K. Tanimoto

The University of Tokyo, Edo, Tōkyō, Japan

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Publications (7)10.81 Total impact

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    ABSTRACT: BACKGROUND: Microsurgery is a widely performed process in neurosurgery. However, it is difficult for surgeons because manipulating small and long instruments under a microscope often restricts dexterity. Hand tremors are also an issue, as the accuracy required for microsurgery is very high. METHOD: A master-slave robotic platform has been developed for neurosurgery. A position-orientation decoupled design was employed to enhance positioning accuracy, and a smooth trajectory generation method was developed. RESULT: The robotic tasks exhibited improved positioning accuracy compared to manual tasks. Anastomoses of 0.3 and 0.5 mm artificial vessels were successfully performed in end-to-end and end-to-side fashion. CONCLUSION: With the robotic platform, the surgeon was able to perform a fine and complex task, which is very difficult with manual operation. The robotic system showed sufficient accuracy and dexterity, but with a longer task completion time. Further improvement of the dexterity and user interface is expected to realize better performance. Copyright © 2012 John Wiley & Sons, Ltd.
    International Journal of Medical Robotics and Computer Assisted Surgery 06/2013; 9(2). DOI:10.1002/rcs.1434 · 1.53 Impact Factor
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    ABSTRACT: Robotics may improve vitreoretinal surgery by steadying hand motion, thereby reducing negative outcomes. This study aimed to develop a microsurgical robot for vitreoretinal surgery and to perform clinical procedures using robot-assisted interventions. A microsurgical system for vitreoretinal surgery was designed to meet specific requirements for the degree of freedom, accuracy, and workspace. The system was intended to provide micrometer accurate manipulation within the eye. The slave manipulator has a tool change mechanism for switching surgical instruments. The slave manipulator is controlled by the surgeon using a master manipulator consisting of multiple joints. The robotic system was used to carry out microcannulation experiments on a pig's eye. A surgeon was able to successfully perform microcannulation. This microsurgical robotic vitreoretinal surgical system showed superior operability compared with a traditional manual procedure, and it demonstrated sufficient potential to warrant further testing in animal trials to assess its clinical feasibility.
    International Journal of Computer Assisted Radiology and Surgery 05/2011; 7(1):27-34. DOI:10.1007/s11548-011-0602-4 · 1.66 Impact Factor
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    ABSTRACT: For the total knee arthroplasty, we developed the robotic system, such as the cutting feed rate is controlled depending on the hardness of the bone tissue predicted on the basis of the medical image. Since the cutting force is reduced by this system, the displacement of the bone is minimized during the bone cutting process. Therefore it makes a possibility to fix the target bone using “safer” and less-invasive fixation technique.
    Biomedical Robotics and Biomechatronics (BioRob), 2010 3rd IEEE RAS and EMBS International Conference on; 10/2010
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    ABSTRACT: Many of the robots developed so far, including our multi-axis bone cutting robot, use an end mill as the cutting tool, and some problems should be solved to apply them to the minimally invasive orthopedic surgery. Minimally invasive surgery makes the incisions smaller, reduces pain and trauma to the body, and enables faster recovery. The smaller incision means a small and narrow opening area. This means the robot attitude for the bone resection is restricted, and it can result in the collision of the tool with the surrounding tissue, the existence of an untouched area and the degradation of the joint position accuracy. This paper proposes a robot mechanism and a toolpath generation technique specialized for bone cutting is expected to resolve these issues.
    Complex Medical Engineering, 2007. CME 2007. IEEE/ICME International Conference on; 06/2007
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    ABSTRACT: In successful knee arthroplasty, the femur and the tibia must be shaped to fit an artificial joint. The recent trend towards MIS (Minimally Invasive Surgery) to decrease the length of the required incision in the skin has increased surgical difficulty, since the open access area is small. The developed system consists of (1) a preplanning system providing a CAD function, (2) a multi-axis CAM system which avoids cutting the skin and the ligament, and keeps the cutting time within acceptable limits, and (3) a 7-axis machine tool that assures the safety of the patient and the surgeon, and enables MIS.
    CIRP Annals - Manufacturing Technology 01/2007; 56(1-56):405-410. DOI:10.1016/j.cirp.2007.05.094 · 2.54 Impact Factor
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    ABSTRACT: Bone cutting experiments were conducted on a cadaver using a newly developed machine tool. The effectiveness of the system was evaluated by comparing the planned shape for the mating surface between the femur and an artificial joint with the cutting result. It is desirable to know the machining phenomena and characteristics at the microscale because the material and the tissue structure are anisotropic in both cortical and cancellous bones. In the paper, the influence of the material characteristics on machining is discussed for cortical bone. Pig cortical bone was used in the experiment for visualizing 2-dimensional micro-cutting.
    CIRP Annals - Manufacturing Technology 01/2005; 54(1-54):41-46. DOI:10.1016/S0007-8506(07)60045-6 · 2.54 Impact Factor
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    ABSTRACT: The femur and the tibia must be shaped to ensure that they are fit firmly to an artificial joint in total knee joint replacement The normal procedure is to manually cut the bones using a bone saw and mechanical jigs. A 9 axes bone cutting machine tool has been developed by the authors to increase cutting accuracy and reduce the hospital stay required for recuperation. As developed, the cut plane is determined by a 5 degree-of-freedom mechanism and the femur and tibia are cut by moving two translational and one rotational degrees of freedom to avoid the ligament. Preoperative planning system as a CAD/CAM system and overview of the assisting system for total knee arthroplasty are also discussed. Experimental results for bone cutting are presented.
    CIRP Annals - Manufacturing Technology 01/2003; 52(1-52):323-328. DOI:10.1016/S0007-8506(07)60593-9 · 2.54 Impact Factor