研究者詳細

顔写真

コラン　サイタ　ハシント　エンリケ
Colan Zaita Jacinto Enrique
Colan Zaita Jacinto Enrique
所属
大学院工学研究科　ロボティクス専攻　ロボットシステム講座（知能機械デザイン学分野）
職名
特任助教（研究）
学位

  • 博士（工学） （名古屋大学）

e-Rad 研究者番号
40936746

経歴 3

  • 2026年4月 ～ 継続中
    東北大学　大学院工学研究科 ロボティクス専攻　特任助教

  • 2026年4月 ～ 継続中
    名古屋大学　大学院工学研究科 マイクロ・ナノ機械理工学専攻　助教

  • 2021年4月 ～ 2026年3月
    名古屋大学　博士研究者

学歴 2

  • 名古屋大学　大学院工学研究科

    2018年4月 ～ 2021年3月

  • 名古屋大学　大学院工学研究科

    2016年4月 ～ 2018年3月

所属学協会 2

  • 日本ロボット学会

    2016年 ～ 継続中

  • IEEE Robotics and Automation Society

    2010年 ～ 継続中

研究キーワード 4

  • Human-Robot interfaces

  • Robotic Manipulation

  • Surgical Robotics

  • Assistive Robotics

研究分野 3

  • 情報通信 / ロボティクス、知能機械システム /

  • 情報通信 / 機械力学、メカトロニクス /

  • ものづくり技術（機械・電気電子・化学工学） / 制御、システム工学 /

受賞 13

  1. Best Journal Paper Award

    2026年7月　Japan Society of Mechanical Engineers (JSME)　Kinematic analysis and experimental verification of transforming planar linkage mechanism

  2. Best Poster Presentation Award

    2026年7月　40th International Congress and Exhibition on Computer Assisted Radiology and Surgery (CARS 2026)　Assessing Selective Interaction for Reliable and Trustworthy Robotic Surgical Assistance

  3. ラボ長賞受賞者

    2026年3月　2025年度 JST AIPチャレンジ　アクティブ奥行き推定のための不確かさを考慮した予測制御

  4. 優秀講演賞

    2026年2月　衣服着脱支援ロボットにおけるプライバシーを配慮した衣服の把持位置検出システム

  5. Best Poster Award

    2025年9月　2025 Conference on Robot Learning (CoRL). Workshop on Open-Source Hardware in the Era of Robot Learning　An Open-Source Platform for Dexterous Robotic Surgical Manipulation and Learning

  6. Best Paper Award

    2024年11月　2024 International Symposium on Micro-NanoMechatronics and Human Science (MHS)　Embedded Image-to-Image Translation for Efficient Sim-to-Real Transfer in Learning-based Robot-Assisted Soft Manipulation

  7. Best Paper Award Finalist

    2023年8月　2023 IEEE International Conference on Mechatronics and Automation (ICMA)　Manipulability maximization in constrained inverse kinematics of surgical robots

  8. Best Paper Award

    2023年8月　IEEE International Workshop on Robot and Human Communication (RO-MAN)　Single Actuator Tendon Driven Two Finger Linkage Gripper with Strong Pinch and Adaptable Cylindrical Grasp

  9. Best Paper Award Finalist

    2023年3月　2022 IEEE International Conference on Cyborg and Bionic Systems (CBS)　Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation

  10. Best Paper Award

    2022年11月　2022 International Symposium on Micro-NanoMechatronics and Human Science (MHS)　Sensorless grip force estimation of a cable-driven robotic surgical tool based on Gaussian Process Regression

  11. 1st Place Gold Medalist in PAREDO Hackathon

    2021年11月　Participatory Design in Robotics for Elderly Care in Germany & Japan (PADERO)

  12. Best Paper Award

    2019年12月　2019 International Symposium on Micro-NanoMechatronics and Human Science (MHS)　Usability Study on Hands-on User Interface for Neurosurgical Articulated Forceps: Joystick and Serial-link based Design

  13. 優秀講演賞

    2016年12月　多自由度鉗子の直感的操作可能なユーザーインタフェースの設計・試作

︎全件表示 ︎最初の5件までを表示

論文 53

  1. Assessing selective interaction for reliable and trustworthy robotic surgical assistance 査読有り

    Jacinto Colan, Ana Davila, Yutaro Yamada, Kazunari Misawa, Yasuhisa Hasegawa

    International Journal of Computer Assisted Radiology and Surgery　2026年9月28日

    DOI： 10.1007/s11548-026-03799-6 　

  2. Prior-Guided 3D Gaussian Splatting for Data Augmentation in Endoscopic Monocular Depth Estimation 査読有り

    Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    2026 23rd International Conference on Ubiquitous Robots (UR)　235-240　2026年7月

    出版者・発行元： IEEE

    DOI： 10.1109/ur69537.2026.11626692 　

  3. Optimizing Inverse Kinematics for Robotic Manipulators Through Concurrent Solving 査読有り

    Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    SN Computer Science　7　(5)　2026年5月20日

    出版者・発行元： Springer Science and Business Media LLC

    DOI： 10.1007/s42979-026-05067-5 　

    eISSN：2661-8907

  4. Descriptor: A High-Fidelity 3D Dataset for Fine-Grained Monocular Depth Estimation (HFD-3D) 査読有り

    Jacinto Colan, Ana Davila, Yutaro Yamada, Yasuhisa Hasegawa

    IEEE Data Descriptions　1-12　2026年

    出版者・発行元： Institute of Electrical and Electronics Engineers (IEEE)

    DOI： 10.1109/ieeedata.2026.3700560 　

    eISSN：2995-4274

  5. Design and Analysis of a Novel High-Extension Modular Manipulator for Dexterous and Confined-Space Operations 査読有り

    Jayant Unde, Yuki Wakayama, Takumi Inden, Jacinto Colan, Yasuhisa Hasegawa

    IEEE Access　2026年

    DOI： 10.1109/ACCESS.2026.3680340 　

  6. Adaptive Transfer Learning for Surgical Tool Presence Detection in Laparoscopic Videos Through Gradual Freezing Fine‐Tuning 査読有り

    Ana Davila, Jacinto Colan, Yasuhisa Hasegawa

    International Journal of Imaging Systems and Technology　2025年11月

    DOI： 10.1002/ima.70218 　

  7. An Open-Source Platform for Dexterous Robotic Surgical Manipulation and Learning 査読有り

    Jacinto Colan, Ana Davila, Yutaro Yamada, Yasuhisa Hasegawa

    2025 Conference on Robot Learning (CoRL). Workshop on Open-Source Hardware in the Era of Robot Learning.　2025年10月17日

    DOI： 10.36227/techrxiv.176070611.16904587/v1 　

  8. Affordance-Based Disambiguation of Surgical Instructions for Collaborative Robot-Assisted Surgery 査読有り

    Ana Davila, Jacinto Colan, Yasuhisa Hasegawa

    2025 Conference on Robot Learning (CoRL). Workshop on Intelligent Cobodied Assistance and Robotic Empowerment (iCARE)　2025年10月

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    Effective human-robot collaboration in surgery is affected by the inherent ambiguity of verbal communication. This paper presents a framework for a robotic surgical assistant that interprets and disambiguates verbal instructions from a surgeon by grounding them in the visual context of the operating field. The system employs a two-level affordance-based reasoning process that first analyzes the surgical scene using a multimodal vision-language model and then reasons about the instruction using a knowledge base of tool capabilities. To ensure patient safety, a dual-set conformal prediction method is used to provide a statistically rigorous confidence measure for robot decisions, allowing it to identify and flag ambiguous commands. We evaluated our framework on a curated dataset of ambiguous surgical requests from cholecystectomy videos, demonstrating a general disambiguation rate of 60% and presenting a method for safer human-robot interaction in the operating room.

  9. Compliant Gripper Design Concept for Safe Manipulation of Human-Worn Clothing 査読有り

    SICE Festival with Annual Conference (SICE FES)　2025年9月

  10. Assessing the Value of Visual Input: A Benchmark of Multimodal Large Language Models for Robotic Path Planning 査読有り

    Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    SICE Festival with Annual Conference (SICE FES)　2025年9月

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    Large Language Models (LLMs) show potential for enhancing robotic path planning. This paper assesses visual input's utility for multimodal LLMs in such tasks via a comprehensive benchmark. We evaluated 15 multimodal LLMs on generating valid and optimal paths in 2D grid environments, simulating simplified robotic planning, comparing text-only versus text-plus-visual inputs across varying model sizes and grid complexities. Our results indicate moderate success rates on simpler small grids, where visual input or few-shot text prompting offered some benefits. However, performance significantly degraded on larger grids, highlighting a scalability challenge. While larger models generally achieved higher average success, the visual modality was not universally dominant over well-structured text for these multimodal systems, and successful paths on simpler grids were generally of high quality. These results indicate current limitations in robust spatial reasoning, constraint adherence, and scalable multimodal integration, identifying areas for future LLM development in robotic path planning.

  11. Beyond Single Models: Enhancing LLM Detection of Ambiguity in Requests through Debate 査読有り

    Ana Davila, Jacinto Colan, Yasuhisa Hasegawa

    SICE Festival with Annual Conference (SICE FES)　2025年9月

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    Large Language Models (LLMs) have demonstrated significant capabilities in understanding and generating human language, contributing to more natural interactions with complex systems. However, they face challenges such as ambiguity in user requests processed by LLMs. To address these challenges, this paper introduces and evaluates a multi-agent debate framework designed to enhance detection and resolution capabilities beyond single models. The framework consists of three LLM architectures (Llama3-8B, Gemma2-9B, and Mistral-7B variants) and a dataset with diverse ambiguities. The debate framework markedly enhanced the performance of Llama3-8B and Mistral-7B variants over their individual baselines, with Mistral-7B-led debates achieving a notable 76.7% success rate and proving particularly effective for complex ambiguities and efficient consensus. While acknowledging varying model responses to collaborative strategies, these findings underscore the debate framework's value as a targeted method for augmenting LLM capabilities. This work offers important insights for developing more robust and adaptive language understanding systems by showing how structured debates can lead to improved clarity in interactive systems.

  12. Design and Preliminary Evaluation of a Walker-Mounted Robotic System for Elderly Toilet Dressing Assistance 査読有り

    Jayant Unde, Taisei Urata, Shinnosuke Kamei, Yahiro Ito, Ryusei Kihara, Jacinto Colan, Yasuhisa Hasegawa

    34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)　2025年8月

  13. Human-Robot collaboration in surgery: Advances and challenges towards autonomous surgical assistants 査読有り

    Jacinto Colan, Ana Davila, Yutaro Yamada, Yasuhisa Hasegawa

    34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)　2025年8月

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    Human-robot collaboration in surgery represents a significant area of research, driven by the increasing capability of autonomous robotic systems to assist surgeons in complex procedures. This systematic review examines the advancements and persistent challenges in the development of autonomous surgical robotic assistants (ASARs), focusing specifically on scenarios where robots provide meaningful and active support to human surgeons. Adhering to the PRISMA guidelines, a comprehensive literature search was conducted across the IEEE Xplore, Scopus, and Web of Science databases, resulting in the selection of 32 studies for detailed analysis. Two primary collaborative setups were identified: teleoperation-based assistance and direct hands-on interaction. The findings reveal a growing research emphasis on ASARs, with predominant applications currently in endoscope guidance, alongside emerging progress in autonomous tool manipulation. Several key challenges hinder wider adoption, including the alignment of robotic actions with human surgeon preferences, the necessity for procedural awareness within autonomous systems, the establishment of seamless human-robot information exchange, and the complexities of skill acquisition in shared workspaces. This review synthesizes current trends, identifies critical limitations, and outlines future research directions essential to improve the reliability, safety, and effectiveness of human-robot collaboration in surgical environments.

  14. LLM-based ambiguity detection in natural language instructions for collaborative surgical robots 査読有り

    Ana Davila, Jacinto Colan, Yasuhisa Hasegawa

    34th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)　2025年8月

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    Ambiguity in natural language instructions poses significant risks in safety-critical human-robot interaction, particularly in domains such as surgery. To address this, we propose a framework that uses Large Language Models (LLMs) for ambiguity detection specifically designed for collaborative surgical scenarios. Our method employs an ensemble of LLM evaluators, each configured with distinct prompting techniques to identify linguistic, contextual, procedural, and critical ambiguities. A chain-of-thought evaluator is included to systematically analyze instruction structure for potential issues. Individual evaluator assessments are synthesized through conformal prediction, which yields non-conformity scores based on comparison to a labeled calibration dataset. Evaluating Llama 3.2 11B and Gemma 3 12B, we observed classification accuracy exceeding 60% in differentiating ambiguous from unambiguous surgical instructions. Our approach improves the safety and reliability of human-robot collaboration in surgery by offering a mechanism to identify potentially ambiguous instructions before robot action.

  15. A conformal prediction framework for natural language ambiguity detection in surgical robot instructions 査読有り

    Ana Davila, Jacinto Colan, Yasuhisa Hasegawa

    International Joint Conference on Neural Networks (IJCNN 2025). ForgtAI: International Workshop on Forging Trust in Artificial Intelligence　2025年7月

  16. Transfer learning optimization based on evolutionary selective fine tuning 査読有り

    Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    International Joint Conference on Neural Networks (IJCNN 2025). Workshop: artiFicial And bio-inspIred netwoRked intelliGence foR cOnstrained aUtoNomous Devices (FAIRGROUND).　2025年7月

  17. Kinematic analysis and experimental verification of transforming planar linkage mechanism 査読有り

    Jayant Unde, Yahiro Ito, Jacinto Colan, Yasuhisa Hasegawa

    ROBOMECH Journal　12　(1)　2025年2月11日

    出版者・発行元： Springer Science and Business Media LLC

    DOI： 10.1186/s40648-025-00289-3 　

    eISSN：2197-4225

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    Abstract This paper explores the kinematic characteristics of a novel transforming planar linkage mechanism characterized by a coiling and uncoiling motion pattern. Unlike traditional deployable structures that depend on scaling transformations, this mechanism utilizes a four-bar linkage system that rotates collectively to achieve the desired transformation with a single degree of freedom. The study provides a comprehensive analysis of the mechanism’s properties, highlighting its singularity points, trajectory variations, and transformation capabilities contingent on the fixed frame’s position. These properties are validated through simulations and experimental tests, supporting the analytical findings. Furthermore, a tendon-driven actuation method tailored for this mechanism is introduced and validated using a physical prototype. The results contribute significantly to understanding this innovative planar linkage mechanism, offering valuable insights for designing novel mechanical systems and applications.

  18. IST-ROS: A flexible object segmentation and tracking framework for robotics applications 査読有り

    Khusniddin Fozilov, Yutaro Yamada, Jacinto Colan, Yaonan Zhu, Yasuhisa Hasegawa

    SoftwareX　29　101979-101979　2025年2月

    出版者・発行元： Elsevier BV

    DOI： 10.1016/j.softx.2024.101979 　

    ISSN：2352-7110

  19. Novel Articulated Lead Screw Linear Actuator Enabled by Transforming Linkage Mechanism 査読有り

    Jayant Unde, Jacinto Colan, Yasuhisa Hasegawa

    IEEE Robotics and Automation Letters　2025年2月

    DOI： 10.1109/LRA.2024.3521682 　

  20. Real-Time Motion Parallax Generation System Using Spherical Rendering and View Morphing in Unknown Environments 査読有り

    Sho Hatano, Jacinto Colan, Yasuhisa Hasegawa

    IEEE Access　2025年

    DOI： 10.1109/ACCESS.2025.3641220 　

  21. Bio-Inspired Fine-Tuning for Selective Transfer Learning in Image Classification 査読有り

    Ana Davila, Jacinto Colan, Yasuhisa Hasegawa

    IEEE Access　2025年

    DOI： 10.1109/ACCESS.2025.3587524 　

  22. Tactile Feedback in Robot‐Assisted Minimally Invasive Surgery: A Systematic Review 査読有り

    Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    The International Journal of Medical Robotics and Computer Assisted Surgery　2024年12月

    DOI： 10.1002/rcs.70019 　

  23. Design, Modeling, and Experimental Verification of Passively Adaptable Roller Gripper for Separating Stacked Fabric 査読有り

    Jayant Unde, Jacinto Colan, Yasuhisa Hasegawa

    IEEE Robotics and Automation Letters　2024年11月

    DOI： 10.1109/LRA.2024.3461550 　

  24. Voice control interface for surgical robot assistants 査読有り

    Ana Davila, Jacinto Colan, Yasuhisa Hasegawa

    2024 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2024　2024年9月16日

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    Traditional control interfaces for robotic-assisted minimally invasive surgery impose a significant cognitive load on surgeons. To improve surgical efficiency, surgeon-robot collaboration capabilities, and reduce surgeon burden, we present a novel voice control interface for surgical robotic assistants. Our system integrates Whisper, state-of-the-art speech recognition, within the ROS framework to enable real-time interpretation and execution of voice commands for surgical manipulator control. The proposed system consists of a speech recognition module, an action mapping module, and a robot control module. Experimental results demonstrate the system's high accuracy and inference speed, and demonstrates its feasibility for surgical applications in a tissue triangulation task. Future work will focus on further improving its robustness and clinical applicability.

  25. Embedded Image-to-Image Translation for Efficient Sim-to-Real Transfer in Learning-based Robot-Assisted Soft Manipulation 査読有り

    Jacinto Colan, Keisuke Sugita, Ana Davila, Yutaro Yamada, Yasuhisa Hasegawa

    2024 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2024　2024年9月16日

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    Recent advances in robotic learning in simulation have shown impressive results in accelerating learning complex manipulation skills. However, the sim-to-real gap, caused by discrepancies between simulation and reality, poses significant challenges for the effective deployment of autonomous surgical systems. We propose a novel approach utilizing image translation models to mitigate domain mismatches and facilitate efficient robot skill learning in a simulated environment. Our method involves the use of contrastive unpaired Image-to-image translation, allowing for the acquisition of embedded representations from these transformed images. Subsequently, these embeddings are used to improve the efficiency of training surgical manipulation models. We conducted experiments to evaluate the performance of our approach, demonstrating that it significantly enhances task success rates and reduces the steps required for task completion compared to traditional methods. The results indicate that our proposed system effectively bridges the sim-to-real gap, providing a robust framework for advancing the autonomy of surgical robots in minimally invasive procedures.

  26. A hierarchical framework for collision avoidance in robot-assisted minimally invasive surgery 査読有り

    Jacinto Colan, Ana Davila, Khusniddin Fozilov, Yasuhisa Hasegawa

    2024 IEEE International Conference on Cyborg and Bionic Systems (CBS 2024)　2024年9月16日

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    Minimally invasive surgery (MIS) procedures benefit significantly from robotic systems due to their improved precision and dexterity. However, ensuring safety in these dynamic and cluttered environments is an ongoing challenge. This paper proposes a novel hierarchical framework for collision avoidance in MIS. This framework integrates multiple tasks, including maintaining the Remote Center of Motion (RCM) constraint, tracking desired tool poses, avoiding collisions, optimizing manipulability, and adhering to joint limits. The proposed approach utilizes Hierarchical Quadratic Programming (HQP) to seamlessly manage these constraints while enabling smooth transitions between task priorities for collision avoidance. Experimental validation through simulated scenarios demonstrates the framework's robustness and effectiveness in handling diverse scenarios involving static and dynamic obstacles, as well as inter-tool collisions.

  27. Real-time inverse kinematics for robotic manipulation under remote center-of-motion constraint using memetic evolution 査読有り

    Ana Davila, Jacinto Colan, Yasuhisa Hasegawa

    Journal of Computational Design and Engineering　11　(3)　248-264　2024年6月1日

    DOI： 10.1093/jcde/qwae047 　

    ISSN：2288-4300

    eISSN：2288-5048

  28. Comparison of fine-tuning strategies for transfer learning in medical image classification 査読有り

    Ana Davila, Jacinto Colan, Yasuhisa Hasegawa

    Image and Vision Computing　2024年6月

    DOI： 10.1016/j.imavis.2024.105012 　

    ISSN：0262-8856

  29. Multimodal semi-supervised learning for online recognition of multi-granularity surgical workflows 査読有り

    Yutaro Yamada, Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    International Journal of Computer Assisted Radiology and Surgery　2024年4月1日

    DOI： 10.1007/s11548-024-03101-6 　

  30. Latent regression based model predictive control for tissue triangulation 査読有り

    Songtao Liu, Jacinto Colan, Yaonan Zhu, Taisuke Kobayashi, Kazunari Misawa, Masaru Takeuchi, Yasuhisa Hasegawa

    Advanced Robotics　2024年3月3日

    DOI： 10.1080/01691864.2024.2324303 　

  31. Variable Step Sizes for Iterative Jacobian-Based Inverse Kinematics of Robotic Manipulators 査読有り

    Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    IEEE Access　12　87909-87922　2024年

    DOI： 10.1109/ACCESS.2024.3418206 　

    eISSN：2169-3536

  32. Development of a compliant gripper for safe robot-assisted trouser dressing-undressing 査読有り

    Jayant Unde, Takumi Inden, Yuki Wakayama, Jacinto Colan, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

    Advanced Robotics　2024年

    DOI： 10.1080/01691864.2024.2376024 　

    ISSN：0169-1864

    eISSN：1568-5535

  33. Endoscope Automation Framework with Hierarchical Control and Interactive Perception for Multi-Tool Tracking in Minimally Invasive Surgery 査読有り

    Khusniddin Fozilov, Jacinto Enrique Colan Zaita, Ana Davila, Kazunari Misawa, Jie Qiu, Yuichiro Hayashi, Kensaku Mori, Yasuhisa Hasegawa

    Sensors　2023年12月16日

    DOI： 10.3390/s23249865 　

  34. A Concurrent Framework for Constrained Inverse Kinematics of Minimally Invasive Surgical Robots 査読有り

    Jacinto Colan, Ana Davila, Khusniddin Fozilov, Yasuhisa Hasegawa

    Sensors　23　(6)　2023年3月

    DOI： 10.3390/s23063328 　

    ISSN：1424-8220

  35. Gradient-Based Fine-Tuning Strategy for Improved Transfer Learning on Surgical Images 査読有り

    Ana Davila, Jacinto Colan, Yasuhisa Hasegawa

    2023 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2023　2023年

    DOI： 10.1109/MHS59931.2023.10510130 　

  36. Enhancing Gradient-Based Inverse Kinematics with Dynamic Step Sizes 査読有り

    Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    2023 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2023　2023年

    DOI： 10.1109/MHS59931.2023.10510153 　

  37. Single Actuator Tendon Driven Two Finger Linkage Gripper with Strong Pinch and Adaptable Cylindrical Grasp 査読有り

    Jayant Unde, Jacinto Colan, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

    IEEE International Workshop on Robot and Human Communication, RO-MAN　119-125　2023年

    DOI： 10.1109/RO-MAN57019.2023.10309512 　

    ISSN：1944-9445

    eISSN：1944-9437

  38. Manipulability maximization in constrained inverse kinematics of surgical robots 査読有り

    Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    2023 IEEE International Conference on Mechatronics and Automation, ICMA 2023　569-574　2023年

    DOI： 10.1109/ICMA57826.2023.10215986 　

  39. Constrained Motion Planning for a Robotic Endoscope Holder Based on Hierarchical Quadratic Programming 査読有り

    Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    2023 8th International Conference on Control and Robotics Engineering, ICCRE 2023　198-203　2023年

    DOI： 10.1109/ICCRE57112.2023.10155579 　

  40. Task Segmentation Based on Transition State Clustering for Surgical Robot Assistance 査読有り

    Yutaro Yamada, Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    2023 8th International Conference on Control and Robotics Engineering, ICCRE 2023　260-264　2023年

    DOI： 10.1109/ICCRE57112.2023.10155581 　

  41. Toward Autonomous Robotic Minimally Invasive Surgery: A Hybrid Framework Combining Task-Motion Planning and Dynamic Behavior Trees 査読有り

    Khusniddin Fozilov, Jacinto Colan, Kosuke Sekiyama, Yasuhisa Hasegawa

    IEEE Access　11　91206-91224　2023年

    DOI： 10.1109/ACCESS.2023.3308619 　

    eISSN：2169-3536

  42. OpenRST: An Open Platform for Customizable 3D Printed Cable-Driven Robotic Surgical Tools 査読有り

    Jacinto Colan, Ana Davila, Yaonan Zhu, Tadayoshi Aoyama, Yasuhisa Hasegawa

    IEEE Access　11　6092-6105　2023年

    DOI： 10.1109/ACCESS.2023.3236821 　

    eISSN：2169-3536

  43. A Review on Tactile Displays for Conventional Laparoscopic Surgery 査読有り

    Jacinto Colan, Ana Davila, Yasuhisa Hasegawa

    Surgeries　3　(4)　334-346　2022年11月25日

    出版者・発行元： MDPI AG

    DOI： 10.3390/surgeries3040036 　

    eISSN：2673-4095

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    Laparoscopic surgery (LS) is a minimally invasive technique that offers many advantages over traditional open surgery: it reduces trauma, scarring, and shortens recovery time. However, an important limitation is the loss of tactile sensations. Although some progress has been made in robotic-assisted minimally invasive surgery (RMIS) setups, RMIS is still not widely accessible. This review aims to identify which tactile display technologies have been proposed and experimentally validated for the restoration of tactile sensations during conventional laparoscopic surgical tasks. We conducted a systematic review following the Preferred Reporting Items for Systematic Reviews and Meta-Analyses (PRISMA) guidelines. We identified relevant articles published over the past 10 years through a search on Web of science, Scopus, IEEE Xplore Digital, and PubMed repositories. A total of 143 articles met the inclusion criteria and 24 were included in the final review. From the reviewed articles, we classified the proposed tactile displays into two categories based on the use of skin contact: (i) skin tactile displays, which include vibrotactile, skin-indentation, and grip-feedback devices, and (ii) non-contact tactile displays based on visualization tools. This survey aims to contribute to further research in the area of tactile displays for laparoscopic surgery by providing a better understanding of the current state of the art and identifying the remaining challenges.

  44. Cutaneous Feedback Interface for Teleoperated In-Hand Manipulation 査読有り

    Yaonan Zhu, Jacinto Colan, Tadayoshi Aoyama, Yasuhisa Hasegawa

    2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)　2022-October　605-611　2022年10月23日

    出版者・発行元： IEEE

    DOI： 10.1109/iros47612.2022.9982247 　

    ISSN：2153-0858

    eISSN：2153-0866

  45. Sensorless grip force estimation of a cable-driven robotic surgical tool based on Gaussian Process Regression 査読有り

    Jacinto Colan, Yasuhisa Hasegawa

    2022 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2022　2022年

  46. Intension Reading based Task Outcome Prediction for Operability Improvement of Time-Delayed Teleoperation System 査読有り

    Keisuke Fusano, Yaonan Zhu, Jacinto Enrique Colan Zaita, Tadayoshi Aoyama, Yasuhisa Hasegawa

    2022 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2022　2022年

    DOI： 10.1109/MHS56725.2022.10092073 　

  47. Visual Tactile Sensor Based Force Estimation for Position-Force Teleoperation 査読有り

    Yaonan Zhu, Shukrullo Nazirjonov, Bingheng Jiang, Jacinto Colan, Tadayoshi Aoyama, Boris Belousov, Kay Hansel, Jan Peters

    2022 IEEE INTERNATIONAL CONFERENCE ON CYBORG AND BIONIC SYSTEMS, CBS　49-52　2022年

    DOI： 10.1109/CBS55922.2023.10115342 　

  48. Optimization-Based Constrained Trajectory Generation for Robot-Assisted Stitching in Endonasal Surgery 査読有り

    Jacinto Colan, Jun Nakanishi, Tadayoshi Aoyama, Yasuhisa Hasegawa

    Robotics　10　(1)　27-27　2021年2月1日

    出版者・発行元： {MDPI} {AG}

    DOI： 10.3390/robotics10010027 　

    eISSN：2218-6581

  49. Bidirectional Tether Less Soft Actuator with Expeditious Position Control Mechanism 査読有り

    Jayant Unde, Jacinto Colan, Yasuhisa Hasegawa

    2021 International Symposium on Micro-NanoMechatronics and Human Science, MHS 2021　2021年

    DOI： 10.1109/MHS53471.2021.9767140 　

  50. A Cooperative Human-Robot Interface for Constrained Manipulation in Robot-Assisted Endonasal Surgery 査読有り

    Jacinto Colan, Jun Nakanishi, Tadayoshi Aoyama, Yasuhisa Hasegawa

    Applied Sciences　10　(14)　4809-4809　2020年7月13日

    出版者・発行元： {MDPI} {AG}

    DOI： 10.3390/app10144809 　

    eISSN：2076-3417

  51. Usability Study on Hands-on User Interface for Neurosurgical Articulated Forceps: Joystick and Serial-link based Design 査読有り

    Daisuke Uozumi, Jacinto E. Colan Zaita, Jun Nakanishi, Tadayoshi Aoyama, Yasuhisa Hasegawa

    2019 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)　2019年

  52. Development of a Precision-grip based Interface for 4-DoF Articulated Forceps 査読有り

    Keisuke Ohara, Jacinto E. Colan Zaita, Daisuke Uozumi, Tadayoshi Aoyama, Jun Nakanishi, Yasuhisa Hasegawa

    2018 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)　2018年

    DOI： 10.1109/MHS.2018.8886921 　

    ISSN：2474-378X

    eISSN：2474-3798

  53. A Concept of a User Interface Capable of Intuitive Operation of 4-DoF Articulated Forceps 査読有り

    Jacinto E. Colan Zaita, Jun Nakanishi, Keisuke Ohara, Tadayoshi Aoyama, Yasuhisa Hasegawa

    2017 INTERNATIONAL SYMPOSIUM ON MICRO-NANOMECHATRONICS AND HUMAN SCIENCE (MHS)　2018-January　1-3　2017年

    DOI： 10.1109/MHS.2017.8305268 　

    ISSN：2474-378X

    eISSN：2474-3798

︎全件表示 ︎最初の5件までを表示

MISC 14

  1. 衣服着脱支援ロボットにおけるプライバシーを配慮した衣服の把持位置検出システム

    小林 昂平, Jayant Unde, 浦田 大誠, Jacinto Colan, 長谷川 泰久

    第26回計測自動制御学会システムインテグレーション部門講演会 (SI2025)　2026年2月

  2. マルチモーダル・マルチタスク学習を用いた協働組織切除における複数器具ジェスチャー認識

    山田祐太郎, Colan Jacinto, Davila Ana, 三澤一成, 長谷川泰久

    第34回日本コンピュータ外科学会大会　2025年11月

  3. Multimodal Semi-Supervised Learning for Online Recognition of Multigranularity Surgical Workflows 査読有り

    Yamada, Y., Colan, J., Davila, A., Hasegawa, Y.

    The 15th International Conference on Information Processing in Computer-Assisted Interventions (IPCAI)　2024年

  4. Autonomous Orientation Control of Forceps Based on Real-Time Action Segmentation in Robotic Surgery

    Yamada, Y., Colan, J., Davila, A., Hasegawa, Y.

    2024 IEEE International Conference on Robotics and Automation (ICRA)　2024年

  5. ロボット手術におけるマルチモーダル自己教師あり表現学習に基づくジェスチャー及びスキル認識

    山田 祐太郎, Colan Jacinto, Davila Ana, 長谷川 泰久

    日本機械学会 ロボティクス・メカトロニクス 講演会　2024年

  6. 医師からの信頼性向上のための確率分布出力に基づいた追加学習

    杉田圭祐, Jacinto E. Colan Zaita, 青山忠義, 竹内大, 長谷川泰久

    日本機械学会ロボティクス・メカトロニクス講演会　2023年

  7. 環境認識に基づく協調制御を用いた時間遅れのある遠隔操作システムの操作性向上

    房野敬介, ZHU Yaonan, COLAN Jacinto, 青山忠義, 長谷川泰久

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2022　2022年

    ISSN： 2424-3124

  8. 鉗子軸把持を基本とした示指による直感的鉗子先端姿勢操作インターフェースの提案

    魚住大輔, COLAN ZAITA Jacinto E., 長谷川泰久, 青山忠義, 中西淳

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2020　2020年

    ISSN： 2424-3124

  9. スマートアーム

    長谷川 泰久, Jacinto Colan, 魚住 大輔, 青山 忠義, 中西 淳

    システム／制御／情報　63　(10)　2019年10月

    DOI： 10.11509/isciesci.63.10_424 　

    ISSN： 0916-1600

  10. バイオニックヒューマノイド スマートアーム-ユーザインタフェース

    長谷川泰久, COLAN ZAITA Jacinto E., 魚住大輔, 青山忠義, 中西淳

    システム/制御/情報　63　(10)　2019年

    ISSN： 0916-1600

  11. 鉗子直接操作機構と鉗子先端屈曲の同時操作を可能とする手の動きを活用した操作インターフェースの開発

    魚住大輔, 大原圭祐, ZAITA Jacinto E. Colan, 青山忠義, 中西淳, 長谷川泰久

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

    ISSN： 2424-3124

  12. 多自由度能動鉗子操作用ピンチ操作型インターフェースの試作

    大原圭祐, ZAITA Jacinto E. Colan, 魚住大輔, 青山忠義, 中西淳, 長谷川泰久

    日本ロボット学会学術講演会予稿集(CD-ROM)　36th　2018年

  13. 手術器具の正確な予挿入位置のための協調的力制御ベースの予備的研究

    COLAN ZAITA Jacinto E., SATO Yuichiro, NAKANISHI Jun, HASEGAWA Yasuhisa

    日本機械学会ロボティクス・メカトロニクス講演会講演論文集(CD-ROM)　2017　2017年

    ISSN： 2424-3124

  14. 多自由度鉗子の直感的操作可能なユーザインタフェースの設計・試作

    佐藤雄一朗, ZAITA Jacinto E. Colan, 中西淳, 長谷川泰久

    計測自動制御学会システムインテグレーション部門講演会(CD-ROM)　17th　2016年

︎全件表示 ︎最初の5件までを表示

共同研究・競争的資金等の研究課題 4

  1. Language-guided learning for generalizable manipulation of deformable objects using multimodal adaptive policies

    Colan Jacinto

    2025年4月1日 ～ 2028年3月31日

  2. Uncertainty-driven predictive control for active depth estimation

    Colan Jacinto

    制度名：AIPチャレンジプログラム

    2025年7月 ～ 2026年3月

  3. Learning in-hand manipulation for a compliant underactuated gripper with interactive human supervision

    Colan Jacinto

    提供機関：Japan Society for the Promotion of Science

    制度名：Grants-in-Aid for Scientific Research

    研究種目：Grant-in-Aid for Early-Career Scientists

    研究機関：Nagoya University

    2022年4月1日 ～ 2024年3月31日

    詳細を見る 詳細を閉じる

    私たちのプロジェクトは、操作タスクを学習するためのロボットグリッパーやハンドの開発に焦点を当てています。デカップリングジョイントを備えたケーブル駆動グリッパーや、リンク機構を使用した人間型ロボットフィンガー、3本指のアンダーアクチュエイトロボットハンドを開発しました。シミュレーション環境で小さな物体の操作を訓練し、強化学習アルゴリズムを実装して検証しました。また、シミュレーションから実際の適用への移行を促進するために、CUTを実装しました。

  4. Reliable online tool-tissue force estimation for robot-assisted surgical systems

    Colan Jacinto

    制度名：AIPチャレンジプログラム

    2022年7月 ～ 2023年3月