Mamoru Mitsuishi

Tokyo Medical University, Edo, Tōkyō, Japan

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Publications (208)141.66 Total impact

  • [Show abstract] [Hide abstract]
    ABSTRACT: The absolute optical thickness of a transparent plate 6-mm thick and 10 mm in diameter was measured by the excess fraction method and a wavelength-tuning Fizeau interferometer. The optical thickness, defined by the group refractive index at the central wavelength, was measured by wavelength scanning. The optical thickness deviation, defined by the ordinary refractive index, was measured using the phase-shifting technique. Two kinds of optical thicknesses, measured by discrete Fourier analysis and the phase-shifting technique, were synthesized to obtain the optical thickness with respect to the ordinary refractive index using Sellmeier equation and least-square fitting.
    Optics Express 02/2015; 23(4). DOI:10.1364/OE.23.004065 · 3.53 Impact Factor
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    ABSTRACT: Abstract Introduction: Though minimally invasive pediatric surgery has become more widespread, pediatric-specific surgical skills have not been quantitatively assessed. Material and methods: As a first step toward the quantification of pediatric-specific surgical skills, a pediatric chest model comprising a three-dimensional rapid-prototyped pediatric ribcage with accurate anatomical dimensions, a suturing skin model with force-sensing capability, and forceps with motion-tracking sensors were developed. A skill assessment experiment was conducted by recruiting 16 inexperienced pediatric surgeons and 14 experienced pediatric surgeons to perform an endoscopic intracorporeal suturing and knot-tying task in both the pediatric chest model setup and the conventional box trainer setup. Results: The instrument motion measurement was successful in only 20 surgeons due to sensor failure. The task completion time, total path length of instruments, and applied force were compared between the inexperienced and experienced surgeons as well as between the box trainer and chest model setups. The experienced surgeons demonstrated better performance in all parameters for both setups, and the pediatric chest model was more challenging due to the pediatric features replicated by the model. Conclusion: The pediatric chest model was valid for pediatric skill assessment, and further analysis of the collected data will be conducted to further investigate pediatric-specific skills.
  • IEEE/ASME Transactions on Mechatronics 01/2015; DOI:10.1109/TMECH.2014.2379257 · 3.65 Impact Factor
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    ABSTRACT: Abstract Purpose: Pediatric endoscopic surgery requires special surgical skills because of the small working space and tissue fragility. This article presents a video-based skill assessment method for endoscopic suturing using a pediatric chest model. Materials and Methods: A commercial suture pad was placed in a rapid-prototyped pediatric chest model of a 1-year-old patient to simulate the thoracoscopic repair of esophageal atresia type C. Twenty-eight pediatric surgeons (9 experts, 9 intermediates, and 10 trainees) performed an endoscopic intracorporeal suturing and knot-tying task both in the pediatric chest model and in a box trainer. The tasks were video-recorded and rated by two blinded observers using the 29-point checklist method and a suturing errors score sheet method. The task completion time and the number of needle manipulations were measured. Results: The expert group showed better performance than the intermediate and trainee groups in the pediatric chest model, and the differences were larger than those in the box trainer. Significant differences between the expert and the trainee groups were observed in the items related to safety such as the skills for keeping the needle in view at all times. Significant differences between the expert and intermediate groups were observed in the items related to task quality and efficiency such as the smoothness of knot tying and the number of needle manipulations. Conclusions: Video-based skill assessment of endoscopic suturing using the pediatric chest model and a box trainer distinguished pediatric endoscopic surgeons according to their clinical experience, and pediatric-specific skills were identified.
    Journal of Laparoendoscopic & Advanced Surgical Techniques 11/2014; DOI:10.1089/lap.2014.0269 · 1.19 Impact Factor
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    ABSTRACT: The surface shape and optical thickness variation of a lithium niobate (LNB) wafer were measured simultaneously using a wavelength-tuning interferometer with a new phase-shifting algorithm. It is necessary to suppress the harmonic signals for testing a highly reflective sample such as a crystal wafer. The LNB wafer subjected to polishing, which is in optical contact with a fused-silica (FS) supporting plate, generates six different overlapping interference fringes. The reflectivity of the wafer is typically 15%, yielding significant harmonic signals. The new algorithm can flexibly select the phase-shift interval and effectively suppress the harmonic signals and crosstalk. Experimental results indicated that the optical thickness variation of the LNB wafer was measured with an accuracy of 2 nm.
    Optics Express 09/2014; 22(18). DOI:10.1364/OE.22.021145 · 3.53 Impact Factor
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    ABSTRACT: For the surface shape measurement of a semiconductor with a highly reflective index, it is important to effectively suppress the harmonic signals from multiple reflections. In application, the phase extraction algorithm should have a maximum value when there is no phase-shift miscalibration. In this presentation, a new 4N - 3 phase extraction algorithm, which has the ability to suppress harmonic signals and exhibits a fringe contrast maximum value when there is no phaseshift error, was derived. This new 4N - 3 algorithm consists of a new polynomial window function and a discrete Fourier transform term and has the ability to compensate for 2nd-order nonlinearity in the phase shift. The suppression ability of the new polynomial window function is compared with other conventional window functions. The sampling functions of the new 4N - 3 algorithm have much smaller amplitudes in the vicinity of the detection frequency than does synchronous detection or other phase extraction algorithms with conventional window functions.
    SPIE Optical Engineering + Applications; 08/2014
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    ABSTRACT: Neurosurgical procedures require precise and dexterous manipulation of a surgical suture in narrow and deep spaces in the brain. This is necessary for surgical tasks such as the anastomosis of microscopic blood vessels and dura mater suturing. A hand-held multi-degree of freedom (DOF) robotic forceps was developed to aid the performance of such difficult tasks. The diameter of the developed robotic forceps is 3.5 mm, and its tip has three DOFs, namely, bending, rotation, and grip. Experimental results showed that the robotic forceps had an average needle insertion force of 1.7 N. Therefore, an increase in the needle insertion force is necessary for practical application of the developed device.
  • P Plotner, K Harada, N Sugita, M Mitsuishi
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    ABSTRACT: The field of medical microrobotics is rapidly progressing; however, it is particularly challenging to control microrobots inside blood vessels. In this paper, the magnetic propulsion of a microrobot in pulsating flow is investigated. Regarding this task, the advantages of a reduced blood flow velocity are examined. The required magnetic field gradient in relation to the size of the microrobot is theoretically analyzed and compared to that for propulsion during reduced blood flow velocity. Quantitative and qualitative advantages together with the practical challenges are discussed.
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    ABSTRACT: A five degree-of-freedom (DOF) miniature parallel robot has been developed to precisely and safely remove the thin internal limiting membrane in the eye ground during vitreoretinal surgery. A simulator has been developed to determine the design parameters of this robot. The developed robot's size is 85 mm × 100 mm × 240 mm, and its weight is 770 g. This robot incorporates an emergency instrument retraction function to quickly remove the instrument from the eye in case of sudden intraoperative complications such as bleeding. Experiments were conducted to evaluate the robot's performance in the master-slave configuration, and the results demonstrated that it had a tracing accuracy of 40.0 μm.
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    ABSTRACT: In phase shifting interferometry, the fringe contrast is preferred to be at a maximum when there is no phase shift error. In the measurement of highly-reflective surfaces, the signal contrast is relatively low and the measurement would be aborted when the contrast falls below a threshold value. The fringe contrast depends on the design of the phase shifting algorithm. The condition for achieving the fringe contrast maximum is derived as a set of linear equations of the sampling amplitudes. The minimum number of samples necessary for constructing an error-compensating algorithm that is insensitive to the jth harmonic component and to the phase shift error is discussed. As examples, two new algorithms (15-sample and (3N – 2)-sample) were derived that are useful for the measurement for highly-reflective surfaces.
    Optics Express 07/2014; 22(15). DOI:10.1364/OE.22.018203 · 3.53 Impact Factor
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    ABSTRACT: The authors have developed a bed-type non-invasive ultrasound theragnostic system (NIUTS) that compen-sates for movement by tracking and following the area to be treated by stereo ultrasound imaging while irradiating high-intensity focused ultrasound (HIFU) onto the affected area. In this paper, we propose a novel robust template matching method to track and follow body targets, which include tumors and stones for the NIUTS. The proposed novel robust template matching method could be applied to a motion tracking of the real human kidney based on the ultrasound images, which is the first successful report as far as I know. This robust visual servoing method could be a great tool to treat the tumors and stones precisely and safely.
    2014 IEEE Int. Conf. Robotics and Automation (ICRA 2014); 05/2014
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    ABSTRACT: Interferometric surface measurement of parallel plates presents considerable technical difficulties owing to multiple beam interference. To apply the phase-shifting technique, it is necessary to use an optical-path-difference-dependent technique such as wavelength tuning that can separate interference signals in the frequency domain. In this research, the surface shape and optical thickness variation of a lithium niobate wafer for a solid Fabry-Perot etalon during the polishing process were measured simultaneously using a wavelength-tuning Fizeau interferometer with a novel phase shifting algorithm. The novel algorithm suppresses the multiple beam interference noise and has sidelobes with amplitudes of only 1% of that of the main peak. The wafer, which was in contact with a supporting glass parallel plate, generated six different interference fringes that overlapped on the detector. Wavelength-tuning interferometry was employed to separate the specific interference signals associated with the target different optical paths in the frequency domain. Experimental results indicated that the optical thickness variation of a circular crystal wafer 74 mm in diameter and 5-mm thick was measured with an uncertainty of 10 nm PV.
    SPIE Photonics Europe; 05/2014
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    ABSTRACT: Nonlinearity and non-uniformity of phase-shifts significantly contribute to the error of the evaluated phase in phase-shifting interferometry. However, state of the art error-compensating algorithms can counteract the linear mis-calibration and first-order nonlinearity associated with the phase-shift. We describe an error expansion method that is utilized to construct a phase-shifting algorithm that can compensate the second-order nonlinearity and non-uniformity of phase-shifts. The conditions for eliminating the effect of second-order nonlinearity and non-uniformity of phase-shifts are given as a set of linear equations for the sampling amplitudes. We developed a novel 11-sample phase-shifting algorithm that can compensate for the second-order nonlinearity and non-uniformity of phase-shifts and is robust up to a 4th harmonic. Experimental results show that the surface shape of a transparent plate could be measured with a precision of 1 nm, over the 120-mm-diameter aperture.
    SPIE Advanced Lithography; 04/2014
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    ABSTRACT: In this paper, an improved mechanistic model is developed to predict the thrust force and torque for bone-drilling operation. The cutting action at the drill point is divided into three regions: the cutting lips, outer portion of the chisel edge (the secondary cutting edges), and inner portion of the chisel edge (the indentation zone). Models that account for the unique mechanics of the cutting process for each of the three regions are formulated. The models are calibrated to bovine cortical bone material using specific cutting pressure equations with modification to take advantage of the characteristics of the drill point geometry. The models are validated for the cutting lips, the chisel edge, and entire drill point for a wide range of spindle speed and feed rate. The predicted results agree well with experimental results. Only the predictions for the drilling torque on the chisel edge are lower than the experimental results under some drilling conditions. The model can assist in the selection of favorable drilling conditions and drill-bit geometries for bone-drilling operations.
    Journal of Materials Processing Technology 04/2014; 214(4):1018–1026. DOI:10.1016/j.jmatprotec.2013.11.001 · 2.04 Impact Factor
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    ABSTRACT: Background Microcannulation, a surgical procedure for the eye that requires drug injection into a 60–90 µm retinal vein, is difficult to perform manually. Robotic assistance has been proposed; however, its effectiveness in comparison to manual operation has not been quantified.Methods An eye model has been developed to quantify the performance of manual and robotic microcannulation. The eye model, which is implemented with a force sensor and microchannels, also simulates the mechanical constraints of the instrument's movement. Ten subjects performed microcannulation using the model, with and without robotic assistance.ResultsThe results showed that the robotic assistance was useful for motion stability when the drug was injected, whereas its positioning accuracy offered no advantage.Conclusions An eye model was used to quantitatively assess the robotic microcannulation performance in comparison to manual operation. This approach could be valid for a better evaluation of surgical robotic assistance. Copyright © 2014 John Wiley & Sons, Ltd.
    International Journal of Medical Robotics and Computer Assisted Surgery 04/2014; DOI:10.1002/rcs.1586 · 1.53 Impact Factor
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    ABSTRACT: Yttria-stabilized tetragonal zirconia polycrystal (Y-TZP) is a promising biomaterial for use in dental and femoral implants. The current method for machining Y-TZP involves grinding after sintering. However, the grinding process is time consuming and therefore costly. To resolve these issues, this paper proposes a precision cutting process that utilizes a UV-laser-assisted machining method that requires no expensive cutting tools such as diamond tools. The UV laser is used to heat the Y-TZP, which improves its machinability. First, we performed experiments to determine that the most suitable machining temperature was 600 °C. A simulation was then used to determine the optimal distance between the tool edge and the laser spot. Finally, experiments using a UV laser were conducted to confirm the effectiveness of using a UV laser for machining. In these experiments, a Y-TZP sample was cut, and grooves were generated. The carved grooves were 20 mm long, 100 μm wide, and approximately 10 μm deep. Cutting without using a UV laser was also performed as a reference experiment. The results show that the use of the laser significantly decreased the number of large cracks from 14 to 3, the specific cutting energy by 35%, and the breakage of the tool edge. These results demonstrate the possibility of enhancing the productivity of Y-TZP products.
    Journal of Materials Processing Technology 02/2014; 214(2):267–275. DOI:10.1016/j.jmatprotec.2013.09.015 · 1.95 Impact Factor
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    ABSTRACT: Forceps tracking is an important element of high-level surgical assistance such as visual servoing and motion analysis. This paper describes a robust, efficient tracking algorithm capable of estimating the forceps tip position in an image space by fusing visual tracking data with kinematic information. In visual tracking, the full-state parameters of forceps are estimated using the projective contour models of a 3-D CAD model of the forceps. The likelihood of the contour model is measured using the distance transformation to enable fast calculation, and the particle filter estimates the full state of the forceps. For more robust tracking, the result data obtained from visual tracking are combined with kinematic data that are obtained by forward kinematics and hand–eye transformation. The fusion of visual and kinematic tracking data is performed using an adaptive Kalman filter, and the fused tracking enables the reinitialization of visual tracking parameters when a failure occurs. Experimental results indicate that the proposed method is accurate and robust to image noise, and forceps tracking was successfully carried out even when the forceps was out of view.
    IEEE/ASME Transactions on Mechatronics 02/2014; 19(1):278-288. DOI:10.1109/TMECH.2012.2230402 · 3.65 Impact Factor
  • Toru Kizaki, Kanako Harada, Mamoru Mitsuishi
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    ABSTRACT: The thermally assisted machining of yttria-stabilized tetragonal zirconia polycrystal using a cutting tool heated with induction heating was proposed. Although the conventional thermally assisted machining cannot be applied to drilling, the proposed method can be. Heat transfer from the heated cutting tool to the workpiece was simulated analytically, and the result showed that heating of the tool up to 500 °C produced an increase of 150–400 °C in the workpiece temperature. Cutting experiments demonstrated an improvement in machinability.
    CIRP Annals - Manufacturing Technology 01/2014; 63(1). DOI:10.1016/j.cirp.2014.03.073 · 2.54 Impact Factor
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    ABSTRACT: In this paper, we propose a method for identifying systems incorporating a mechanical oscillation part for a non-invasive ultrasound theragnostic system(NIUTS). The NIUTS tracks and follows movement in an area requiring treatment (renal stones, in this study) by irradiating the area with high intensity focused ultrasound (HIFU). Blur noise caused by oscillation of the mechanical system adversely affects the servo performance. To solve this problem and enhance the servo performance, it is first necessary to identify those parts of the NIUTS system that incorporate a mechanical oscillation part. Secondly, we implemented a mechanical oscillation suppression filter based on the abovementioned method for identifying the mechanical oscillation part.

Publication Stats

1k Citations
141.66 Total Impact Points

Institutions

  • 2013
    • Tokyo Medical University
      Edo, Tōkyō, Japan
  • 1–2013
    • The University of Tokyo
      • • Department of Mechanical Engineering
      • • Department of Medical Engineering
      • • Research Center for Advanced Science and Technology
      Tōkyō, Japan
  • 2008
    • Nagoya Institute of Technology
      Nagoya, Aichi, Japan
  • 2004
    • Okayama University
      • Department of Orthopaedic Surgery
      Okayama, Okayama, Japan