研究業績


2025年

原著論文(英語）

  1. Takugo Osakabe, Niran Nataraj, Maina Sogabe, Kenji Kawashima, Comparative Analysis of Distribution-Based Ground Truth Designs for Enhanced Accuracy in Bleeding Alert Maps, Sensors and Materials, accepted.
  1. Hiroyasu Nakashima et al., In vivo evaluation of tissue damage from varying grasping forces using the Saroa surgical system, Scientific Reports, Vol.15, Issue1, 10043, 2025
  1. Junyi Shen, Tetsuro Miyazaki, Kenji Kawashima, Controlling Pneumatic Bending Actuator with Gain-Scheduled Feedforward and Physical Reservoir Computing State Estimation, IEEE Robotics and Automation Letters (RA-L), Vol.10, Issue 3, pp.2120–2127, 2025
  1. Tetsuro Miyazaki, Yoshihide Tomita and Kenji Kawashima, Force Control of Motion Teaching Suit Using Serial Connected Pneumatic Artificial Muscles for Actuation and Estimation, Wearable Technologies, 6, e10, 2025
  1. Junyi Shen, Tetsuro Miyazaki, Kenji Kawashima, Control Pneumatic Soft Bending Actuator with Feedforward Hysteresis Compensation by Pneumatic Physical Reservoir Computing, IEEE Robotics and Automation Letters (RA-L), Vol.10, Issue 2, pp.1664–1671, 2025
  1. Junyi Shen Tetsuro Miyazaki, Swaninda Ghosh, Toshihiro Kawase, Kenji Kawashima, Gait Perception via Actual and Estimated Pneumatic Physical Reservoir Output, Advanced Intelligent Systems, Vol.7, Issue.1, 2400278, 2025

国際シンポジウム

  1. Sho Sugimoto, Tetsuro Miyazaki, Kenji Kawashima, Multimodal Estimation of 2-DOF Wrist Motion Using Pneumatic Reservoir Computing, 9th IFToMM International Workshop on New Trends in Medical and Service Robotics (MESROB), accepted.
  1. Niran Nataraj, Maina Sogabe, Kenji Kawashima, Ethically Scalable Framework for Precise Bleeding Source Localization in Minimally Invasive Surgeries, IFMIA 2025, accepted.
  1. Junyi Shen, Tetsuro Miyazaki, Kenji Kawashima, Controlling Pneumatic Soft Bending Actuator with Online Learning Pneumatic Physical Reservoir Computing, IEEE-RAS International Conference on Soft Robotics (RoboSoft 2025), accepted.
  1. Katsumasa Kosha, Tetsuro Miyazaki, Kaoru Teranishi, Kiminao Kogiso, Kenji Kawashima, Detection and Cancellation of Multiplicative FDI Attack on Bilateral Encrypted Control System in Variable Periodic Motion", IEEE/SICE International Symposium on System Integration (SII), pp1163-1189, 2025

解説

  • 宮嵜哲郎，川嶋健嗣,空気圧人工筋を用いたロボットシステム，油空圧技術, 64巻,2号，pp.1-6, 2025
  • 宮嵜哲郎，古謝勝將，西郁，小木曽公尚，川嶋健嗣，バイラテラル暗号化制御系に対する乗法FDI攻撃の検知とキャンセル，計測と制御，Vol.64, No.4, pp.242-247, 2025

2024年
2024年度 業績一覧 pdf

原著論文(英語）

  1. Yoshihiro Sakai et al., Evaluating the benefit of contact-force feedback in robotic surgery using the Saroa Surgical System: a preclinical study, Journal of Endoscopic Surgery, 2024
  1. Katsumasa Kosha, Tetsuro Miyazaki, Kaoru Teranishi, Kiminao Kogiso, Kenji Kawashima, Detection and Cancellation of Multiplicative FDI Attack on Bilateral Encrypted Control System, IEEE Access, 2024
  1. Masaki Mori et al., Clinical practice guidelines for telesurgery 2022: Committee for the promotion of remote surgery implementation, Japan Surgical Society, Surgical Today, 2024
  1. Tetsuro Miyazaki, Naoto Shono, Kaoru Teranishi, Takahiro Kanno, Toshihiro Kawase, Kiminao Kogiso, Kenji Kawashima, Attack detection method for encrypted wave-variable-based bilateral control systems, IET Control Theory & Applications, pp.1–14, 2024
  1. Yusuke Wakasa et al., Ensuring communication redundancy and establishing a telementoring system for robotic telesurgery using multiple communication lines, Journal of Robotic Surgery, Vol.18, No.9,2024
  1. Junyi Shen, Tetsuro Miyazaki, Shingo Ohno, Maina Sogabe, Kenji Kawashima, Trajectory Tracking Control of Dual-PAM Soft Actuator with Hysteresis Compensator, IEEE Robotics and Automation Letters (RA-L), Vol.9, No.1, pp.335-342, 2024
  1. Yoshimi Yamasaki, Masanori Tokunaga et al., Effects of a Force Feedback Function in a Surgical Robot on the Suturing Procedure, Surgical Endoscopy,Vol.38, pp.1222–1229, 2024
  1. Mitsuhiko Ohta et al., Field experiment of a telesurgery system using a surgical robot with haptic feedback, Surgical Today, Vol.54, pp.375–381, 2024

国際シンポジウム

  1. Junyi Shen, Tetsuro Miyazaki, Shingo Ohno, Kenji Kawashima, Sensorless State Estimation and Auto-Tuning Control of Pneumatic Bending Actuator, JPFS International Symposium on Fluid Power,1A1-05,2024
  1. Katsumasa Kosha, Tetsuro Miyazaki, Kaoru Teranishi, Kiminao Kogiso, Kenji Kawashima, Detection of FDI Attacks on Pneumatic Bilateral Encrypted Control System, JPFS International Symposium on Fluid Power,1B2-02,2024
  1. Mikuni Numata, Tetsuro Miyazaki, Maina Sogabe, Kenji Kawashima, A Study on Assistive Force Control for Teaching Gait motions Using a Pneumatic Artificial Muscle Assistive Suit, JPFS International Symposium on Fluid Power,2B1-02,2024
  1. Zhen Li, Tomoyuki Uemoto, Tetsuro Miyazaki, Kenji Kawashima, Bilateral Control of Robotic Myocardial Biopsy Using Pneumatic Actuators, JPFS International Symposium on Fluid Power,2B1-04,2024
  1. Adrian Beck, Yoshihide Tomita, Tetsuro Miyazaki, Kenji Kawashima, A Pneumatically Driven Arm Muscle Training System Realizing Wide Motion Range and Large Moment Arm, IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.939-944,2024
  1. Junyi Shen, Swaninda Ghosh, Tetsuro Miyazaki, Kenji Kawashima, Walking Condition Estimation Using Physical Reservoir Computing with External Echo State Network, IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, pp.425-431,2024
  1. Yoshihide Tomita, Tetsuro Miyazaki, Maina Sogabe, Kenji Kawashima, Study on Force Control of Pneumatically Driven Arm Motion Assist Suit, International Symposium on Robotics & Mechatronics (ISRM2024), pp.185-195, Djerba, Tunisia, 2024

解説

  • 川嶋健嗣,大学発ベンチャーでの手術支援ロボット開発，ロボット支援手術, 日本臨牀，82巻, 増刊号1，pp.442-446, 2024

2023年
2023年度 業績一覧 pdf

原著論文(英語）
  1. Tomonori Nakanoko et al., Real-time telementoring with 3D drawing annotation in robotic surgery, Surgical Endoscopy, Vol.37, pp.9676–9683, 2023
  1. Yasuhide Hirohata, Maina Sogabe, Tetsuro Miyazaki, Toshihiro Kawase, and Kenji Kawashima, Confidence-aware self-supervised learning for dense monocular depth estimation in dynamic laparoscopic scene, Scientific Reports, Vol.13, 15380, 2023
  1. Maina Sogabe, Florian Christoffer Uetrecht, Takahiro Kanno, Tetsuro Miyazaki, Kenji Kawashima, A Quick Response Soft Actuator by Miniaturized Liquid-to-Gas Phase Change Mechanism with environmental thermal source, Sensors and Actuators:A.Physical,Volume 361, 114587, 2023
  1. Maina Sogabe, Kaoru Ishikawa, Toshihiro Takamatsu, Koh Takeuchi, Takahiro Kanno, Koji Fujimoto, Tetsuro Miyazaki, Toshihiro Kawase, Toshihiko Sato, Kenji Kawashima, Bleeding source estimation; endoscopic surgery; Pix2Pix; training data from mimicking organs, Array,Vol.19, 100308, 2023
  1. Kenichi Hakamara, Hajime Morohashi, Takahiro Kanno, Kotaro Tadano, Kenji Kawashima, Yoshiya Takahashi, Yuma Ebihara, Eiji Oki, Satoshi Hirano, Masaki Mori, Construction of redundant communications to enhance safety against communication interruptions during robotic remote surgery, Scientific Reports, 13, 10831, 2023
  1. Tetta Kadokura, Tetsuro Miyazaki, Toshihiro Kawase, Maina Sogabe, Kenji Kawashima, Posture estimation by clustering pressure information and control implementation for pneumatically driven gait-assistive robot, IEEE Access, Vol.12, pp.35874-35887, 2023
  1. Toshihiro Kawase, Tetsuro Miyazaki, Kenji Kawashima, Method for Extracting Intentional Motion Using Force Sensor in Hand-Held Robotic Forceps and Its Effect on Performance, Sensors and Materials, Vol.35, No.4, pp.1349–1361, 2023
  1. Eiji Oki et al., Telesurgery and telesurgical support using a double-surgeon cockpit system allowing manipulation from two locations, Surgical Endoscopy, Vol.37, pp.6071–6078,2023
  1. Yuma Ebihara, Satoshi Hirano, Hironobu Takano, Takahiro Kanno, Kenji Kawashima, Hajime Morohashi, Eiji Oki, Kenichi Hakamada, Shigeo Urushidani, Masaki Mori, Technical evaluation of robotic tele-cholecystectomy: a randomized single-blind controlled pilot study, Journal of Robotic Surgery, Vol.17, pp.1105–1111, 2023

国際シンポジウム

  1. Yoshihide Tomita, Tetsuro Miyazaki, Maina Sogabe, Kenji Kawashima, A Pneumatically Driven Arm Motion Teaching System Using Visual and Torque Feedback, IEEE International Conference on Robotics and Biomimetics, pp.1-7, 2023
  1. Maina Sogabe, Keiya Ito, Tetsuro Miyazaki, Norihiko Ito, Kenji Kawashima, Pneumatically Driven Ophthalmologic Surgery Robot with Intraocular Pressure Control, IEEE ROMAN, TuBT5.5, 2023
  1. Kenshin Kondo, Tetsuro Miyazaki, Maina Sogabe, Kenji Kawashima, Research on Gait Change Using Visual and Force Sensory Stimuli Presentation System, IEEE ROMAN, WeDT4.5, 2023
  1. Hiroaki Shinkawa, Toshihiro Kawase, Tetsuro Miyazaki, Takahiro Kanno, Maina Sogabe, Kenji Kawashima, Limit Cycle Generation with Pneumatically Driven Physical Reservoir Computing, IEEE ICRA, pp.537-543, 2023
  1. Naoto Shono, Tetsuro Miyazaki, Kaoru Teranishi, Kiminao Kogiso, Kenji Kawashima, A False Data Injection Attack Model Targeting Passivity of Encrypted Wave Variable Based Bilateral Control System, IEEE/SICE International Symposium on System Integrations, pp.992-997,2023

解説

  • 只野耕太郎，川嶋健嗣，空気圧を利用した手術支援システム，フルードパワーシステム，Vol.54, No,3, pp.11-14, 2023
  • 宮嵜哲郎，空気圧人工筋を用いた身体運動支援システム，フルードパワーシステム，Vol.54, No,3, pp.15-18, 2023
  • 宮嵜哲郎，冨田佳秀，川嶋健嗣，空気圧ゴム人工筋を用いた運動教示システム，油空圧技術 pp.23-28, Vol.62, No.3, 2023
  • 川嶋健嗣，手術用ロボット技術の現状と課題，Current Therapy, Vol.43,No.3, pp.49-54,2023

2022年

原著論文(英語）
  1. Tomoyuki Umemoto, Kei Sato, Tetsuro Miyazaki, Toshihiro Kawase, Maina Sogabe, Tetsuo Sasano, and Kenji Kawashima, Optical-fiber-type Contact Force Detector for Improving Safety and Workability of Myocardial Biopsy, Sensors and Materials, Vol.34, No.11, pp.4185-4208,2022
  1. Tetsuro Miyazaki,Takuro Aoki,Junya Aizawa, Toshihiro Kawase, Maina Sogabe and Kenji Kawashima, Adaptations of balance training by changing the tensile load direction on lumbar, Journal of Robotics and Mechatronics, Vol.34 No.6,pp.1361-1370,2022
  1. Nozomi Akashi, Yasuo Kuniyoshi, Sumito Tsunegi, Tomohiro Taniguchi, Mitsuhiro Nishida, Ryo Sakurai, Yasumichi Wakao, Kenji Kawashima, Kohei Nakajima, A Coupled Spintronics Neuromorphic Approach for High-Performance Reservoir Computing, Advanced Intelligent Systems, 2022
  2. Akitoshi Nankaku, Hiroki Yonezawa, Takahiro Kanno, Kenji Kawashima, Kenichi Hakamada, Satoshi Hirano, Eiji Oki, Masaki Mori, Yusuke Kinugasa, Maximum acceptable communication delay for the realization of telesurgery, PLOS ONE, 2022
  1. Harue Akasaka, Kenichi Hakamada, Hajime Morohashi, Takahiro Kanno, Kenji Kawashima, Yuma Ebihara, Eiji Oki, Satoshi Hirano, Masaki Mori, Impact of the suboptimal communication network environment on telerobotic surgery performance and surgeon fatigue, PLOS ONE, 2022
  1. Maina Sogabe, Norihiko Ito, Tetsuro Miyazaki, Toshihiro Kawase, Takahiro Kanno and Kenji Kawashima, Detection of Instruments Inserted into Eye in Cataract Surgery Using Single-shot Multibox Detector, Sensors and Materials, Vol.34, No.1, pp.47-54, 2022
  1. Katsuhiko Fukushima, Tetsuro Miyazaki, Toshihiro Kawase, Takahiro Kanno, Maina Sogabe, Yoshikazu Nakajima, Kenji Kawashima, A pneumatic rotary actuator for forceps tip rotation, Sensors and Actuators: A. Physical, Volume 333, 2022
  1. Yamato Umetani, Masahiko Minamoto, Shigeki Hori, Tetsuro Miyazaki,Kenji Kawashima, Estimating Future Forceps Movement using Deep Learning for Robotic Camera Control in Laparoscopic Surgery, International Journal of Mechatronics and Automation, Vol.9, No.2, pp.72-80,2022

国際シンポジウム

  1. Masahiko Minamoto, Shunsuke Tanaka, Shigeki Hori, Maina Sogabe, Tetsuro Miyazaki, Kenji Kawashima, Future needle position estimation of suturing operation using deep learning, IEEE ICMA 2022 Conference, pp.624-628, 2022
  1. T. Kanno, K. Tadano, M. Kanazawa, T. Nishihara, K Shindo, K. Takikawa, N. Morita, T. Inoue, J. Sakata, K. Kawashima, Surgical robot capable of estimating grasping force, 26th Annual Conf. of Int. Society for Computer Aided Surgery, 2022
  1. M. Sogabe, T. Miyazaki, T. Kawase, T. Kanno, K. Kawashima, Development of the estimation method for organ-instruments contact during endoscopic surgery, 26th Annual Conf. of Int. Society for Computer Aided Surgery, 2022
  1. Hiroyuki Hayashi, Toshihiro Kawase, Tetsuro Miyazaki, Maina Sogabe, Yoshikazu Nakajima, Kenji Kawashima, Online Assistance Control of a Pneumatic Gait Assistive Suit Using Physical Reservoir Computing Exploiting Air Dynamics, IEEE International Conference on Robotics and Automation (ICRA),pp. 3245–3251, 2022
  1. Naoto Shono, Tetsuro Miyazaki, Kaoru Teranishi, Takahiro Kanno, Toshihiro Kawase, Kiminao Kogiso, Kenji Kawashima, Implementation of Encrypted Control of Pneumatic Bilateral Control System Using Wave Variables, 27th International Symposium on Artificial Life and Robotics, 2022 (Young Author Award)
  1. Hiroyuki Hayashi, Toshihiro Kawase, Tetsuro Miyazaki, Maina Sogabe, Yoshikazu Nakajima, Kenji Kawashima, Multi-Joint Motion Estimation of a Soft Gait Assistive Suit Using Pneumatic Reservoir Computing, 2022 IEEE/SICE International Symposium on System Integration, TuBT3.4, pp.578-584, Jan.11, 2022

解説

  • 只野耕太郎，菅野貴皓，川嶋健嗣，力覚提示機能を有する新たな国産外科手術ロボットの開発，医学のあゆみ，280巻3号，2022
  • 宮嵜哲郎，川瀬利弘，曽我部舞奈，川嶋健嗣，人にやさしい空気圧駆動式パワーアシストスーツ，バイオインダストリー，第39巻，第4 号，p.64-72，2022
  • 川嶋健嗣，手術支援ロボットにおける触感センシング，センサ医工学‐最新医療センシングの研究開発, CMC出版，pp.121-130, 2022

2021年

原著論文(英語）
  1. Hajime Morohashi, Kenichi Hakamada, Takahiro Kanno, Kenji Kawashima, Harue Akasaka, Yuma Ebihara, Eiji Oki, Satoshi Hirano, Masaki Mori, Social Implementation of Remote Surgery System in Japan: a Field Experiment using a Newly Developed Surgical robot via Commercial Network, Surgical Today, accepted.
  1. Toshihiro Kawase, Tetsuro Miyazaki, Takahiro Kanno, Kotaro Tadano, Yoshikazu Nakajima, Kenji Kawashima, Pneumatic Reservoir Computing for Sensing Soft Body: Computational Ability of Air in Tube and Its Application to Posture Estimation of Soft Exoskeleton, Sensors and Materials, Vol.33, No.8, pp.2803–2824, 2021
  1. Tetsuro Miyazaki, Toshihiro Kawase, Takahiro Kanno, Maina Sogabe, Yoshikazu Nakajima, Kenji Kawashima, Running Motion Assistance Using a Soft Gait-assistive Suit and Its Experimental Validation, IEEE Access, Vol.9, pp.94700-94713, 2021
  1. Yoshikazu Nakajima, Toshihiro Kawase, Rina Suzuki, Takaaki Sugino, Shinya Onogi, Kenji Kawashima, Katsushi Ouchi, Finite Element Method Analysis and Structure Design of Stiffness-tunable Beam-shaped Material, Sensors and Materials, Vol. 33, No. 5 pp.1703–1716, 2021
  1. Toshihiro Kawase, Takaaki Sugino, Shinya Onogi, Kenji Kawashima, Yoshikazu Nakajima, Improvement of a Tunable Stiffness Organ-Grasping Device by Design of a Wavy-Shaped Beam Structure, Applied Sciences, Vol.11, No.10, 4581, 2021
  1. Osamu Azami, Toshihiro Kawase, Tetsuro Miyazaki, Takahiro Kanno, and Kenji Kawashima, External Force Estimation of Pneumatic Sof Actuator with Built-in Displacement Sensor, Sensor and Materials, Vol.33, No.2, pp.555–567,2021
  1. Takuya Iwai, Tetsuro Miyazaki, Toshihiro Kawase, Takahiro Kanno, and Kenji Kawashima, Pneumatically Driven Vertical Articulated Robotic Arm for Surgical Task with Inertia Estimation, Sensor and Materials, Vol.32, No.2, pp.1009-1026,2021

国際シンポジウム

  1. Asamu Azami, Takahiro Kanno, Toshihiro Kawase, Tetsuro Miyazaki, Kenji Kawashima, Development of Robotic Forceps Driven by Soft Actuator with Built-in Displacement Sensor, 11th JFPS International Symposium on Fluid Power, GS3-04, 2021
  1. Soichiro Ito, Tetsuro Miyazaki, Junya Aizawa, Toshihiro Kawase, Maina Sogabe, Takahiro Kanno, Yoshikazu Nakajima, Kenji Kawashima, Development of a Whole Body Training Device by Multi-directional Force Input Using Pneumatic Artificial Muscles, 11th JFPS International Symposium on Fluid Power, GS3-03, 2021 (Best Paper Award)
  1. Feng Tao, Maina Sogabe, Norihiko Ito, Tetsuro Miyazaki, Toshihiro Kawase, Takahiro Kanno, Yoshikazu Nakajima, Kenji Kawashima, Development of Pneumatically Driven Verification System for Ophthalmic Needling Operation, 11th JFPS International Symposium on Fluid Power, GS3-02, 2021
  1. Toshihiro Kawase, Tomoya Nakanishi, Shintaro Yoshida, Singo Ohno, Ryo Sakurai, Tetsuro Miyazaki, Takahiro Kanno, Maina Sogabe, Yoshikazu Nakajima, Kenji Kawashima, Development of Bidirectional Arm Curl Machine Using Pneumatic Artificial Rubber Muscles, 11th JFPS International Symposium on Fluid Power, GS5-1-03, 2021
  1. Masahiko Minamoto, Yamato Umetani, Shigeki Hori,Tetsuro Miyazaki, Kenji Kawashima. Forceps Motion Estimation in Laparoscopic Surgery using Deep Learning for Robotic Camera Control, IEEE ICMA 2021 Conference, pp.448-453, 2021

解説

  • 只野耕太郎，川嶋健嗣，空気圧駆動を用いた手術支援ロボットの開発，PharmaMedica, Vol.39, No.4,pp.41-44, 2021
  • 只野耕太郎，川嶋健嗣，大学発ベンチャーでの手術ロボット開発，日本ロボット学会誌， Vo.39, No.3, pp.206-208, 2021

2020年

原著論文(英語）
  1. Takuto Mikada, Takahiro Kanno, Toshihiro Kawase, Tetsuro Miyazaki, and Kenji Kawashima, Suturing support by human cooperative robot control using deep learning, IEEE Access, pp.167739-167746, Vol,8, 2020
  1. Takanori Miyoshi, Takahiro Kanno, and Kenji Kawashima, Position-Force Telecontrol with Wave-filter Using Teleoperation Support Robot IBIS, International Journal of Mechanical Engineering and Robotics Research, Vol.9, No.4, pp.496-501,2020
  1. Toshihiro Tagami, Tetsuro Miyazaki, Toshihiro Kawase, Takahiro Kanno, Kenji Kawashima, Pressure Control of a Pneumatic Artificial Muscle including Pneumatic Circuit Model, IEEE Access, Vol.8, pp.60526-60538, 2020
  1. Takahiro Kanno, Tomonori Kawakami, Minae Kawasaki, Tomoya Furujo, Hiroshi Iida, Tetsuro Miyazaki, Toshihiro Kawase, Kenji Kawashima, and Norihiko Ito, Soft-material Robot for Ophthalmologic Surgery, Sensors and Materials, Vol.32, No.3, pp.1041-1050, 2020
  1. Tetsuro Miyazaki, Toshihiro Kawase, Takahiro Kanno, Kenji Kawashima, A Leg Load Increase Training Using Soft Gait-assistive Suit and its Experimental Validation, Sensors and Materials, Vol.32, No.3, pp.1051-1064, 2020
  1. Toshihiro Kawase, Toshihiro Tagami, Tetsuro Miyazaki, Takahiro Kanno, and Kenji Kawashima, Effect of Electromyography Signals on Single Joint Motion Forecasting, Sensors and Materials, Vol.32, No.3, pp.967-980, 2020
  1. Mikada Takuto, Takahiro Kanno, Toshihiro Kawase, Tetsuro Miyazaki, Kenji Kawashima, 3D Posture Estimation of Robot Forceps using Endoscope with Convolutional Neural Network, The International Journal of Medical Robotics and Computer Assisted Surgery, accepted
  1. Masahiko Minamoto, Shigeki Hori, Hideyuki Kobayashi, Toshihiro Kawase, Tetsuro Miyazaki, Takahiro Kanno, Kenji Kawashima, Detection of Head Motion from Facial Feature Points using Deep Learning for Tele-operation of Robot , Sensors and Materials, Volo.32, No.3, pp/1005-1013, 2020
  1. Takuya Iwai, Takahiro Kanno, Tetsuro Miyazaki, Daisuke Haraguchi, Kenji Kawashima, Pneumatically Driven Surgical Forceps Displaying a Magnified Grasping Torque, The International Journal of Medical Robotics and Computer Assisted Surgery, e2015, 2020

国際シンポジウム

  1. Takahiro Kanno, Akitoshi Nankaku, Masanori Tokunaga, Yusuke Kinugasa, Kenichi Hakamada, Masao Kanazawa, Kotaro Tadano, Kenji Kawashima, Eiji Oki, The Robotic Telesurgery System to Evaluate the Effect of Network Latency on Surgery Performance, 16th Asian Conference on Computer Aided Surgery, pp.76-77, 2020
  1. Kotaro Tadano, Masao Kanazawa, Koki Sindo, Kyohei Takikawa, Takahiro Kanno, Kenji Kawashima, Force Estimation of Pneumatically-Driven Robotic Forceps using a Disturbance Observer, 16th Asian Conference on Computer Aided Surgery, pp.54-55, 2020
  1. Katsuhiko Fukukshima, Takahiro Kanno, Tetsuro Miyazaki, Toshihiro Kawase, Kenji Kawashima,Development of Selective Driving Joint Forceps Using Shape Memory Polymer, IEEE InternationalConference on Intelligent Robots and Systems (IROS), pp.3125-3130, 2020
  1. Yuya Inoue, Takahiro Kanno, Tetsuro Miyazaki, Toshihiro Kawase, Kenji Kawashima, Application to Pneumatic Servo System in Bilateral Control Based on Wave Variable, IEEE/SICE International Symposium on System Integration, p.460-464, 2020
  1. Riku Harada, Tetsuro Miyazaki, Toshihiro Kawase, Takahiro Kanno, Kenji Kawashima, Development of Pneumatically Driven Surgical Robot for Catheter Ablation, IEEE/SICE International Symposium on System Integration, pp.58-63,2020

解説

  • 川嶋健嗣，平成の医用工学を振り返る　手術支援ロボット，精密工学会誌，86-1. 28-31. 2020
  • 川嶋健嗣，手術支援ロボットにおける空気圧駆動の適用，BIO Clinica, Vol.35, No.11, pp.40-43, 2020
  • 川嶋健嗣，宮嵜哲郎，阿佐美理，変位推定機能を有する伸展型空気圧ソフトアクチュエータ，油空圧技術，Vol.59, No.13, pp.11-15, 2020

2019年

原著論文(英語）

  1. Osamu Azami, Daisuke Morisaki, Tetsuro Miyazaki, Takahiro Kanno, Kenji Kawashima, Development of the extension type pneumatic soft actuator with built-in displacement sensor, Sensors & Actuators: A. Physical, vol. 300, 111623, 2019
  1. Tetsuro Miyazaki, Toshihiro Tagami, Daisuke Morisaki, Ryoken Miyazaki, Toshihiro Kawase, Takahiro Kanno, Kenji Kawashima, A Motion Control of Soft Gait Assistive Suit by Gait Phase Detection using Pressure Information, Applied Science, 9(14), 2869, 2019
  1. Takahiro Kanno, Shunya Ohkura, Osamu Azami, Tetsuro Miyazaki, Toshihiro Kawase, Kenji Kawashima, Model of a Coil-Reinforced Cylindrical Soft Actuator, Applied Sciences, 9(10), 2109, 2019
  1. Kenji Kawashima, Takahiro Kanno, Kotaro Tadano, Robots in laparoscopic surgery: Current and future status, BMC Biomedical Engineering, 1:12, pp.1-6, 2019
  2. Ryoken Miyazaki, Takahiro Kanno, Kenji Kawashima, Pneumatically Driven Surgical Instrument Capable of Estimating Translational Force and Grasping Force, The International Journal of Medical Robotics and Computer Assisted Surgery, Vol.15, Issue 3, e1983, pp.1-9, 2019

国際シンポジウム

  1. Tomoya Nakanishi, Toshihiro Kawase, Junya Aizawa, Shintaro Yoshida, Ryo Sakurai, Tetsuro Miyazaki, Takahiro Kanno, Kenji Kawashima, Development of an arm curl machine with variable resistance using pneumatic artificial rubber muscle, IEEE International Conference on Intelligent Robots and Systems (IROS), pp.3830-3835,2019
  1. Masahiko Minamoto, Hidaka Sato, Takahiro Kanno, Tetsuro Miyazaki, Toshihiro Kawase, Kenji Kawashima, Tele-Operation of Robot using Facial Feature Point Detection, IEEE ICMA 2019 Conference, Tianjin, pp. 1907-1912, Aug. 6, 2019
  1. Dimitrios Karponis, Koya Yokota, Ryoken Miyazaki, Takahiro Kanno, Kenji Kawashima, Evaluation of a Pneumatic Surgical Robot with Force Feedback, British Journal of Surgery, 106(S3), 21-22, April, 2019
  1. Takuya Iwai, Takahiro Kanno, Tetsuro Miyazaki, Toshihiro Kawase, Kenji Kawashima, Robotic Forceps without Position Sensors using Visual SLAM, IEEE International Conference on Robotics and Automation (ICRA), pp.6331-6336, Montreal, Canada, May 21st, 2019
  1. Takanori Miyoshi, Takahiro Kanno, and Kenji Kawashima, Position-Force Telecontrol with Wave-filter Using Teleoperation Support Robot IBIS, The 11th International Conference on Future Computer and Communication (ICFCC 2019) accepted
  1. Shunya Ohkura, Takahiro Kanno, Tetsuro Miyazaki, Toshihiro Kawase, Kenji Kawashima, Development of Three-fingered End-effector Using Pneumatic Soft actuators, IEEE/SICE International Symposium on System Integration, pp.701-706, Paris, France, Jan.16th, 2019
  1. Rei Hisatomi, Takahiro Kanno, Tetsuro Miyazaki, Toshihiro Kawase, Kenji Kawashima, Development of Forceps Manipulator Using Pneumatic Soft Actuator for a Bending Joint of Forceps Tip, IEEE/SICE International Symposium on System Integration, pp.695-700, Paris, France, Jan.16th, 2019
  1. Ryoken Miyazaki, Takahiro Kanno, Kenji Kawashima, Pneumatically Driven Surgical Instrument with Attach/Detachment Mechanism and Force Sensibility, IEEE/SICE International Symposium on System Integration, pp.657-662, Paris, France, Jan.15th, 2019
  1. Tetsuro Miyazaki, Hiroshi Suzuki, Daisuke Morisaki, Takahiro Kanno, Ryoken Miyazaki, Toshihiro Kawase, Yukio Kawakami, Kenji Kawashima, Underwater Walking Using Soft Sensorless Gait Assistive Suit, IEEE/SICE International Symposium on System Integration, pp.237-242, Paris, France, Jan.14th, 2019

解説

  • 川嶋健嗣，低侵襲外科手術を支援するロボットの開発と今後の動向，臨床外科, 74-2, 227-230, 2019
  • 川嶋健嗣，低侵襲な外科手術を支援するロボットにおける力触覚センシング，日本ロボット学会誌，37-5, 405-408, 2019
  • 菅野貴皓，触力覚通信の応用事例，電子情報通信学会誌，102-1，69-73，2019
  • 只野耕太郎，原口大輔，川嶋健嗣，大学発ベンチャーによる空気圧駆動を用いた手術支援ロボットの開発，腎内 科・ 泌尿 器 科，10-5，466-470, 2019

2018年

原著論文(英語）
  1. Takahiro Kanno, Takashi Hasegawa, Tetsuro Miyazaki, Nobuyuki Yamamoto, Daisuke Haraguchi, Kenji Kawashima, Development of a poppet-type pneumatic servo valve, Applied Science, 8(11), 2094, 2018
  2. Dimitrios Karponis, Koya Yokota, Ryoken Miyazaki, Takahiro Kanno, Kenji Kawashima, Evaluation of a pneumatic surgical robot with dynamic force feedback, Journal of Robotic Surgery, 2018
  3. Ryoken Miyazaki, Kohei Hirose, Yoshiya Ishikawa, Takahiro Kanno, Kenji Kawashima, A Master-Slave Integrated Surgical Robot with Active Motion Transformation using Wrist Axis, IEEE/ASME Transactions on Mechatronics, Vol.23, Issue 3, pp.1215-1225, 2018
  4. Takashi Takizawa, Takahiro Kanno, Ryoken Miyazaki, Kotaro Tadano, Kenji Kawashima, Grasping force estimation in robotic forceps using a soft pneumatic actuator with a built-in sensor, Sensors & Actuators: A. Physical, Vol.271, pp.124-130, 2018
  5. Sho Yoshida, Takahiro Kanno, Kenji Kawashima, Surgical Robot with Variable Remote Center of Motion Mechanism Using Flexible Structure, ASME Journal of Mechanism and Robotics, Vol.10, Issue 3, 2018
  1. Hongbing Li, Lei Zhang, Kenji Kawashima, Operator Dynamics for Stability Condition in Haptic and Teleoperation System: A Survey, The International Journal of Medical Robotics and Computer Assisted Surgery, Vol.14, Issue 2, 2018

国際シンポジウム

  1. Hongbing Li, Kundong Wang, Zheng Li, Kenji Kawashima, Evgeni Magid, External Force Estimation of Impedance-Type Driven Mechanism for Surgical Robot with Kalman Filter, IEEE International Conference on Robotics and Biomimetics (ROBIO), pp.2214-2219, Dec. 15th, 2018
  1. Hongbing Li, Kundong Wang, Zheng Li, Kenji Kawashima, Evgeni Magid, Achieving Position Synchronization in Passive Bilateral Teleoperation, IEEE International Conference on Robotics and Biomimetics (ROBIO), pp.2208-2213, Dec. 15th, 2018
  1. Takuya Iwai, Takahiro Kanno, Kenji Kawashima, Robotic Forceps Measuring Joint Pose with Visual SLAM, The 8th International Conference on Positioning Technology (ICPT 2018), 1012, Kaohsiung, Taiwan, Nov.29th, 2018
  1. Hiroki Kaji, Takahiro Kanno, Tetsuro Miyazaki, Toshihiro Kawase, Kenji Kawashima, External Force Estimation of Forceps Tip Using Machine Learning, The 8th International Conference on Positioning Technology (ICPT 2018),1010. Kaohsiung, Taiwan, Nov.29th, 2018
  1. Toshihiro Kawase, Ryoken Miyazaki, Tetsuro Miyazaki, Takahiro Kanno, Kenji Kawashima, Development of a Hand-held Robotic Forceps Using a Force Sensor as a User Interface, The 8th International Conference on Positioning Technology (ICPT 2018), 1015, Kaohsiung, Taiwan, Nov.29th, 2018
  1. Tadatoshi Sato, Takahiro Kanno, Ryoken Miyazaki, Tetsuro Miyazaki, Kenji Kawashima, Variable Remote Center of Motion Mechanism using Flexible Structure for Forceps Holder, The 8th International Conference on Positioning Technology (ICPT 2018), 1011, Kaohsiung, Taiwan, Nov.28th, 2018
  1. Ryoken Miyazaki, Takahiro Kanno, Kenji Kawashima, Immersive Operation Interface for Surgical Robot Using Motion Sensor and VR Headset, The 8th International Conference on Positioning Technology (ICPT 2018),1029, Kaohsiung, Taiwan, Nov.28th, 2018
  1. Toshihiro Tagami, Toshihiro Kawase, Daisuke Morisaki, Ryoken Miyazaki, Tesuo Miyazaki, Takahiro Kanno, Kenji Kawashima, Development of Master-slave Type Lower Limb Motion Teaching System, IEEE International Conference on Intelligent Robots and Systems (IROS), pp.2762- 2767, Madrid, Spain, Oct.3rd, 2018
  1. Masahiko Minamoto, Masaki Saito, Takahiro Kanno, Kenji Kawashima, Tele-Operation of Robot by Image Processing of Markers Attached to Operator’s Head, pp.2414-2419, China, Aug.8th, IEEE ICMA 2018 Conference
  1. Osamu Azami,Takahiro Kanno,Tesuro Miyazaki,Kenji Kawashima, Robotic Forceps Driven by Extension Type Pneumatic Soft Actuator, pp.475-480, China, Aug.6th, IEEE ICMA 2018 Conference
  • Kenji Kawashima, Robotic Surgical System using Pneumatic Actuators, 16th Urological Association of Asia Congress, 2018 (invited)

解説

  • 川嶋健嗣，森崎大介，空気圧ゴム人工筋に内蔵可能ピンチ型サーボ弁，油空圧技術，57-6, pp.5-9, 2018
  • 只野耕太郎，原口大輔，川嶋健嗣，低侵襲外科手術を支援する内視鏡保持ロボット，光技術コンタク ト，56-11, pp.32-37, 2018

2017年

原著論文(英語）
  1. Kengo Watanabe, Takahiro Kanno, Kazuhisa Ito, Kenji Kawashima, Single Master Dual Slave Surgical Robot with Automated Relay of Suture Needle, IEEE Transactions on Industrial Electronics, Vol.65, Issue 8, pp.6343-6351, 2018
  2. Hongbing Li, Weiwen Liu, Kundong Wang, Kenji Kawashima, Evgeni Magid, A cable-pulley transmission mechanism for surgical robot with backdrivable capability, Robotics and Computer-Integrated Manufacturing, 49, pp.328-334, 2018
  3. In Kim, Kotaro Tadano, Takahiro Kanno, Kenji Kawashima,Implementing Pseudo Haptic Feedback in a Semi-Isometric Master Interface for Robotic Surgery, International Journal of Advanced Robotic Systems, Vol.14, Issue 5, pp.1-9, October, 2017
  • Tetsuro Miyazaki and Kazushi Sanada, Experimental validation of an optimum design method for a ball throwing robot considering degrees of freedom, link parameters, and motion pattern, Mechanical Engineering Journal, 2017

国際シンポジウム

  1. Daisuke Morisaki, Takahiro Kanno, Kenji Kawashima, Development of a Pinch-type Servo Valve Embedded in a Pneumatic Artificial Rubber Muscle, IEEE/SICE International Symposium on System Integration, Taiwan, TuC4.4, Dec.12th, 2017 (Awarded as Finalists)
  2. Keisuke Naito, Takahiro Kanno, Tetsuro Miyazaki, Kenji Kawashima, Development of minimally invasive lifting device using extension and flexion of pneumatic soft actuator for laparoscopic surgery, IEEE/SICE International Symposium on System Integration, Taiwan, WeB4.4, Dec.13th, 2017
  3. Takahiro Kanno, Kenji Kawashima, Pneumatically-Driven 4-DOF Surgical Manipulator with a Separation Mechanism using Cranks, The 10th JFPS International Symposium on Fluid Power, Fukuoka, JAPAN, 2D35, 2017
  4. Takuya Iwai, Richi Fujita, Takahiro Kanno, Kenji Kawashima, Development of a Master Slave Integrated Robotic Forceps with Pneumatic Actuators, The 10th JFPS International Symposium on Fluid Power, Fukuoka, JAPAN, 2D34, 2017
  5. Ryoken Miyazaki, Takahiro Kanno, Kenji Kawashima, Master-Slave Integrated Surgical Robot for Laparoscopic Surgery with Semi-Automation Control using Hand Rotation, The 10th JFPS International Symposium on Fluid Power, Fukuoka, JAPAN, 2D33, 2017
  6. Takashi Hasegawa, Takahiro Kanno, Kenji Kawashima, Development of Poppet-Type Servo Valve, The 10th JFPS International Symposium on Fluid Power, Fukuoka, JAPAN, 1B04, 2017
  7. Takahiro Kanno, Norihiki Ito, Kenji Kawashima, A cornea holding device for transplantation surgery, IEEE Conference on Control Technology and Applications, pp.720-725, USA, Aug. 28th, 2017
  8. Masahiki Minamoto, Yutaro Suzuki, Takahiro Kanno, Kenji Kawashima, Effect of Robot Operation by a Camera with the Eye Tracking Control, IEEE ICMA 2017 conference, pp.1983-1988, Takamatsu, Japan, Aug. 8th, 2017
  9. Hitoshi Yoshiki, Kotaro Tadano, Kenji Kawashima, Cauterization Device with Double-Layered Nozzle using Steam and Suction, Proceedings of The 39th annual international conference of the IEEE Engineering in Medicine and Biology Society(IEEE EMBC), Jeju, Korea, Jul. 14th, 2017
  10. Hitoshi Yoshiki, Kotaro Tadano, Kenji Kawashima, Surgical Aspirator with Steam-jet Coagulator for Hepatic Surgery, Proceedings of the 3rd World Congress on Electrical Engineering and Computer Systems and Science (EECSS‘17), Rome, Italy, Jun.6th, 2017
  • Tetsuro Miyazaki, Takuya Iijima, Yuuichi Hirahara, Kazushi Sanada, Performance Evaluation of Supporting Arm for Reducing Body Load using Surface Electromyography, The 10th JFPS International Symposium on Fluid Power, Fukuoka, JAPAN, 2B12, 2017

解説

  • 川嶋健嗣，手術支援ロボット開発の技術的課題と開発動向，PHARMASTAGE 2月号, pp.20-23, 2017
  • 川嶋健嗣，手術支援ロボットへのソフトアクチュエータの適用研究事例，油空圧技 術，56-6，pp.12-16, 2017
  • 川嶋健嗣，空気圧駆動を用いた低侵襲手術支援ロボットの研究開発事例，ロボット，No.236, pp.18-21, 2017
  • 川嶋健嗣，低侵襲外科手術を支援する内視鏡操作システム，日本機械学会誌，Vol.120, No.1186, pp.12-14, 2017
  • 川嶋健嗣，低侵襲な外科手術を支援する空気圧駆動ロボットシステム， 化学とマイクロ・ナノシステム，Vol.16,No.2, pp.1-6, 2017

2016年

原著論文(英語）
  1. Yoshiki Hitoshi, Kotaro Tadano, Daisuke Ban, Katsuhiro Ohuchi, Minoru Tanabe, Kenji Kawashima, Development of Contactless Cauterization Device for Surgery Using A Steam-Jet, Journal of Biomedical Engineering and Medical Imaging, Vol.3, No.6 (2016)
  2. Kyouhei Takikawa, Ryoken Miyazaki, Takahiro Kanno, Gen Endo, Kenji Kawashima: Pneumatically driven multi-DOF surgical forceps manipulator with a bending joint using continuums, Journal of Robotics and Mechatronics, Vol.28, No.4, pp.559－567（2016）
  3. Mohammadreza Kamali, Seyed Ali Jazayeri, Farid Najafi, Kenji Kawashima, Toshiharu Kagawa: Study on Performance and Control of Piezo-Acuated Nozzle-Flapper Valve with Isothermal Chamber, Journal of Mechanical Engineering, Vol.62, No.5, pp.318-328 (2016)
  4. Mohammadreza Kamali, Seyed Ali Jazayeri, Farid Najafi, Kenji Kawashima, Toshiharu Kagawa: Integrated Nozzle-Flapper Valve with Piezoelectric Actuator and Isothermal Chamber; A Feedback Linearization Multi-Control Device, Journal of Mechanical Science and Technology, Vol.20, No.5, pp.2293-2301 (2016)
  5. Hongbing Li, Kenji Kawashima: Bilateral teleoperation with delayed force feedback using time domain passivity controller, Robotics and Computer-Integrated Manufacturing, Vol.37, pp.188-196 (2016)

原著論文(日本語）
  1. 吉木均，只野耕太 郎，伴 大輔，大 内克洋，田邉稔，川嶋健嗣: 水蒸気噴流を用いた非接触凝固・止血法，日本コンピュータ外科学会，Vol.18, No.1, pp.39-47 (2016)
    (2017年度日本コンピュータ外科学会　学会賞（工学賞）受賞論文）

国際シンポジウム
  1. Hongbing Li, Kenji Kawashima, Development of a Human-Arm Like Laparoscopic Instrument, IEEE Conference on Robotics and Biomimetics, 2016 accepted
  2. Kohei Hirose, Ryoken Miyazaki, Yoshiya Ishikawa, Takahiro Kanno, Kenji Kawashima, Hand-held Forceps with Built-in Master Controller and Its Evaluation by Suturing Task, The 7th International Conference on Positioning Technology (ICPT2016), P-23, Seoul, Korea, Nov. 9th, 2016
  3. Daisuke Morisaki, Takahiro Kanno, Kenji Kawashima, Development of a 4-Port Pinch Type Pneumatic Servo Valve, The 7th International Conference on Positioning Technology (ICPT2016), P-16, Seoul, Korea, Nov. 9th, 2016
  4. Takashi Takizawa, Takahiro Kanno, Kenji Kawashima, Estimating Grasping Force in Robotic Forceps using a Soft Pneumatic Actuator, The 7th International Conference on Positioning Technology(ICPT 2016), P-15, Seoul, Korea, Nov.9th, 2016
  5. Kyohei Takikawa, Ryouken Miyazaki, Takahiro Kanno, Kenji Kawashima, External Force Estimation of Surgical Forceps Manipulator Using Flexible Joints , The 7th International Conference on Positioning Technology(ICPT 2016), P-14, Seoul, Korea, Nov.9th, 2016
  6. Sho Yoshida, Takahiro Kanno, Kenji Kawashima, A Novel RCM Mechanism Using Pneumatically Driven Flexible Joint for Laparoscopic Forceps Holder, IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2016), pp.1132-1137, New York, USA, August, 2016
  7. Ryoken Miyazaki, Takahiro Kanno, Kenji Kawashima, Pneumatically-Driven Hand-held Forceps with Wrist Joint Operated by Built-in Master Controller, IEEE ICMA 2016 conference, pp.442-447,Harbin, China, Sep. 8th, 2016
  8. Masahiko Minamoto, Kenji Kawashima, Takahiro Kanno, Effect of Force Feedback on a Bulldozer-Type Robot, IEEE ICMA 2016 conference, pp.2203-2208, Harbin, China, Sep.10th 2016
  9. Kengo Watanabe, Takahiro Kanno, Kazuhisa Ito, Kenji Kawashima, Human-Integrated Automation of suturing task with One-Master Two-Slave System for Laparoscopic Surgery, IEEE International Conference on Advanced Intelligent Mechatronics, pp.1180-1185, Banff, Canada, July 15th, 2016
  10. Haruka Sakurai, Takahiro Kanno, Kenji Kawashima, Thin-diameter Chopsticks Robot for Laparoscopic Surgery, IEEE International Conference on Robotics and Automation (ICRA), pp.4122-4127, Stockholm, Sweden. May 19th, 2016

解説

  • 川嶋健嗣，手術支援ロボット開発の現状と展望，日本臨牀，第74巻，第1号， pp.109-113 (2016)
  • 原口大輔，只野耕太郎，川嶋健嗣，内視鏡用ロボットアーム（空気圧），油空圧技術，Vol.55, No.3, pp.18-22 (2016)

2015年以前

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