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With the rapid growth and development of robotic technology, its implementation in medical fields has also been significantly increasing, with the transition from the period of mainly using surgical robots to the era with combinations of multiple types of robots. Therefore, this paper introduces the newest robotic systems and technology applied in operating rooms as well as their architectures for integration. Besides surgical robots, other types of robotic devices and machines such as diagnostic and treatment devices with robotic operating tables, robotic microscopes, and assistant robots for surgeons emerge one after another, improving the quality of surgery from different aspects. With the increasing number and type of robots, their integration platforms are also proposed and being spread. This review paper presents state-of-the-art robot-related technology in the operating room. Robotic platforms and robot components which appeared in the last decade are described. In addition, system architectures for the integration of robots as well as other devices in operating rooms are also introduced and compared.
Xiao Sun; Jun Okamoto; Ken Masamune; Yoshihiro Muragaki. Robotic Technology in Operating Rooms: a Review. Current Robotics Reports 2021, 1 -9.
AMA StyleXiao Sun, Jun Okamoto, Ken Masamune, Yoshihiro Muragaki. Robotic Technology in Operating Rooms: a Review. Current Robotics Reports. 2021; ():1-9.
Chicago/Turabian StyleXiao Sun; Jun Okamoto; Ken Masamune; Yoshihiro Muragaki. 2021. "Robotic Technology in Operating Rooms: a Review." Current Robotics Reports , no. : 1-9.
Photodynamic diagnosis (PDD) provides valuable assistance in distinguishing tumor from the normal tissue using fluorescent colors. These colors are affected by the illumination and the photosensitizer, and PDD may be applied during operation. After the diagnosis, photodynamic therapy (PDT) could destroy tiny lesion without removing the tissue, something that considerably reduces the possibility of tumor recurrence. However, the present endoscope technologies cannot realize PDD and PDT using the same endoscope. The use of different endoscopes presents three main disadvantages. First, the intra-operation diagnosis cannot be realized unless endoscopes are the different during operation; use of different endoscopes further burdens of the surgeon and the patients. Second, it is very difficult to find the exact same area via the PDT endoscope, one that is confirmed as tumor or cancer by the PDD endoscope, when different endoscopes are used just as present applied. Third, the laser irradiation field cannot be controlled with present technologies, something that may hurt the surrounding healthy tissue or blood vessels, thus leading to serious complications. To resolve the above-mentioned problems, we propose a new flexible laser endoscope, which integrates PDD and PDT, and provides a controllable laser irradiation field for the surgeon. Experimental results proved that the resolution of both diagnosis and therapy images were five times higher than that of standard laparoscopy, the laser power density was high enough for PDT for a distance of 20 to 50 mm away from the target tumor, and the position accuracy of the presented system was half of the required errors. Moreover, the in-vitro experiments further verified the effectiveness of the laser endoscope system. Therefore, this new flexible laser endoscope is potentially suitable for future in-vivo experiments or clinical applications.
Y. Hu; K. Masamune. Flexible laser endoscope for minimally invasive photodynamic diagnosis (PDD) and therapy (PDT) toward efficient tumor removal. Optics Express 2017, 25, 16795 -16812.
AMA StyleY. Hu, K. Masamune. Flexible laser endoscope for minimally invasive photodynamic diagnosis (PDD) and therapy (PDT) toward efficient tumor removal. Optics Express. 2017; 25 (14):16795-16812.
Chicago/Turabian StyleY. Hu; K. Masamune. 2017. "Flexible laser endoscope for minimally invasive photodynamic diagnosis (PDD) and therapy (PDT) toward efficient tumor removal." Optics Express 25, no. 14: 16795-16812.
Photodynamic therapy (PDT), which aims to directly destruct tumor cells without any damage to proximal healthy tissue, is widely used in clinics. However, the devices most often employed in hospitals do not readily enable exact control of the irradiated target location. As a result, the laser often irradiates not only the tumor, but also neighboring healthy tissues or blood vessels, with more serious consequences resulting from necrosis. In this paper, we propose a novel flexible coaxial laser endoscope, which localizes the laser illumination only to the selected tumor target, with minimal illumination of the surrounding tissue. In this system, visible light is first transmitted into an imaging-fiber bundle and then reflected by a polarizing beam splitter, which permits initial imaging of the tumor. Once the tumor target is confirmed, an automated stage moves the laser fiber head and focusing lens system to the appropriate position. The laser light is then turned on, passed through a beam splitter, and focused onto the imaging-fiber bundle, ultimately irradiating only the specified target. To evaluate the effectiveness of the device, we first examined the endoscope image quality for MTF50, MTF20, and chromatic aberration, finding high contrast and low aberration. We then measured the laser power at four locations within this system, from the laser fiber head to the endoscope tip. Although some power loss is observed, the power density at the endoscope tip satisfies therapy requirements. Finally, the laser positioning accuracy of our system was measured at 21 positions throughout the endoscope image at distances from 20 mm to 50 mm. We find that the maximum error is less than 1.2 mm, well within clinical requirement. Therefore, we have developed an optimal system for PDT that effectively transmits laser light to the desired target with unprecedented precision, which we anticipate will find wide use in the clinic.
Yan Hu; Ken Masamune. Flexible coaxial laser endoscope with arbitrarily selected spots in endoscopic view for photodynamic tumor therapy. Applied Optics 2016, 55, 8433 .
AMA StyleYan Hu, Ken Masamune. Flexible coaxial laser endoscope with arbitrarily selected spots in endoscopic view for photodynamic tumor therapy. Applied Optics. 2016; 55 (30):8433.
Chicago/Turabian StyleYan Hu; Ken Masamune. 2016. "Flexible coaxial laser endoscope with arbitrarily selected spots in endoscopic view for photodynamic tumor therapy." Applied Optics 55, no. 30: 8433.
To evaluate the accuracy and utility of a new image overlay system using a tablet PC for patients undergoing peripheral arterial reconstruction.
Yasuaki Mochizuki; Akihiro Hosaka; Hiroki Kamiuchi; Jun Xiao Nie; Ken Masamune; Katsuyuki Hoshina; Tetsuro Miyata; Toshiaki Watanabe. New simple image overlay system using a tablet PC for pinpoint identification of the appropriate site for anastomosis in peripheral arterial reconstruction. Surgery Today 2016, 46, 1387 -1393.
AMA StyleYasuaki Mochizuki, Akihiro Hosaka, Hiroki Kamiuchi, Jun Xiao Nie, Ken Masamune, Katsuyuki Hoshina, Tetsuro Miyata, Toshiaki Watanabe. New simple image overlay system using a tablet PC for pinpoint identification of the appropriate site for anastomosis in peripheral arterial reconstruction. Surgery Today. 2016; 46 (12):1387-1393.
Chicago/Turabian StyleYasuaki Mochizuki; Akihiro Hosaka; Hiroki Kamiuchi; Jun Xiao Nie; Ken Masamune; Katsuyuki Hoshina; Tetsuro Miyata; Toshiaki Watanabe. 2016. "New simple image overlay system using a tablet PC for pinpoint identification of the appropriate site for anastomosis in peripheral arterial reconstruction." Surgery Today 46, no. 12: 1387-1393.
This study evaluated the use of an augmented reality navigation system that provides a markerless registration system using stereo vision in oral and maxillofacial surgery. A feasibility study was performed on a subject, wherein a stereo camera was used for tracking and markerless registration. The computed tomography data obtained from the volunteer was used to create an integral videography image and a 3-dimensional rapid prototype model of the jaw. The overlay of the subject’s anatomic site and its 3D-IV image were displayed in real space using a 3D-AR display. Extraction of characteristic points and teeth matching were done using parallax images from two stereo cameras for patient-image registration. Accurate registration of the volunteer’s anatomy with IV stereoscopic images via image matching was done using the fully automated markerless system, which recognized the incisal edges of the teeth and captured information pertaining to their position with an average target registration error of < 1 mm. These 3D-CT images were then displayed in real space with high accuracy using AR. Even when the viewing position was changed, the 3D images could be observed as if they were floating in real space without using special glasses. Teeth were successfully used for registration via 3D image (contour) matching. This system, without using references or fiducial markers, displayed 3D-CT images in real space with high accuracy. The system provided real-time markerless registration and 3D image matching via stereo vision, which, combined with AR, could have significant clinical applications.
Hideyuki Suenaga; Huy Hoang Tran; Hongen Liao; Ken Masamune; Takeyoshi Dohi; Kazuto Hoshi; Tsuyoshi Takato. Vision-based markerless registration using stereo vision and an augmented reality surgical navigation system: a pilot study. BMC Medical Imaging 2015, 15, 1 -11.
AMA StyleHideyuki Suenaga, Huy Hoang Tran, Hongen Liao, Ken Masamune, Takeyoshi Dohi, Kazuto Hoshi, Tsuyoshi Takato. Vision-based markerless registration using stereo vision and an augmented reality surgical navigation system: a pilot study. BMC Medical Imaging. 2015; 15 (1):1-11.
Chicago/Turabian StyleHideyuki Suenaga; Huy Hoang Tran; Hongen Liao; Ken Masamune; Takeyoshi Dohi; Kazuto Hoshi; Tsuyoshi Takato. 2015. "Vision-based markerless registration using stereo vision and an augmented reality surgical navigation system: a pilot study." BMC Medical Imaging 15, no. 1: 1-11.
The aims of this study were to investigate the premarket assessment of autologous chondrocyte implantation (ACI) products especially regarding the non-clinical assessment by surveying the guidelines and review reports of authorized ACI products in detail and to provide information regarding the non-clinical assessment of the safety and efficacy for the future development of regenerative medicine products to design effective premarket assessment. The non-clinical assessment plays a role in justifying the testing of investigational products in humans. Effective non-clinical assessments minimize the risk of clinical trials and achieve prompt product development. In this study, we focused on authorized ACI products that remain in the body of patients for a long time and often contain extrinsic components such as animal tissue-derived collagen. We summarized the details of the characteristics of each ACI product, non-clinical assessment design and related guidelines. To design effective non-clinical assessments, we discussed the evaluation method (particularly the validation of clinical assessment and mechanical property testing), the employed animal models, and the differences in the assessment of the safety and efficacy of the products. Based on these investigations, we provide the details of satisfactory non-clinical assessment of ACI products and indicate the possibility of more effective non-clinical assessment of ACI products and other future regenerative medicine products.
Taisuke Ikawa; Kazuo Yano; Natsumi Watanabe; Ken Masamune; Masayuki Yamato. Non-clinical assessment design of autologous chondrocyte implantation products. Regenerative Therapy 2015, 1, 98 -108.
AMA StyleTaisuke Ikawa, Kazuo Yano, Natsumi Watanabe, Ken Masamune, Masayuki Yamato. Non-clinical assessment design of autologous chondrocyte implantation products. Regenerative Therapy. 2015; 1 ():98-108.
Chicago/Turabian StyleTaisuke Ikawa; Kazuo Yano; Natsumi Watanabe; Ken Masamune; Masayuki Yamato. 2015. "Non-clinical assessment design of autologous chondrocyte implantation products." Regenerative Therapy 1, no. : 98-108.
Low-field open magnetic resonance imaging (MRI) is frequently used for performing image-guided neurosurgical procedures. Intraoperative magnetic resonance (MR) images are useful for tracking brain shifts and verifying residual tumors. However, it is difficult to precisely determine the boundary of the brain tumors and normal brain tissues because the MR image resolution is low, especially when using a low-field open MRI scanner. To overcome this problem, a high-resolution MR image acquisition system was developed and tested.
Kohei Miki; Ken Masamune. High-resolution small field-of-view magnetic resonance image acquisition system using a small planar coil and a pneumatic manipulator in an open MRI scanner. International Journal of Computer Assisted Radiology and Surgery 2015, 10, 1687 -1697.
AMA StyleKohei Miki, Ken Masamune. High-resolution small field-of-view magnetic resonance image acquisition system using a small planar coil and a pneumatic manipulator in an open MRI scanner. International Journal of Computer Assisted Radiology and Surgery. 2015; 10 (10):1687-1697.
Chicago/Turabian StyleKohei Miki; Ken Masamune. 2015. "High-resolution small field-of-view magnetic resonance image acquisition system using a small planar coil and a pneumatic manipulator in an open MRI scanner." International Journal of Computer Assisted Radiology and Surgery 10, no. 10: 1687-1697.
K. Harada; K. Masamune; I. Sakuma; N. Yahagi; T. Dohi; H. Iseki; K. Takakura. Development of a micro manipulator for minimally invasive neurosurgery. Human Friendly Mechatronics 2001, 75 -80.
AMA StyleK. Harada, K. Masamune, I. Sakuma, N. Yahagi, T. Dohi, H. Iseki, K. Takakura. Development of a micro manipulator for minimally invasive neurosurgery. Human Friendly Mechatronics. 2001; ():75-80.
Chicago/Turabian StyleK. Harada; K. Masamune; I. Sakuma; N. Yahagi; T. Dohi; H. Iseki; K. Takakura. 2001. "Development of a micro manipulator for minimally invasive neurosurgery." Human Friendly Mechatronics , no. : 75-80.
T. Oura; R. Nakamura; E. Kobayashi; K. Masamune; I. Sakuma; T. Dohi; T. Tsuji; N. Yahagi; D. Hashimoto; M. Shimada; M. Hashizuma. 2A1-D8 Development of Forceps Manipulator System for Laparoscopic Surgery : Mechanism miniatured & Evaluation of New Interface. The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2001, 2001, 44 .
AMA StyleT. Oura, R. Nakamura, E. Kobayashi, K. Masamune, I. Sakuma, T. Dohi, T. Tsuji, N. Yahagi, D. Hashimoto, M. Shimada, M. Hashizuma. 2A1-D8 Development of Forceps Manipulator System for Laparoscopic Surgery : Mechanism miniatured & Evaluation of New Interface. The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2001; 2001 ():44.
Chicago/Turabian StyleT. Oura; R. Nakamura; E. Kobayashi; K. Masamune; I. Sakuma; T. Dohi; T. Tsuji; N. Yahagi; D. Hashimoto; M. Shimada; M. Hashizuma. 2001. "2A1-D8 Development of Forceps Manipulator System for Laparoscopic Surgery : Mechanism miniatured & Evaluation of New Interface." The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2001, no. : 44.
Y. Takai; Y. Tanaka; K. Masamune; O. Schorr; N. Hata; T. Dohi; I. Sakuma; Y. Muragaki; T. Hori; H. Iseki; T. Takakura. 2A1-D7 Three dimensional ultrasound image displaying system for Neurosurgery. The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2001, 2001, 44 .
AMA StyleY. Takai, Y. Tanaka, K. Masamune, O. Schorr, N. Hata, T. Dohi, I. Sakuma, Y. Muragaki, T. Hori, H. Iseki, T. Takakura. 2A1-D7 Three dimensional ultrasound image displaying system for Neurosurgery. The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec). 2001; 2001 ():44.
Chicago/Turabian StyleY. Takai; Y. Tanaka; K. Masamune; O. Schorr; N. Hata; T. Dohi; I. Sakuma; Y. Muragaki; T. Hori; H. Iseki; T. Takakura. 2001. "2A1-D7 Three dimensional ultrasound image displaying system for Neurosurgery." The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) 2001, no. : 44.