching Linear Dynamic System Peer-reviewed

Roberto de Souza Baptista, Antonio Padilha Lanari Bo, Mitsuhiro Hayashibe

2015 7TH INTERNATIONAL IEEE/EMBS CONFERENCE ON NEURAL ENGINEERING (NER)　743-746　2015

ISSN： 1948-3546
A Personalized Balance Measurement for Home-based Rehabilitation Peer-reviewed

Alejandro Gonzalez, Philippe Fraisse, Mitsuhiro Hayashibe

2015 7TH INTERNATIONAL IEEE/EMBS CONFERENCE ON NEURAL ENGINEERING (NER)　711-714　2015

ISSN： 1948-3546
Determination of subject specific whole-body centre of mass using the 3D Statically Equivalent Serial Chain Peer-reviewed

Vincent Bonnet, Alejandro Gonzalez, Christine Azevedo-Coste, Mitsuhiro Hayashibe, Sebastien Cotton, Philippe Fraisse

GAIT & POSTURE　41　(1)　70-75　2015/01

DOI： 10.1016/j.gaitpost.2014.08.017 　

ISSN： 0966-6362

eISSN： 1879-2219
Real-time Closed-loop FES Control of Muscle Activation with Evoked EMG Feedback Peer-reviewed

Zhan Li, Mitsuhiro Hayashibe, David Andreu, David Guiraud

2015 7TH INTERNATIONAL IEEE/EMBS CONFERENCE ON NEURAL ENGINEERING (NER)　623-626　2015

ISSN： 1948-3546
Inverse Estimation of Multiple Muscle Activations From Joint Moment With Muscle Synergy Extraction Peer-reviewed

Zhan Li, David Guiraud, Mitsuhiro Hayashibe

IEEE JOURNAL OF BIOMEDICAL AND HEALTH INFORMATICS　19　(1)　64-73　2015/01

DOI： 10.1109/JBHI.2014.2342274 　

ISSN： 2168-2194
Asymmetric interhemispheric excitability evidenced by event-related potential amplitude patterns after "wide-awake surgery" of brain tumours Peer-reviewed

Francois Bonnetblanc, Guillaume Herbet, Pom Charras, Mitsuhiro Hayashibe, David Guiraud, Hugues Duffau, Benedicte Poulin-Charronnat

EXPERIMENTAL BRAIN RESEARCH　232　(12)　3907-3918　2014/12

DOI： 10.1007/s00221-014-4075-x 　

ISSN： 0014-4819

eISSN： 1432-1106
A NEW METHOD FOR MUSCLE FATIGUE ASSESSMENT: ONLINE MODEL IDENTIFICATION TECHNIQUES Peer-reviewed

Maria Papaiordanidou, Mitsuhiro Hayashibe, Alain Varray, Charles Fattal, David Guiraud

MUSCLE & NERVE　50　(4)　556-563　2014/10

DOI： 10.1002/mus.24190 　

ISSN： 0148-639X

eISSN： 1097-4598
Whole Body Center of Mass Estimation with Portable Sensors: Using the Statically Equivalent Serial Chain and a Kinect Peer-reviewed

Alejandro Gonzalez, Mitsuhiro Hayashibe, Vincent Bonnet, Philippe Fraisse

SENSORS　14　(9)　16955-16971　2014/09

DOI： 10.3390/s140916955 　

ISSN： 1424-8220
Muscle Fatigue Tracking with Evoked EMG via Recurrent Neural Network: Toward Personalized Neuroprosthetics Peer-reviewed

Zhan Li, Mitsuhiro Hayashibe, Charles Fattal, David Guiraud

IEEE COMPUTATIONAL INTELLIGENCE MAGAZINE　9　(2)　38-46　2014/05

DOI： 10.1109/MCI.2014.2307224 　

ISSN： 1556-603X

eISSN： 1556-6048
Synergetic motor control paradigm for optimizing energy efficiency of multijoint reaching via tacit learning Peer-reviewed

Mitsuhiro Hayashibe, Shingo Shimoda

FRONTIERS IN COMPUTATIONAL NEUROSCIENCE　8　2014/02

DOI： 10.3389/fncom.2014.00021 　

ISSN： 1662-5188
A System for Real-Time Estimation of Joint Torque with Evoked EMG under Electrical Stimulation Peer-reviewed

Zhan Li, Mitsuhiro Hayashibe, David Andreu, David Guiraud

REPLACE, REPAIR, RESTORE, RELIEVE - BRIDGING CLINICAL AND ENGINEERING SOLUTIONS IN NEUROREHABILITATION　7　513-520　2014

DOI： 10.1007/978-3-319-08072-7_76 　

ISSN： 2195-3562
Real-Time Muscle Deformation via Decoupled Modeling of Solid and Muscle Fiber Mechanics Peer-reviewed

Yacine Berranen, Mitsuhiro Hayashibe, David Guiraud, Benjamin Gilles

MEDICAL IMAGE COMPUTING AND COMPUTER-ASSISTED INTERVENTION - MICCAI 2014, PT II　8674　65-72　2014

DOI： 10.1007/978-3-319-10470-6_9 　

ISSN： 0302-9743

eISSN： 1611-3349
Dominant Component in Muscle Fatigue Induced Hand Tremor during Laparoscopic Surgical Manipulation Peer-reviewed

Sourav Chandra, Mitsuhiro Hayashibe, Asokan Thondiyath

2014 36TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　6539-6542　2014

DOI： 10.1109/EMBC.2014.6945126 　

ISSN： 1557-170X
Generalization of the Tacit Learning Controller Based on Periodic Tuning Functions Peer-reviewed

Vincent Berenz, Mitsuhiro Hayashibe, Fady Alnajjar, Shingo Shimoda

2014 5th IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)　893-898　2014

DOI： 10.1109/BIOROB.2014.6913894 　

ISSN： 2155-1782
Evoked Electromyography-Based Closed-Loop Torque Control in Functional Electrical Stimulation Peer-reviewed

Qin Zhang, Mitsuhiro Hayashibe, Christine Azevedo-Coste

IEEE TRANSACTIONS ON BIOMEDICAL ENGINEERING　60　(8)　2299-2307　2013/08

DOI： 10.1109/TBME.2013.2253777 　

ISSN： 0018-9294

eISSN： 1558-2531
Center of Mass Estimation for Rehabilitation in a Multi-contact Environment: a Simulation Study Peer-reviewed

Alejandro Gonzalez, Mitsuhiro Hayashibe, Emel Demircan, Philippe Fraisse

2013 IEEE INTERNATIONAL CONFERENCE ON SYSTEMS, MAN, AND CYBERNETICS (SMC 2013)　4718-4723　2013

DOI： 10.1109/SMC.2013.803 　

ISSN： 1062-922X
Online Identification and Visualization of the Statically Equivalent Serial Chain via Constrained Kalman Filter Peer-reviewed

Alejandro Gonzalez, Mitsuhiro Hayashibe, Philippe Fraisse

2013 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　5323-5328　2013

DOI： 10.1109/ICRA.2013.6631339 　

ISSN： 1050-4729
Inverse Estimation of Muscle Activations from Joint Torque via Local Multiple Regression Peer-reviewed

Zhan Li, Mitsuhiro Hayashibe, David Guiraud

2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　6639-6642　2013

DOI： 10.1109/EMBC.2013.6611078 　

ISSN： 1557-170X
Emergence of Motor Synergy in Vertical Reaching Task via Tacit Learning Peer-reviewed

Mitsuhiro Hayashibe, Shingo Shimoda

2013 35TH ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　4985-4988　2013

DOI： 10.1109/EMBC.2013.6610667 　

ISSN： 1557-170X
Experimental parameter identification of a multi-scale musculoskeletal model controlled by electrical stimulation: application to patients with spinal cord injury. Peer-reviewed

Mourad Benoussaad,Philippe Poignet, Mitsuhiro Hayashibe,Christine Azevedo-Coste,Charles Fattal, David Guiraud

Med. Biol. Engineering and Computing　51　(6)　617-631　2013

DOI： 10.1007/s11517-013-1032-y 　
Active joint visco-elasticity estimation of the human knee using FES Peer-reviewed

Seiya Sakaguchi, Gentiane Venture, Christine Azevedo, Mitsuhiro Hayashibe

Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics　1644-1649　2012

DOI： 10.1109/BioRob.2012.6290727 　

ISSN： 2155-1774
3D Volumetric Muscle Modeling For Real-time Deformation Analysis With FEM Peer-reviewed

Yacine Berranen, Mitsuhiro Hayashibe, Benjamin Gilles, David Guiraud

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　4863-4866　2012

ISSN： 1557-170X
FES-Induced Muscular Torque Prediction with Evoked EMG Synthesized by NARX-Type Recurrent Neural Network Peer-reviewed

Zhan Li, Mitsuhiro Hayashibe, Qin Zhang, David Guiraud

2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　2198-2203　2012

ISSN： 2153-0858
Three Dimensional Visualization of the Statically Equivalent Serial Chain from Kinect Recording Peer-reviewed

Alejandro Gonzalez, Mitsuhiro Hayashibe, Philippe Fraisse

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　4843-4846　2012

ISSN： 1557-170X
Estimation of the Center of Mass with Kinect and Wii balance board Peer-reviewed

Alejandro Gonzalez, Mitsuhiro Hayashibe, Philippe Fraisse

2012 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS (IROS)　1023-1028　2012

ISSN： 2153-0858
Active joint visco-elasticity estimation of the human knee using FES Peer-reviewed

Seiya Sakaguchi, Gentiane Venture, Christine Azevedo, Mitsuhiro Hayashibe

2012 4TH IEEE RAS & EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS (BIOROB)　1644-1649　2012

ISSN： 2155-1782
Simulation of Tremor on 3-Dimentional Musculoskeletal Model of Wrist Joint and Experimental Verification Peer-reviewed

Peng Yao, Dingguo Zhang, Mitsuhiro Hayashibe

2012 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　4823-4826　2012

DOI： 10.1109/EMBC.2012.6347073 　

ISSN： 1557-170X
Evoked EMG-based torque prediction under muscle fatigue in implanted neural stimulation Peer-reviewed

Mitsuhiro Hayashibe, Qin Zhang, David Guiraud, Charles Fattal

JOURNAL OF NEURAL ENGINEERING　8　(6)　2011/12

DOI： 10.1088/1741-2560/8/6/064001 　

ISSN： 1741-2560
FES-Induced Torque Prediction With Evoked EMG Sensing for Muscle Fatigue Tracking Peer-reviewed

Qin Zhang, Mitsuhiro Hayashibe, Philippe Fraisse, David Guiraud

IEEE-ASME TRANSACTIONS ON MECHATRONICS　16　(5)　816-826　2011/10

DOI： 10.1109/TMECH.2011.2160809 　

ISSN： 1083-4435
Multiscale modeling of skeletal muscle properties and experimental validations in isometric conditions Peer-reviewed

Hassan El Makssoud, David Guiraud, Philippe Poignet, Mitsuhiro Hayashibe, Pierre-Brice Wieber, Ken Yoshida, Christine Azevedo-Coste

BIOLOGICAL CYBERNETICS　105　(2)　121-138　2011/08

DOI： 10.1007/s00422-011-0445-7 　

ISSN： 0340-1200
Joint Angle Estimation in Rehabilitation with Inertial Sensors and its Integration with Kinect Peer-reviewed

Antonio Padilha Lanari Bo, Mitsuhiro Hayashibe, Philippe Poignet

2011 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　3479-3483　2011

ISSN： 1557-170X
Muscle Fatigue Tracking based on Stimulus Evoked EMG and Adaptive Torque Prediction Peer-reviewed

Qin Zhang, Mitsuhiro Hayashibe, David Guiraud

2011 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA)　1433-1438　2011

ISSN： 1050-4729
Dual Predictive Control of Electrically Stimulated Muscle using Biofeedback for Drop Foot Correction Peer-reviewed

Mitsuhiro Hayashibe, Qin Zhang, Christine Azevedo-Coste

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　2011

ISSN： 2153-0858
Muscle Strength and Mass Distribution Identification Toward Subject-Specific Musculoskeletal Modeling Peer-reviewed

Mitsuhiro Hayashibe, Gentiane Venture, Ko Ayusawa, Yoshihiko Nakamura

2011 IEEE/RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　3701-3707　2011

ISSN： 2153-0858
Torque Prediction Using Stimulus Evoked EMG and its Identification for Different Muscle Fatigue States in SCI Subjects Peer-reviewed

Qin Zhang, Mitsuhiro Hayashibe, Maria Papaiordanidou, Philippe Fraisse, Charles Fattal, David Guiraud

2010 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY (EMBC)　3523-3526　2010

ISSN： 1557-170X
Nonlinear Identification Method Corresponding to Muscle Property Variation in FES - Experiments in Paraplegic Patients Peer-reviewed

Mitsuhiro Hayashibe, Mourad Benoussaad, David Guiraud, Philippe Poignet, Charles Fattal

2010 3RD IEEE RAS AND EMBS INTERNATIONAL CONFERENCE ON BIOMEDICAL ROBOTICS AND BIOMECHATRONICS　401-406　2010

ISSN： 2155-1782
Simulating the Human Motion Under Functional Electrical Stimulation Using the HuMAnS Toolbox Peer-reviewed

Martine Eckert, Mitsuhiro Hayashibe, David Guiraud, Pierre-brice Wieber, Philippe Fraisse

RECENT ADVANCES IN THE 3D PHYSIOLOGICAL HUMAN　121-+　2009

DOI： 10.1007/978-1-84882-565-9_8 　
Identification and Validation of FES Physiological Musculoskeletal Model in Paraplegic Subjects Peer-reviewed

Mourad Benoussaad, Mitsuhiro Hayashibe, Charles Fattal, Philippe Poignet, David Guiraud

2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20　6538-+　2009

ISSN： 1557-170X
EMG-to-force estimation with full-scale physiology based muscle model Peer-reviewed

Mitsuhiro Hayashibe, David Guiraud, Philippe Poignet

2009 IEEE-RSJ INTERNATIONAL CONFERENCE ON INTELLIGENT ROBOTS AND SYSTEMS　1621-1626　2009
EMG-Based Neuromuscular Modeling with Full Physiological Dynamics and Its Comparison with Modified Hill Model Peer-reviewed

Mitsuhiro Hayashibe, David Guiraud, Philippe Poignet

2009 ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY, VOLS 1-20　6530-6533　2009

ISSN： 1557-170X
Nonlinear identification of skeletal muscle dynamics with Sigma-Point Kalman Filter for model-based FES Peer-reviewed

Mitsuhiro Hayashibe, Philippe Poignet, David Guiraud, Hassan El Makssoud

2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS 1-9　2049-+　2008

ISSN： 1050-4729
Laser-scan endoscope system for intraoperative geometry acquisition and surgical robot safety management Peer-reviewed

Mitsuhiro Hayashibe, Naoki Suzuki, Yoshihiko Nakamura

MEDICAL IMAGE ANALYSIS　10　(4)　509-519　2006/08

DOI： 10.1016/j.media.2006.03.001 　

ISSN： 1361-8415
Robotic surgery setup simulation with the integration of inverse-kinematics computation and medical imaging Peer-reviewed

Mitsuhiro Hayashibe, Naoki Suzuki, Makoto Hashizume, Kozo Konishi, Asaki Hattori

COMPUTER METHODS AND PROGRAMS IN BIOMEDICINE　83　(1)　63-72　2006/07

DOI： 10.1016/j.cmpb.2006.04.010 　

ISSN： 0169-2607

eISSN： 1872-7565
General development plan of surgical robotic systems Peer-reviewed

A. Hattori, N. Suzuki, S. Suzuki, M. Hayashibe, Y. Otake, S. Kobayashi

INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY　1　201-203　2006/06

ISSN： 1861-6410

eISSN： 1861-6429
Marker-less whole body skeletal motion analysis based on a body surface model constructed from multi-camera images Peer-reviewed

Saito Toshikuni, Suzuki Naoki, Hattori Asaki, Hayashibe Mitsuhiro, Suzuki Shigeyuki, Otake Yoshito

INTERNATIONAL JOURNAL OF COMPUTER ASSISTED RADIOLOGY AND SURGERY　1　(SUPPL. 7)　24-26　2006/06

ISSN： 1861-6410

eISSN： 1861-6429
Erratum: Gastrointestinal: Fine-needle aspiration biopsy using three-dimensional endoscopic ultrasound (Journal of Gastroenterology and Hepatology (1941) 20 DOI: 10.1111/j.1440-1746.2005.04185.x)

K. Sumiyama, N. Suzuki, S. Suzuki, A. Hattori, M. Hayashibe, Y. Otake, I. Odagi, H. Kakutani, H. Tajiri

Journal of Gastroenterology and Hepatology (Australia)　21　(2)　488　2006/02

DOI： 10.1111/j.1440-1746.2006.04305.x 　

ISSN： 0815-9319

eISSN： 1440-1746
Contact force estimation from the driving wire tension of master-slave endoscopic surgery robot Peer-reviewed

E. A.Y. Murakami, N. Suzuki, A. Hattori, M. Hayashibe, S. Suzuki, Y. Otake

International Journal of Computer Assisted Radiology and Surgery　1　(7)　505　2006
Publisher: Springer Verlag
DOI： 10.1007/s11548-006-0034-8 　

ISSN： 1861-6429 1861-6410
3D organ shape acquisition for laparoscopic surgery navigation using infrared camera Peer-reviewed

Mitsuhiro Hayashibe, Naoki Suzuki, Asaki Hattori, Yoshito Otake, Shigeyuki Suzuki

International Journal of Computer Assisted Radiology and Surgery　1　(7)　501-502　2006
Publisher: Springer Verlag
DOI： 10.1007/s11548-006-0034-8 　

ISSN： 1861-6429 1861-6410

eISSN： 1861-6429
Soft-Tissue Balance Evaluation System for Total Hip Arthroplasty by Intraoperative Contact Pressure Measurement at the Hip Joint Peer-reviewed

Yoshito Otake, Naoki Suzuki, Asaki Hattori, Mitsuhiro Hayashibe, Hidenobu Miki, Mitsuyoshi Yamamura, Nobuhiko Sugano, Kazuo Yonenobu, Takahiro Ochi

MEDICINE MEETS VIRTUAL REALITY 14　119　416-+　2006

ISSN： 0926-9630
Gastrointestinal: Fine-needle aspiration biopsy using three-dimensional endoscopic ultrasound

K. Sumiyama, N. Suzuki, S. Suzuki, A. Hattori, M. Hayashibe, Y. Otake, I. Odagi, H. Kakatuna, H. Tajiri

Journal of Gastroenterology and Hepatology (Australia)　20　(12)　1941　2005/12

DOI： 10.1111/j.1440-1746.2005.04185.x 　

ISSN： 0815-9319

eISSN： 1440-1746
Tele-surgery simulation with a patient organ model for robotic surgery training Peer-reviewed

S Suzuki, N Suzuki, A Hattori, M Hayashibe, K Konishi, Y Kakeji, M Hashizume

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY　1　(4)　80-88　2005/12

DOI： 10.1002/rcs.60 　

ISSN： 1478-5951
Tele-surgery simulation to perform surgical training of abdominal da Vinci surgery Peer-reviewed

Shigeyuki Suzuki, Naoki Suzuki, Mitsuhiro Hayashibe, Asaki Hattori, Kozo Konishi, Yoshihiro Kakeji, Makoto Hashizume

International Congress Series　1281　531-536　2005/05

DOI： 10.1016/j.ics.2005.03.370 　

ISSN： 0531-5131
Development of a Navigation Function for an Endosocopic Robot Surgery System Peer-reviewed

Asaki Hattori, Naoki Suzuki, Mitsuhiro Hayashibe, Shigeyuki Suzuki, Yoshito Otake, Hisao Tajiri, Susumu Kobayashi

MEDICINE MEETS VIRTUAL REALITY 13: THE MAGICAL NEXT BECOMES THE MEDICAL NOW　111　167-171　2005

ISSN： 0926-9630
Design and construction of a high-tech operating room for navigation surgery Peer-reviewed

A Hattori, N Suzuki, S Suzuki, Y Otake, M Hayashibe, S Kobayashi, T Nezu, H Sakai, Y Umezawa

CARS 2005: COMPUTER ASSISTED RADIOLOGY AND SURGERY　1281　1344-1344　2005

DOI： 10.1016/j.ics.2005.03.369 　

ISSN： 0531-5131
Motion analysis system using DSVC (dynamic spatial video camera) and 4D human modeling Peer-reviewed

T Saito, N Suzuki, A Hattori, S Suzuki, M Hayashibe, Y Otake, A Uchiyama

CARS 2005: Computer Assisted Radiology and Surgery　1281　1376-1376　2005

DOI： 10.1016/j.ics.2005.03.321 　

ISSN： 0531-5131
Development of a 3D Visualization System for Surgical Field Deformation with Geometric Pattern Projection Peer-reviewed

Mitsuhiro Hayashibe, Naoki Suzuki, Susumu Kobayashi, Norio Nakata, Asaki Hattori, Yoshihiko Nakamura

MEDICINE MEETS VIRTUAL REALITY 13: THE MAGICAL NEXT BECOMES THE MEDICAL NOW　111　172-177　2005

ISSN： 0926-9630
Surgical Robot Setup Simulation with Consistent Kinematics and Haptics for Abdominal Surgery Peer-reviewed

Mitsuhiro Hayashibe, Naoki Suzuki, Asaki Hattori, Shigeyuki Suzuki, Kozo Konishi, Yoshihiro Kakeji, Makoto Hashizume

MEDICINE MEETS VIRTUAL REALITY 13: THE MAGICAL NEXT BECOMES THE MEDICAL NOW　111　164-166　2005

ISSN： 0926-9630
Tele-Surgical Simulation System for Training in the Use of da Vinci (TM) Surgery Peer-reviewed

Shigeyuki Suzuki, Naoki Suzuki, Mitsuhiro Hayashibe, Asaki Hattori, Kozo Konishi, Yoshihiro Kakeji, Makoto Hashizume

MEDICINE MEETS VIRTUAL REALITY 13: THE MAGICAL NEXT BECOMES THE MEDICAL NOW　111　543-548　2005

ISSN： 0926-9630
Development of an elastic organ model containing voxel information Peer-reviewed

Takahiro Takimoto, Naoki Suzuki, Asaki Hattori, Shigeyuki Suzuki, Mitsuhiro Hayashibe, Yoshito Otake, Akihiko Uchiyama, Susumu Kobayashi

International Congress Series　1268　(C)　395-400　2004/06/01

DOI： 10.1016/j.ics.2004.03.183 　

ISSN： 0531-5131
Tele-training simulation for the surgical robot system "da Vinci" Peer-reviewed

S Suzuki, N Suzuki, M Hashizume, Y Kakeji, K Konishi, A Hattori, M Hayashibe

CARS 2004: COMPUTER ASSISTED RADIOLOGY AND SURGERY, PROCEEDINGS　1268　86-91　2004

DOI： 10.1016/j.ics.2004.03.160 　

ISSN： 0531-5131
4D analysis of skeletal and muscular system during locomotion using dynamic spatial video camera system. Peer-reviewed

Naoki Suzuki, Asaki Hattori, Mitsuhiro Hayashibe, Yoshito Otake, Shigeyuki Suzuki, Susumu Kobayashi

CARS 2004. Computer Assisted Radiology and Surgery. Proceedings of the 18th International Congress and Exhibition, Chicago, USA, June 23-26, 2004　1239　2004
Publisher: Elsevier
A robotic surgery system (da Vinci) with image guided function - System architecture and cholecystectomy application Peer-reviewed

A Hattori, N Suzuki, M Hashizume, T Akakoshi, K Konishi, S Yamaguchi, M Shimada, M Hayashibe

MEDICINE MEETS VIRTUAL REALITY 11　94　110-116　2003

ISSN： 0926-9630
Intraoperative 3D shape recovery of abdominal organs for Laparoscopic data fusion Peer-reviewed

M Hayashibe, N Suzuki, Y Nakamura, A Hattori, S Suzuki

MEDICINE MEETS VIRTUAL REALITY 02/10　85　188-194　2002

ISSN： 0926-9630

Show all ︎Show first 5

Misc. 93

《第6回》欧州研究 : 多様性と独自性の共存

林部充宏

計測と制御 = Journal of the Society of Instrument and Control Engineers　52　(1)　78-80　2013/01/10
Publisher: 計測自動制御学会
ISSN： 0453-4662
Philosophy of French Vacation

Hayashibe Mitsuhiro

Journal of the Robotics Society of Japan　31　(10)　981-982　2013
Publisher: The Robotics Society of Japan
DOI： 10.7210/jrsj.31.981 　

ISSN： 0289-1824
DSVC(Dynamic Spatial Video Camera)を用いた全身動作解析システムの構築

大竹義人, 鈴木直樹, 服部麻木, 鈴木薫之, 林部充宏

東京慈恵会医科大学雑誌　122　(6)　346-346　2007/11/15
Publisher: 東京慈恵会医科大学成医会
ISSN： 0375-9172
da Vinciのためのトレーニング用遠隔手術シミュレーションシステムの開発

鈴木薫之, 鈴木直樹, 服部麻木, 林部充宏, 大竹義人

東京慈恵会医科大学雑誌　122　(6)　331-332　2007/11/15
Publisher: 東京慈恵会医科大学成医会
ISSN： 0375-9172
DSVC Dynamic Spatial Video Camera o mochiita zenshin dosa kaiseki shisutemu no kochiku dai 97kai seiikai daisan shibu reikai posuta happyo

大竹義人, 鈴木直樹, 服部麻木, 鈴木薫之, 林部充宏, オオタケヨシヒト, スズキナオキ, ハットリアサキ, スズキカオノリ, ハヤシベミツヒロ

東京慈恵会医科大学雑誌　122　(6)　346-346　2007/11/15

ISSN： 0375-9172
jutsuchu CT 3DCT satsuei no gammenkotsu kossetsu shujutsu eno oyo dai 96kai seiikai daisan shibu reikai posuta happyo

篠田明彦, 二ノ宮邦稔, 酒井新介, 宇井啓人, 鈴木直樹, 服部麻木, 林部充宏, シノダアキヒコ, ニノミヤクニトシ, サカイシンスケ, ウイケイト, スズキナオキ, ハットリアサキ, ハヤシベミツヒロ

東京慈恵会医科大学雑誌　122　(6)　330-330　2007/11/15

ISSN： 0375-9172
da Vinci no tame no toreninguyo enkaku shujutsu shimyureshon shisutemu no kaihatsu dai 96kai seiikai daisan shibu reikai posuta happyo

鈴木薫之, 鈴木直樹, 服部麻木, 林部充宏, 大竹義人, スズキシゲユキ, スズキナオキ, ハットリアサキ, ハヤシベミツヒロ, オオタケヨシヒト

東京慈恵会医科大学雑誌　122　(6)　331-332　2007/11/15

ISSN： 0375-9172
三次元画像誘導技術を用いたコンピュータ支援手術の開発と展望

掛地吉弘, 小西晃造, 鈴木薫之, 家入里志, 安永武史, 西田康二郎, 古賀聡, 江頭明典, 徳永えり子, 沖英次, 森田勝, 林部充宏, 服部麻木, 田上和夫, 中島秀彰, 鈴木直樹, 橋爪誠, 前原喜彦

日本外科学会雑誌　107　144　2006/03/05

ISSN： 0301-4894
三次元画像誘導技術を用いたコンピュータ支援手術の開発と展望

掛地吉弘, 小西晃造, 鈴木薫之, 家入里志, 安永武史, 西田康二郎, 古賀聡, 江頭明典, 徳永えり子, 沖英次, 森田勝, 林部充宏, 服部麻木, 田上和夫, 中島秀彰, 鈴木直樹, 橋爪誠, 前原喜彦

日本外科学会雑誌　107　(2)　2006/03/05
Publisher: 一般社団法人日本外科学会
ISSN： 0301-4894
コンピューター支援手術の最先端三次元画像誘導技術を用いたコンピュータ支援手術の開発と展望

掛地吉弘, 小西晃造, 鈴木薫之, 家入里志, 安永武史, 西田康二郎, 古賀聡, 江頭明典, 徳永えり子, 沖英次, 森田勝, 林部充宏, 服部麻木, 田上和夫, 中島秀彰, 鈴木直樹, 橋爪誠, 前原喜彦

日本外科学会雑誌　107　(臨増2)　144-144　2006/03
Publisher: (一社)日本外科学会
ISSN： 0301-4894
Estimation of skeletal movement of human locomotion from body surface shapes using Dynamic Spatial Video Camera (DSVC) and 4D human model

Toshikuni Saito, Naoki Suzuki, Asaki Hattori, Shigeyuki Suzuki, Mitsuhiro Hayashibe, Yoshito Otake

Studies in Health Technology and Informatics　119　467-472　2006

ISSN： 0926-9630

eISSN： 1879-8365
Intraoperative 3D visualization for surgical field deformation with geometric pattern projection

Mitsuhiro Hayashibe, Naoki Suzuki, Susumu Kobayashi, Norio Nakata, Asaki Hattori, Shigeyuki Suzuki, Yoshito Otake, Yoshihiko Nakamura

Systems and Computers in Japan　37　(4)　133-141　2006

DOI： 10.1002/scj.20449 　

ISSN： 0882-1666

eISSN： 1520-684X
Surgical navigation display system using volume rendering of intraoperatively scanned CT images

M. Hayashibe, N. Suzuki, A. Hattori, Y. Otake, S. Suzuki, N. Nakata

Computer Aided Surgery　11　(5)　240-246　2006

DOI： 10.1080/10929080600971104 　
Estimation of Hip Dislocation after Total Hip Arthroplasty Based on the Intraoperative Measurement of the Soft-tissue Balance

OTAKE Yoshito, SUZUKI Naoki, HATTORI Asaki, HAYASHIBE Mitsuhiro, MIKI Hidenobu, YAMAMURA Mitsuyoshi, SUGANO Nobuhiko, YONENOBU Kazuo, OCHI Takahiro

日本コンピュータ外科学会誌　7　(3)　371-372　2005/12/30
Publisher: (一社)日本コンピュータ外科学会
ISSN： 1344-9486
医用画像を用いた臨床医共同作業におけるOpen Source Contents Management Systemを用いたウェブサイト構築および運営について

中田典生, 大脇和彦, 福田国彦, 服部麻木, 鈴木薫之, 大竹義人, 林部充宏, 鈴木直樹

日本コンピュータ外科学会誌　7　(3)　473-474　2005/12/30

ISSN： 1344-9486
マスタ・スレーブ内視鏡手術ロボットの駆動ワイヤ張力から推定した先端反力の検証

YAMAMOTO MURAKAMI E A, 鈴木直樹, 服部麻木, 林部充宏, 鈴木薫之, 大竹義人

日本コンピュータ外科学会誌　7　(3)　495-496　2005/12/30
Publisher: (一社)日本コンピュータ外科学会
ISSN： 1344-9486
ロボティクスの活用による精密誘導治療の将来

林部充宏, 鈴木直樹, 服部麻木, 鈴木薫之, 大竹義人

日本コンピュータ外科学会誌　7　(3)　269-270　2005/12/30

ISSN： 1344-9486
Dynamic Spatial Video Camera(DSVC)を用いた体表面形状変化にもとづく全身動作解析システムの開発

斎藤俊邦, 鈴木直樹, 服部麻木, 鈴木薫之, 林部充宏, 大竹義人

日本コンピュータ外科学会誌　7　(3)　387-388　2005/12/30
Publisher: (一社)日本コンピュータ外科学会
ISSN： 1344-9486
Volume Dataをリアルタイム変形処理できる手術シミュレータにおける肝区域分けの実現

瀧本崇博, 鈴木直樹, 服部麻木, 鈴木薫之, 林部充宏, 大竹義人, 中田典生, 小林進, 柳沢政生

日本コンピュータ外科学会誌　7　(3)　523-524　2005/12/30
Publisher: (一社)日本コンピュータ外科学会
ISSN： 1344-9486
患部構造のボリュームデータを用いることが可能なロボット手術プランニングシステム

林部充宏, 鈴木直樹, 服部麻木, 鈴木薫之, 小西晃造, 橋爪誠

日本コンピュータ外科学会誌　7　(3)　375-376　2005/12/30
Publisher: (一社)日本コンピュータ外科学会
ISSN： 1344-9486
The future of precise navigation surgery by use of robotics technique

HAYASHIBE Mitsuhiro, SUZUKI Naoki, HATTORI Asaki, SUZUKI Shigeyuki, OTAKE Yoshito

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　7　(3)　269-270　2005/12/30

ISSN： 1344-9486
Open Source Contents Management System using Medical Images : Feasibility of Group Work for Clinicians

NAKATA Norio, OOWAKI Kazuhiko, FUKUDA Kunihiko, HATTORI Asaki, SUZUKI Shigeyuki, OOTAKE Yoshito, HAYASHIBE Mitsuhiro, SUZUKI Naoki

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　7　(3)　473-474　2005/12/30
Publisher: (一社)日本コンピュータ外科学会
ISSN： 1344-9486
画像診断技術とロボティクスによる精密誘導治療の進歩ロボティクスの活用による精密誘導治療の将来

林部充宏, 鈴木直樹, 服部麻木, 鈴木薫之, 大竹義人

日本コンピュータ外科学会誌　7　(3)　269-270　2005/12
Publisher: (一社)日本コンピュータ外科学会
ISSN： 1344-9486
Medical Virtual Reality : An Application to Surgery Simulation

鈴木薫之, 鈴木直樹, 服部麻木, 林部充宏, 大竹義人, 小西晃造, 掛地吉弘, 橋爪誠

Fukuoka acta medica　96　(2)　44-48　2005/02/25
Publisher: 福岡医学会
DOI： 10.15017/19258 　

ISSN： 0016-254X
Construction of a high-tech operating room for image-guided surgery using VR

Naoki Suzuki, Asaki Hattori, Shigeyuki Suzuki, Yoshito Otake, Mitsuhiro Hayashibe, Susumu Kobayashi, Takehiko Nezu, Haruo Sakai, Yuji Umezawa

Studies in Health Technology and Informatics　111　538-542　2005

ISSN： 0926-9630

eISSN： 1879-8365
Development of a Navigation Function for an Endoscopic RobotSurgery System

A.Hattori, N.Suzuki, M.Hayashibe, S.Suzuki, Y.Otake, H Tajiri, S Kobayashi

Studies In Health Technology and Informatics　111　167-171　2005
Data-fusion display system with volume rendering of intraoperatively scanned CT images

Mitsuhiro Hayashibe, Naoki Suzuki, Asaki Hattori, Yoshito Otake, Shigeyuki Suzuki, Norio Nakata

Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)　3750　559-566　2005

DOI： 10.1007/11566489_69 　

ISSN： 0302-9743

eISSN： 1611-3349
幾何学パターン投影法を用いた術中での生体変形計測法の開発

電子情報通信学会誌　vol.J88-D-I, no.1, pp.133-141　2005
Preoperative planning system for surgical robotics setup with kinematics and haptics

M Hayashibe, N Suzuki, M Hashizume, Y Kakeji, K Konishi, S Suzuki, A Hattori

INTERNATIONAL JOURNAL OF MEDICAL ROBOTICS AND COMPUTER ASSISTED SURGERY　1　(2)　76-85　2005/01

DOI： 10.1581/mrcas.2005.010208 　

ISSN： 1478-5951
Development of a 3D Measurement System for Surgical Field Deformation with Geometric Pattern Projection

HAYASHIBE Mitsuhiro, SUZUKI Naoki, KOBAYASHI Susumu, NAKATA Norio, HATTORI Asaki, SUZUKI Shigeyuki, OTAKE Yoshito, NAKAMURA Yoshihiko

The IEICE transactions on information and systems Pt. 2　88　(1)　133-141　2005/01/01
Publisher: The Institute of Electronics, Information and Communication Engineers
ISSN： 0915-1923

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近年,術中に術野の目標位置を提示し,術者の術野に対する直感的理解を助けることで精度の高い手技を行えるよう支援するナビゲーション技術が各臨床分野で研究・応用され始めている.現状では磁気センサやマーカ型の光学三次元位置センサ等を用い術野の位置計測を行うことが多い.骨などの硬組織に対するナビゲーションでは離散的に得られる数点のマーカを用いることで剛体である対象の位置計測が可能であるが,体表・肝臓など容易に形と位置を変える軟組織に対してのナビゲーションでは,その変形状態をサーフェスデータとして時系列に計測可能な位置センサが必要となる.本研究では,PCプロジェクタにより対象に投影した幾何学的パターンを用い,これを多方向からのDVカメラによりリアルタイムキャプチャする方式をとった.これにより術場に容易に設置でき,関心部位の三次元形状とテクスチャ情報を同時に計測・可視化できる生体変形計測法の開発を行った.動物実験を行い術中随時更新される時系列の表面形状データにより術前対象臓器モデルをRegistrationし,計測した術野サーフェスデータに臓器内部構造モデルを統合表示するData-Fusion処理を行うことができたので報告する.
Surgery Simulation with a Patient Organ Model for Training of Abdominal Robotic Surgery

SUZUKI Shigeyuki, SUZUKI Naoki, HATTORI Asaki, HAYASHIBE Mitsuhiro, OTAKE Yoshito, KONISHI Kozo, KAKEJI Yoshihiro, HASHIZUME Makoto

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　6　(3)　187-188　2004/12/30

ISSN： 1344-9486
Development of an endoscopic robot system for clinical use

HATTORI Asaki, SUZUKI Naoki, HAYASHIBE Mitsuhiro, SUZUKI Shigeyuki, OTAKE Yoshito, TAJIRI Hisao, KOBAYASHI Susumu

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　6　(3)　265-266　2004/12/30

ISSN： 1344-9486
Development of a Force Feedback Control System for Master-Slave Endoscopic Surgery Robot

MURAKAMI E. A. Y, SUZUKI N, HATTORI A, HAYASHIBE M, SUZUKI S, OTAKE Y, KOBAYASHI S, ITO K

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　6　(3)　277-278　2004/12/30

ISSN： 1344-9486
Intraoperative Evaluation of the Installation of the Artificial Hip Joint by using the Pressure Measurement of the Hip Surface

OTAKE Yoshito, SUZUKI Naoki, HATTORI Asaki, HAYASHIBE Mitsuhiro, MIKI Hidenobu, YAMAMURA Mitsuyoshi, SUGANO Nobuhiko, YONENOBU Kazuo, OCHI Takahiro

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　6　(3)　319-320　2004/12/30

ISSN： 1344-9486
Personal Area Network (PAN) using Medical Images : Feasibility of Group Work for Clinicians

NAKATA Norio, HATTORI Asaki, SUZUKI Shigeyuki, OOTAKE Yoshito, HAYASHIBE Mitsuhiro, SUZUKI Naoki

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　6　(3)　335-336　2004/12/30

ISSN： 1344-9486
Production of MR Correspondence Typed Transparent Screen

SUZUKI Naoki, HATTORI Asaki, HAYASHIBE Mitsuhiro, SUZUKI Shigeyuki, OTAKE Yoshito, HARADA Junta, NAKATA Norio

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　6　(3)　343-344　2004/12/30

ISSN： 1344-9486
Intraoperative navigation system with volume data of mobile C-arm CT

HAYASHIBE Mitsuhiro, SUZUKI Naoki, HATTORI Asaki, OTAKE Yoshito, SUZUKI Shigeyuki, KOBAYASHI Susumu, SHINODA Akihiko, NINOMIYA Kunitoshi

JJSCAS　6　(3)　359-360　2004/12/30

ISSN： 1344-9486
Preoperative planning system using kinematic computation of Zeus link structure

HAYASHIBE Mitsuhiro, SUZUKI Naoki, HATTORI Asaki, KONISHI Kozo, KAKEJI Yoshihiro, HASHIZUME Makoto

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　6　(3)　371-372　2004/12/30

ISSN： 1344-9486
Real-Time Volume Data Deformation for Surgical Simulation 3rd Report : The Addition of a Resection and Extirpation Function of a Liver Organ Model

TAKIMOTO Takahiro, SUZUKI Naoki, HATTORI Asaki, SUZUKI Shigeyuki, HAYASHIBE Mitsuhiro, OTAKE Yoshito, KOBAYASHI Susumu, UCHIYAMA Akihiko

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　6　(3)　373-374　2004/12/30

ISSN： 1344-9486
Development of Analysis System of Human Locomotion using Dynamic Spatial Video Camera

SAITO T, SUZUKI N, HATTORI A, SUZUKI S, HAYASHIBE M, OTAKE Y, UCHIYAMA A

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　6　(3)　381-382　2004/12/30

ISSN： 1344-9486
Visualization system for 4D Dataset of Cardiac Function Using High-Speed Corn Beam CT

SUZUKI Naoki, HATTORI Asaki, HAYASHIBE Mitsuhiro, SUZUKI Shigeyuki, OTAKE Yoshito, KUSAKABE Masahiro, KONDO Senri, KUSAKABE Kiyoko, MORI Shinichiro

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　6　(3)　409-410　2004/12/30

ISSN： 1344-9486
Development of Preoperative Planning System for Optimal Motion and Device Placement of Surgical Robot

HAYASHIBE Mitsuhiro, SUZUKI Naoki, HATTORI Asaki, SUZUKI Shigeyuki, KONISHI Kozo, KAKEJI Yoshihiro, HASHIZUME Makoto

The IEICE transactions on information and systems Pt. 2　87　(12)　2262-2270　2004/12/01
Publisher: The Institute of Electronics, Information and Communication Engineers
ISSN： 0915-1923

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現在,患者にとって低侵襲な治療と細かな手技を実現するロボット手術システムとしてIntuitive Surgical社のda Vinci などのシステムがある.臨床の現場ではまずその手術ロボットが最適な運動を行える環境をセッテングする必要があり,その環境が整えられて初めて手術ロボットの器用さが発揮される.また腹壁の固定点を介してのロボット手術では,最初に決定するトロッカーサイトによってロボットの運動範囲が限定される.様々な症例に応じてロボットに求められる運動は異なり,それぞれの手技において適切なトロッカーサイトを術前にプランニング可能なシステムを開発する.ロボットアーム間の干渉やトロッカーサイトにおける拘束,ロボットの逆運動学計算を行い,患者データに対し手術ロボットの運動を仮想空同上でシミュレーションすることを可能とする.
haiteku nabigeshon shujutsu shitsu daisan byoin shujutsushitsu No.9 no kozo to imeji gaido shujutsu shien shisutemu no kaihatsu dai 121kai seiikai sokai ippan endai

Hayashibe Mitsuhiro, Suzuki Naoki, Hattori Asaki, Suzuki Shigeyuki, Otake Yoshito, Nezu Takehiko, Sakai Haruo, Umezawa Yuji

東京慈恵会医科大学雑誌　119　(6)　395-395　2004/11/15

ISSN： 0375-9172
Development of Laparoscopic Data-Fusion System Based on an Intraoperative Organ Shape

HAYASHIBE Mitsuhiro, SUZUKI Naoki, HATTORI Asaki, KOBAYASHI Susumu, NAKAMURA Yoshihiko

Journal of Japan Society of Computer Aided Surgery　Vol.6, No.1, pp.31-38　(1)　31-38　2004/06/30
Publisher: 日本コンピュ-タ外科学会
ISSN： 1344-9486
臓器変形モデルと力覚フィードバックデバイスを用いた手術シミュレータの開発

鈴木薫之, 鈴木直樹, 服部麻木, 林部充宏, 大竹義人, 小林進, 橋爪誠

日本バーチャルリアリティ学会誌　Vol.9, No.2, pp.97-102　(2)　97-102　2004/06/25

ISSN： 1342-6680
Development of Navigation Function for Laparoscopic Surgery and Robotic Surgery

HAYASHIBE Mitsuhiro, SUZUKI Naoki, HATTORI Asaki, SUZUKI Shigeyuki, OTAKE Yoshito, KOBAYASHI Susumu, HASHIZUME Makoto

Medical Imaging Technology　Vol.22, No.2, pp.68-73　(2)　68-73　2004/03/25
Publisher: 日本医用画像工学会
DOI： 10.11409/mit.22.68 　

ISSN： 0288-450X
東京慈恵会医科大学高次元医用画像工学研究所

大竹義人, 鈴木直樹, 服部麻木, 鈴木薫之, 林部充宏

バイオメカニズム学会誌　28　(1)　41-43　2004/02/01
Publisher: バイオメカニズム学会
ISSN： 0285-0885
Virtual Surgery, Tele-Virtual Surgery システムの現状と展望

鈴木薫之, 鈴木直樹, 服部麻木, 林部充宏, 大竹義人, 小林進, 橋爪誠

日本臨牀　62　(4)　815-823　2004
A real-time data fusion system updating 3D organ shapes using color information from multi-directional cameras

M.Uematsu, N.Suzuki, A.Hattori, Y.Otake, S.Suzuki, M.Hayashibe, S.Kobayashi, A.Uchiyama

International Congress Series　1268　741-746　2004
Navigation system for a developed endoscopic surgical robot system

A.Hattori, N.Suzuki, M.Hayashibe, S.Suzuki, Y.Otake, K.Sumiyama, H.Tajiri, S.Kobayashi

International Congress Series　1268　539-544　2004
手術ロボットda Vinciの最適な動作・機器配置のための術前プランニングシステム

電子情報通信学会誌　vol.J87-D-II, no.12, pp.2262-2270　2004
An interactive planning system for optimal trocar site placement of surgical robot da Vinci

M Hayashibe, N Suzuki, M Hashizume, A Hattori, S Suzuki, Y Kakeji, K Konishi

CARS 2004: COMPUTER ASSISTED RADIOLOGY AND SURGERY, PROCEEDINGS　1268　1336-1336　2004

DOI： 10.1016/j.ics.2004.03.334 　

ISSN： 0531-5131
Development of Laparoscopic Data-Fusion System Based on an Intraoperative Organ Shape

Hayashibe Mitsuhiro, Suzuki Naoki, Hattori Asaki, Kobayashi Susumu, Nakamura Yoshihiko

Journal of Japan Society of Computer Aided Surgery　6　(1)　31-38　2004
Publisher: THE JAPAN SOCIETY OF COMPUTER AIDED SURGERY
DOI： 10.5759/jscas1999.6.31 　

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Laparoscopic surgery forces surgeons to operate with mechanical and visual constraints. Surgeons are required to intuit a sense of orientation in the abdominal cavity solely from the memorized anatomical structure. Laparoscopic surgery would be technologically improved if surgeons were provided with the 3D shape of the internal geometry including with texture information in an intuitive manner. In this paper, intraoperative real-time 3D visualization and Data-Fusion using this organ geometry verifies the functionality in an in-vivo experiment.
Development of Tele-Virtual Surgical Simulator for da Vinci System

SUZUKI Shigeyuki, SUZUKI Naoki, HASHIZUME Makoto, KAKEJI Yoshihiro, KONISHI Kozo, HATTORI Asaki, OTAKE Yoshito, HAYASHIBE Mitsuhiro

J. JSCAS　5　(3)　177-178　2003/12/30

ISSN： 1344-9486
Trial of endoscopic robot surgery to abdominal organs

SUZUKI Naoki, HATTORI Asaki, SUZUKI Shigeyuki, OTAKE Yoshito, HAYASHIBE Mitsuhiro, SUMIYAMA Kazuki, TAJIRI Hisao, KOBAYASHI Susumu

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　5　(3)　223-224　2003/12/30

ISSN： 1344-9486
Development of Control System for Endoscopic Master-Slave Robot System

YAMAMOTO MURAKAMI Edwardo Arata, SUZUKI Naoki, HATTORI Asaki, HAYASHIBE Mitsuhiro, SUZUKI Shigeyuki, OTAKE Yoshito, SUMIYAMA Kazuki, KOBAYASHI Susumu

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　5　(3)　225-226　2003/12/30

ISSN： 1344-9486
Design and construction of a high-tech navigation operating room for various image-guided surgeries

SUZUKI Naoki, HATTORI Asaki, SUZUKI Shigeyuki, OTAKE Yoshito, HAYASHIBE Mitsuhiro, KOBAYASHI Susumu, SAKAI Haruo, UMEZAWA Yuji

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　5　(3)　257-258　2003/12/30

ISSN： 1344-9486
Mobile Wireless Network System for Emergency Department of the Hospital

NAKATA Norio, HATTORI Asaki, SUZUKI Shigeyuki, OOTAKE Yoshito, HAYASHIBE Mitsuhiro, SUZUKI Naoki

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　5　(3)　261-262　2003/12/30

ISSN： 1344-9486
Preoperative planning system for optimal motion and device arrangement of surgical robot

HAYASHIBE Mitsuhiro, SUZUKI Naoki, HASHIZUME Makoto, KAKEJI Yoshihiro, KONISHI Kozo, HATTORI Asaki, OTAKE Yoshito, SUZUKI Shigeyuki

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　5　(3)　273-274　2003/12/30

ISSN： 1344-9486
Development of an image guided function for an endoscopic robot system

HATTORI Asaki, SUZUKI Naoki, HAYASHIBE Mitsuhiro, SUZUKI Shigeyuki, OTAKE Yoshito, SUMIYAMA Kazuki, TAJIRI Hisao, KOBAYASHI Susumu

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　5　(3)　315-316　2003/12/30

ISSN： 1344-9486
Development of intraoperative 3D deformation measurement system for living body using PC projector and DV cameras

HAYASHIBE Mitsuhiro, SUZUKI Naoki, HATTORI Asaki, SUZUKI Shigeyuki, OTAKE Yoshito, NAKATA Norio, KOBAYASHI Susumu, NAKAMURA Yoshihiko

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　5　(3)　317-318　2003/12/30

ISSN： 1344-9486
Development of Image Display Devices for the Data Fusion System at Open Surgery

OTAKE Yoshito, SUZUKI Naoki, HATTORI Asaki, SUZUKI Shigeyuki, HAYASHIBE Mitsuhiro, KOBAYASHI Susumu

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　5　(3)　349-350　2003/12/30

ISSN： 1344-9486
Development of a Data Fusion System to Acquire the Inner Structures Based on Liver Surface Shape Captured by Stereo Cameras from Multi-Directions

UEMATSU Miyuki, SUZUKI Naoki, HATTORI Asaki, OTAKE Yoshito, HAYASHIBE Mitsuhiro, SUZUKI Shigeyuki, KOBAYASHI Susumu, UCHIYAMA Akihiko

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　5　(3)　383-384　2003/12/30

ISSN： 1344-9486
Real-Time Volume Data Deformation for Surgical Simulation 2nd Report : Making of Various Incision planes for Elastic Model

TAKIMOTO Takahiro, SUZUKI Naoki, HATTORI Asaki, SUZUKI Shigeyuki, HAYASHIBE Mitsuhiro, OTAKE Yoshito, KOBAYASHI Susumu, UCHIYAMA Akihiko

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　5　(3)　385-386　2003/12/30

ISSN： 1344-9486
Soft Tissue Model with the Haptic Response's Database for Surgical Simulation System

SUZUKI Shigeyuki, SUZUKI Naoki, HATTORI Asaki, HAYASHIBE Mitsuhiro, OTAKE Yoshito, TAKIMOTO Takahiro, UCHIYAMA Akihiko, KOBAYASHI Susumu

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　5　(3)　387-388　2003/12/30

ISSN： 1344-9486
Virtual realityと外科 (第5土曜特集先端外科医療の最前線)

林部充宏, 鈴木直樹, 服部麻木

医学のあゆみ　205　(9)　627-631　2003/05/31
Publisher: 医歯薬出版
ISSN： 0039-2359
Laser-Pointing Endoscope System for Intraoperative 3D Geometric Registration

NAKAMURA Yoshihiko, HAYASHIBE Mitsuhiro

Journal of the Robotics Society of Japan　Vol.21, No.3, pp.78-84　(3)　78-84　2003/04/15
Publisher: 一般社団法人日本ロボット学会
DOI： 10.7210/jrsj.21.302 　

ISSN： 0289-1824

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Precise measurements of geometry should accompany robotic equipments in operating rooms if their advantages are further pursued. For deforming organs including a liver, intraoperative geometric measurements play an essential role in computer surgery in addition to pre-operative geometric information from CT, MRI and so on. We developed a laser-pointing endoscope using an optical galvano scanner and a 955 [fps] high-speed camera. The laser-pointing endoscope system acquires and visualizes the shape of the area of interest in a flash of time. Applications of the system also include the touch-screen interface for non-master-slave operation of surgical robots, where the 3D coordinates of the touched point on screen are measured by the system and guide a robot. Results of in-vivo experiments on a liver of pig verify the effectiveness of the proposed system.
Development of an endoscopic robot system with two hands for intraluminar gastrointestinal surgery

N Suzuki, H Tajiri, K Sumiyama, K Ikeda, EA Murakami, M Hayashibe, S Suzuki, Y Otake, A Hattori

GASTROINTESTINAL ENDOSCOPY　57　(5)　AB83-AB83　2003/04

ISSN： 0016-5107
Passive Safety Enhancement in Surgical Robot Navigation

NAKAMURA Yoshihiko, HAYASHIBE Mitsuhiro, SHIMIZU Hiroyuki

Journal of the Robotics Society of Japan　Vol.21, No.2, pp.52-58　(2)　178-184　2003/03/15
Publisher: 一般社団法人日本ロボット学会
DOI： 10.7210/jrsj.21.178 　

ISSN： 0289-1824

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Precise measurements of geometry should accompany robotic equipments in operating rooms if their advantages are further pursued. For deforming organs including a liver, intraoperative geometric measurements play an essential role in computer surgery in addition to pre-operative geometric information from CT, MRI and so on. Previously developed laser-pointing endoscope acquires and visualizes the shape of the area of interest in a flash of time. Using this intraoperative geometry, in this paper we develope a surgical navigator for laparoscopic procedure. This system has the function of intraoperative monitoring and safety management. The authors believe that the proposed function enhances robotically assisted operations not only in ordinary operational environments but also in tele-operative environments. Results of in-vivo experiments on a liver of pig verify the effectiveness of the proposed system. The intraoperative 3D model of liver and 3D geometric calculation in virtual abdominal space were useful to avoid unexpected collisions with the forceps of surgical robot.
Development of a data fusion system using color information for real-time intraoperative liver surface measurement

Miyuki Uematsu, Naoki Suzuki, Aasaki Hattori, Yoshito Otake, Mitsuhiro Hayashibe, Shigeyuki Suzuki, Akihiko Uchiyama

Studies in Health Technology and Informatics　94　367-369　2003

DOI： 10.3233/978-1-60750-938-7-367 　

ISSN： 0926-9630

eISSN： 1879-8365
Development of an endoscopic robotic system with two hands for various gastric tube surgeries. International-journal

Naoki Suzuki, Kazuki Sumiyama, Asaki Hattori, Keiichi Ikeda, Edwardo A Y Murakami, Shigeyuki Suzuki, Mitsuhiro Hayashibe, Yoshito Otake, Hisao Tajiri

Studies in health technology and informatics　94　349-353　2003

DOI： 10.3233/978-1-60750-938-7-349 　

ISSN： 0926-9630

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This paper presents the first report on an endoscopic robot with two manipulators which performed surgical work to resect the mucosal layer of the stomach of pigs without penetrating the body surface. We designed and developed an endoscopic surgical robot system which possesses two arm shaped manipulators for various kinds of surgery in the gastric tubes. The distal part of the manipulator functions as forceps and they are able to hold and handle soft tissues through the cooperative efforts of the right and left arms. And it is also able to incise the gastric wall by holding an electronic scalpel (brought in from the instrument channel) with the manipulator on the right side while opening the sectioning plane on the left side which was take out. With this system we succeeded in the mucosal resection of a large portion of the stomach wall of a pig during experimental surgery. It can be said that this is a new approach robotic surgery in the gastric tube with this kind of surgical robot.
Development of Dynamic Spatial Video Camera (DSVC) for 4D observation, analysis and modeling of human body locomotion

Naoki Suzuki, Asaki Hattori, Mitsuhiro Hayashibe, Shigeyuki Suzuki, Yoshito Otake

Studies in Health Technology and Informatics　94　346-348　2003

DOI： 10.3233/978-1-60750-938-7-346 　

ISSN： 0926-9630

eISSN： 1879-8365
Real-time 3D deformation imaging of abdominal organs in laparoscopy

M Hayashibe, N Suzuki, Y Nakamura, A Hattori

MEDICINE MEETS VIRTUAL REALITY 11　94　117-123　2003

DOI： 10.3233/978-1-60750-938-7-117 　

ISSN： 0926-9630
Laser-scan endoscope with the function of real-time shape recovery and video-texture mapping

HAYASHIBE M, SUZUKI N, HATTORI A, NAKAMURA Y

JJSCAS　4　(3)　165-166　2002/12/30

ISSN： 1344-9486
Navigation system for robotics surgery (da Vinci)

HATTORI Asaki, SUZUKI Naoki, HASHIZUME Makoto, SHIMADA Mitsuo, AKAHOSHI Tomohiko, KONISHI Kozo, YAMAGUCHI Shohei, HAYASHIBE Mitsuhiro

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　4　(3)　245-246　2002/12/30

ISSN： 1344-9486
Development of an endoscopic robot with two arms and its application for mucosal resection of the stomach wall

SUZUKI N, HATTORI A, HAYASHIBE M, OTAKE Y, SUZUKI S, SUMIYAMA K, IKEDA K, TAJIRI H, MURAKAMI E. A. Y

JJSCAS　4　(3)　247-248　2002/12/30

ISSN： 1344-9486
Development of an Endoscopic Master-Slave Robot System

MURAKAMI E. A. Y, SUZUKI N, HATTORI A, SUZUKI S, HAYASHIBE M, OTAKE Y, ITO K, SUMIYAMA K

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　4　(3)　261-262　2002/12/30

ISSN： 1344-9486
Real-time Intraoperative Data Fusion System for the Liver using Color Information

UEMATSU M, SUZUKI N, HATTORI A, OTAKE Y, HAYASHIBE M, SUZUKI S, UCHIYAMA A

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　4　(3)　273-274　2002/12/30

ISSN： 1344-9486
4D analysis of human locomotion using Dynamic Spatial Video Camera

SUZUKI N, HATTORI A, HAYASHIBE M, OTAKE Y, SUZUKI S

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　4　(3)　285-286　2002/12/30

ISSN： 1344-9486
mukosokuna jokyoka deno zenshin dosa kaiseki o kano to suruDSVC Dynamic Spatial Video Camera no kaihatsu dai 119kai seiikai sokai ippan endai

Ootake Yoshito, Suzuki Naoki, Hattori Asaki, Suzuki Shigeyuki, Hayashibe Mitsuhiro

東京慈恵会医科大学雑誌　117　(6)　396-396　2002/11/15

ISSN： 0375-9172
ステレオカメラを用いた術中臓器変形の定量的計測

植松美幸, 炭山和毅, 服部麻木, 林部充宏, 鈴木薫之, 鈴木直樹

日本外科系連合学会誌　27　(3)　521-521　2002/05
Publisher: 日本外科系連合学会
ISSN： 0385-7883
Development of Data Fusion System for Robotics Surgery (da Vinci)

HATTORI Asaki, SUZUKI Naoki, HASHIZUME Makoto, AKAHOSHI Tomohiko, KONISHI Kozo, YAMAGUCHI Shohei, SHIMADA Mitsuo, HAYASHIBE Mitsuhiro

Journal of Japan Society of Computer Aided Surgery　Vol.3,No.4,pp.281-287　(4)　281-287　2002/03/30
Publisher: 日本コンピュ-タ外科学会
ISSN： 1344-9486
Intraoperative Fast 3D Shape Recovery of Abdominal Organs in Laparoscopy

Proceedings of Medical Image Computing and Computer-Assisted Intervention 2002　356-363　2002
Development of Data Fusion System for Robotics Surgery (da Vinci)

Hattori Asaki, Suzuki Naoki, Hashizume Makoto, Akahoshi Tomohiko, Konishi Kozo, Yamaguchi Shohei, Shimada Mitsuo, Hayashibe Mitsuhiro

Journal of Japan Society of Computer Aided Surgery　3　(4)　281-287　2002
Publisher: THE JAPAN SOCIETY OF COMPUTER AIDED SURGERY
DOI： 10.5759/jscas1999.3.281 　

ISSN： 1344-9486

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We have been developing data fusion system for open surgery and laparoscopic surgery. The system projects 3D reconstructed image of patient's organs in the surgical field and enable to observe the internal structure of the organs. We applied the system to robotics surgery system &ldquo;da Vinci&rdquo;. In order to superimpose 3D reconstructed images of the organs to laparoscope's view in real-time, we used optical location sensor and digital video processing system. Using this system, the surgeon is able to observe inner conditions of organs with stereoscopic view.
Development of Dynamic Spatial Video Camera for the 4D analysis of human locomotion

SUZUKI N, HATTORI A, HAYASHIBE M, SUZUKI S

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　3　(3)　127-128　2001/12/30

ISSN： 1344-9486
Development of the VR cockpit for virtual surgery and tele-surgery

HATTORI A, SUZUKI N, SUZUKI S, HAYASHIBE M

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　3　(3)　163-164　2001/12/30

ISSN： 1344-9486
Laser-Scan Endoscope for Laparoscopic Data Fusion

HAYASHIBE M, SUZUKI N, NAKAMURA Y, HATTORI A, SUZUKI S, SUMIYAMA K

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　3　(3)　213-214　2001/12/30

ISSN： 1344-9486
A Laser-Pointing Endoscope System Providing the Operational Support of Surgical Robot

HAYASHIBE M.

Proc. of the 32rd International Symposium on Robotics　636-641　2001
Laser-pointing endoscope system for natural 3D interface between robotic equipments and surgeons

Y Nakamura, M Hayashibe

MEDICINE MEETS VIRTUAL REALITY 2001: OUTER SPACE, INNER SPACE, VIRTUAL SPACE　81　348-354　2001

DOI： 10.3233/978-1-60750-925-7-348 　

ISSN： 0926-9630
Laser-pointing endoscope system for intra-operative 3D geometric registration

M Hayashibe, Y Nakamura

2001 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION, VOLS I-IV, PROCEEDINGS　1543-1548　2001

DOI： 10.1109/ROBOT.2001.932830 　

ISSN： 1050-4729
2P1-D7 Acquisition of Intraoperative Geometric Information and Safety Management in Endoscopic Surgery

Hayashibe M, Shimizu H, Nakamura Y

Robomech　2001　(0)　57-57　2001
Publisher: The Japan Society of Mechanical Engineers
Laser-Pointing Endoscope with an intra-operative support interface

HAYASHIBE Mitsuhiro, NAKAMURA Yoshihiko

Journal of Japan Society of Computer Aided Surgery : J.JSCAS　2　(3)　177-178　2000/12/30

ISSN： 1344-9486
2A1-13-016 ガルバノスキャナと高速カメラを用いたリアルタイムレーザポインティング内視鏡

林部充宏, 中村仁彦

ロボティクス・メカトロニクス講演会講演概要集　2000　(0)　63-63　2000
Publisher: 一般社団法人日本機械学会

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内視鏡下手術において安全確実に病変部位に到達することは手術成績に直接影響を与える。そのため術中にリアルタイムで臓器の3次元的形状及び位置を計測することが必要である。特に肝臓など容易に形と位置を変える軟性臓器に対する手術では常に臓器の変形を計測することで術者の技術的負担を軽減でき, 術前に取得したMRIなどから術中の変形した臓器内の病変部位を特定しやすくなる。そこでガルバノスキャナと高速カメラを用いリアルタイムで手術対象の3次元形状及び位置を計測し, 提示する視覚支援システムを開発する。

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Books and Other Publications 1

Data-Fusion Display System with Volume Rendering of Intraoperatively Scanned CT Images

Lecture Notes in Computer Science (Medical Image Computing and Computer-Assisted Intervention 2005)　2005

Industrial Property Rights 4

圧力分布計測用人工骨頭および計測装置と人工関節設置状況術中評価方法

鈴木直樹, 大竹義人, 服部麻木, 林部充宏, 鈴木薫之, 菅野伸彦, 三木秀宣, 山村在慶, 米延策雄, 越智隆弘

Property Type: Patent
内視鏡手術ロボット

鈴木直樹, 鈴木薫之, 林部充宏, 大竹義人, 服部麻木

Property Type: Patent
時空間多重画像装置および方法

鈴木直樹, 鈴木薫之, 林部充宏, 大竹義人, 服部麻木

Property Type: Patent
内視鏡手術ロボット

鈴木直樹, 鈴木薫之, 林部充宏, 大竹義人, 服部麻木

特許第4148763号

Property Type: Patent

Research Projects 11

運動シナジーに基づく深層学習ベース運動制御計算の高速化と体系化

林部充宏, 沓澤京

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 基盤研究(B)

Institution: 東北大学

2024/04/01 - 2027/03/31
筋シナジーの発現に向けた筋骨格モデルにおけるモジュラリティの運動学習

林部充宏

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 新学術領域研究(研究領域提案型)

Institution: 東北大学

2022/04/01 - 2024/03/31
人間の環境適応学習法の数理解析と検証による統一的理解

林部充宏

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 国際共同研究加速基金(国際共同研究強化(A))

Institution: 東北大学

2021 - 2023

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本年度は渡航前にあたる。2021年度はコロナ禍もあり渡航はせずに2022年度の渡航に向けた準備期間とした。本年度は、まず始めに、環境適応可能な生物模倣ロボット研究における強化学習フレームワークについて文献調査を行い、その結果をレビュー論文として発表することができた。そして従来の環境適応モデルの問題点を整理した。Etienne Burdet教授と打ち合わせを行い、渡航中に実施する研究の方向性について検討し、渡航後にスムーズに国際共同研究を開始できるよう準備した。さらに、受入れ教員のEtienne Burdet教授のみならず、同じ学科で脳のモデリング研究に詳しいJuan Gallego講師とやりとりを行い、渡航後にスムーズに国際共同研究を開始できるよう準備した。
深層強化学習における運動シナジー発現のメカニズムの解明

林部充宏

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 新学術領域研究(研究領域提案型)

Institution: 東北大学

2020/04/01 - 2022/03/31

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冗長性を克服して、人間の運動の神経制御を再現する制御戦略を解明することは、人間の運動制御分野において中心的な課題である。これまで数理最適化に基づくアプローチが用いられてきた。しかし数学的最適化は、マニピュレータと環境の事前情報が与えられている場合のみ最適解を提供できる。物理的に複雑で高次元の問題を扱うため、強化学習に深層学習技術を適用する深層強化学習(DRL)は、モデルフリーなアプローチとして有望である。しかし、現在のアルゴリズムは運動協調的な動作を考慮していないため、不自然でぎこちない制御結果になりがちである。本研究ではリーチング運動追従タスクにおいて2種類のDRL制御を検証した。腕のモデルにDRLを適用した場合、行動コマンドはエージェントに与えるべき開ループ入力として学習される。これはDRLのフレームワークの標準的な手法である。さらに、フィードバック制御ループを持ちながらDRLを適用する、PD制御とDRL制御を組み合わせたものを「PDRL」と名付けた。 DRLとPDRLの両方で、単位エネルギーあたりの誤差指数の性能が最適化されていることを確認した。PDRLの指数はどのケースでもDRLのみの指数より概ね大きくなることが分かった。フィードバック信号により学習速度も3割向上するという結果が得られた。報酬関数に関節間のシナジーを明示的に記述しなかったが、学習過程でシナジー現象が自然に出現することを確認した。この結果は、シナジーの背後に誤差エネルギー最適化の問題が存在することを示唆している。さらに提案したフィードバック増幅型DRL制御の結果は，シナジーの発達と誤差エネルギー指数の点でDRLよりも優れた能力を示している。フィードバック制御が不必要なランダム探索を回避することでフィードフォワード項の発展を支援し、探索効率の向上につながることを示唆している。
Development of cybernetics technology based on decentralized control for paralysis treatment

Hirata Hitoshi

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for Scientific Research (A)

Institution: Nagoya University

2018/04/01 - 2021/03/31

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Injuries and diseases such as spinal cord injury and amyotrophic lateral sclerosis maintain normal brain function, but extensive neurogenic muscle atrophy progresses to severe, life-threatening disorders. In this research, we are developing a cybernetics technology that achieves functional recovery to a level where independent living is possible by applying three originally developed basic technologies for such intractable paralysis. (1) Ganglionic induction of spinal-cord-like structures near paralyzed muscles by transplantation of neural stem cells into peripheral nerve trunks. (2) A newly developed multiple controllable implantable electrical stimulator. (3) Artificial intelligence that can predict brain control signals and control them with implicit knowledge.
環境モデルや振動子モデルに依存しない環境適応学習による多様な運動の発現機序 Competitive

林部充宏

Offer Organization: 日本学術振興会

System: 科学研究費補助金(基盤研究(B))

2018 - 2020
双方向ニューロフィードバックによる神経刺激型再運動学習パラダイムの開発 Competitive

林部充宏

Offer Organization: 日本学術振興会

System: 科学研究費補助金(研究活動スタート支援)

2017 - 2018
Development of an endoscopic surgical robot system with haptic sensations and navigation function

SUZUKI Naoki, TAJIRI Hisao, HATTORI Asaki, SUZUKI Shigeyuki, HAYASHIBE Mitsuhiro, OTAKE Yoshito, HATTORI Asaki

Offer Organization: Japan Society for the Promotion of Science

System: Grants-in-Aid for Scientific Research

Category: Grant-in-Aid for Scientific Research (S)

Institution: Jikei University School of Medicine

2004 - 2008
術者の視界を紡げない赤外レーザ高速形状スキャンを用いた手術ナビゲーションシステム

林部充宏

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 若手研究(B)

Institution: 東京慈恵会医科大学

2005 - 2006

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本年度は手術ナビゲーションシステムの開発に必要となるロボット手術に対応可能な術前医用画像を用いたプランニングシステムの開発および赤外領域対応高速度カメラを用いたリアルタイム画像取得システムの構築を行った.適切な手術ナビゲーションを行うためには術前の医用画像を効果的にハンドリング可能とし,術中においてその内部構造を伴うデータを可視化するソフトウェアの開発が必要となる.そこで本年度においてボリュームレンダリングを用いたロボット手術に対応可能なプランニングシステムの開発を行い,術前医用画像の可視化方法を実装した.そして北米放射線学会(RSNA)にて本科学研究費補助金により行った研究成果の発表・展示を行い,また関連研究の調査を行った.本研究において医用画像を用いた効果的な可視化技術の開発は不可欠であり,医用画像関連でアメリカ最大である本学会に参加することで研究開発に役立てた.展示では術前DICOM画像を直接的に本システム上でボリュームレンダリングを用いロボット手術のプランニングを直感的にまた短時間に行うための各種機能のデモンストレーションを行った. また計測システムについては本年度は可視光領域から赤外領域の光学系への変更を行う上で高速度カメラやレーザモジュール,光学レンズの再設計を行った.また赤外領域対応高速度カメラ・高速画像取込ボードおよび高速なグラフィック性能を持つコンピュータを用いて,CameraLink経由でリアルタイムキャプチャする画像取得システムの構築を行った.
高速臓器幾何計測による術中腹腔鏡下データヒュージョンと小型手術ロボットシステム

林部充宏

Offer Organization: 日本学術振興会

System: 科学研究費助成事業

Category: 若手研究(B)

Institution: 東京慈恵会医科大学

2002 - 2003

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本年度は腹腔鏡画像に対して腹腔内の3次元幾何を反映した情報をData Fusion表示することで,術者に対して病巣までのナヒゲーション機能を提供するシステムを開発した.ブタを用いた実験により本システムの有効性を確認した.実験の1週間前にあらかじめ腹部のCTを血管系を造影した状態で撮影し,術前臓器モデルの作製を行った.実験時には術中の臓器形状に基づき,術前の臓器モデルをレジストレーションすることで腹腔鏡画像上に血菅系等をナビゲーション表示することができた.また本システムでは高速画像処理により1秒間あたり6フレームで形状を更新可能であるため,呼吸による臓器の移動に追従して変化する内部構造の重畳表示を行うことができた. また高速度カメラを用いたシステム以外に本年度はPCプロジェクタとDVカメラを用いて術中での生体変形を計測する手法を開発した.対象となる生体に対しPCプロジェクタによりマルチスリットパターンを投影し,キャリブレーションされた2台のデジタルビデオカメラにより同期撮影して形状情報を得る.カラー元画像との対応関係によりテクスチャ座標を算出し,術野ビデオ画像からテクスチャマッピングを行った.3Dサーフェスデータとテクスチャのレンダリングによりリアルタイムに術野3Dマップを可視化する機能を持たせた.開腹手術のような環境であれば汎用のデジタルビデオカメラを用いて安価で簡便なシステムで生体の変形を計測可能なことが確認できた. 小型手術ロボットに関しては内視鏡の先端部レンズの左右に装備した鉗子を先端に持つアームを装備したワイヤ駆動方式内視鏡ロボットを設計した.摘出臓器を用いた実験により,左右のロボットアームの動作範囲,発生トルクの計測を行い,実際の手術が可能であるかの基礎的検討を行った.次に機能的な検証に伴う改良の後,ブタを用いた動物実験により胃の粘膜層切除術等を行うことができた.
Intraoperative Data Fusion using Laparoscopic Geometry Measurement Competitive

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