Mamoru Mitsuishi

The University of Tokyo, 白山, Tōkyō, Japan

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Publications (258)173.46 Total impact

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    ABSTRACT: Shock wave lithotripsy has generally been a fi rst choice for kidney stone removal. The shock wave lithotripter uses an order of microsecond pulse durations and up to a 100 MPa pressure spike triggered at approximately 0.5-2 Hz to fragment kidney stones through mechanical mechanisms. One important mechanism is cavitation. We proposed an alternative type of lithotripsy method that maximizes cavitation activity to disintegrate kidney stones using high-intensity focused ultrasound (HIFU). Here we outline the method according to the previously published literature (Matsumoto et al., Dynamics of bubble cloud in focused ultrasound. Proceedings of the second international symposium on therapeutic ultrasound, pp 290-299, 2002; Ikeda et al., Ultrasound Med Biol 32:1383-1397, 2006; Yoshizawa et al., Med Biol Eng Comput 47:851-860, 2009; Koizumi et al., A control framework for the non-invasive ultrasound the ragnostic system. Proceedings of 2009 IEEE/RSJ International Conference on Intelligent Robotics and Systems (IROS), pp 4511-4516, 2009; Koizumi et al., IEEE Trans Robot 25:522-538, 2009). Cavitation activity is highly unpredictable; thus, a precise control system is needed. The proposed method comprises three steps of control in kidney stone treatment. The fi rst step is control of localized high pressure fl uctuation on the stone. The second step is monitoring of cavitation activity and giving feedback on the optimized ultrasound conditions. The third step is stone tracking and precise ultrasound focusing on the stone. For the high pressure control we designed a two-frequency wave (cavitation control (C-C) waveform); a high frequency ultrasound pulse (1–4 MHz) to create a cavitation cloud, and a low frequency trailing pulse (0.5 MHz) following the high frequency pulse to force the cloud into collapse. High speed photography showed cavitation collapse on a kidney stone and shock wave emission from the cloud. We also conducted in-vitro erosion tests of model and natural kidney stones. For the model stones, the erosion rate of the C-C waveform showed a distinct advantage with the combined high and low frequency waves over either wave alone. For optimization of the high frequency ultrasound intensity, we investigated the relationship between subharmonic emission from cavitation bubbles and stone erosion volume. For stone tracking we have also developed a non-invasive ultrasound theragnostic system (NIUTS) that compensates for kidney motion. Natural stones were eroded and most of the resulting fragments were less than 1 mm in diameter. The small fragments were small enough to pass through the urethra. The results demonstrate that, with the precise control of cavitation activity, focused ultrasound has the potential to be used to develop a less invasive and more controllable lithotripsy system.
    No preview · Article · Jan 2016
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    Yangjin Kim · Kenichi Hibino · Naohiko Sugita · Mamoru Mitsuishi
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    ABSTRACT: Wavelength tuning interferometry is used to measure and estimate the surface shape of a sample. However, in multilayer interferometry (e.g., a lithium niobate [LNB] crystal wafer attached to a supporting plate), the correlated error between the higher harmonics and the phase-shift error causes considerable error in the calculated phase. In this study, the correlated errors calculated by various types of windowed phase-shifting algorithms are analyzed in connection with the characteristic polynomial theory and Fourier representation of the algorithms. The surface shape and optical thickness variation of the LNB wafer are measured simultaneously using the windowed phase-shifting algorithms. The results are compared in terms of the observed ripples and measurement repeatability. The experimental results show that the 4N - 3 algorithm is optimal and possesses the smallest repeatability error. (C) 2015 Optical Society of America
    Full-text · Article · Dec 2015 · Applied Optics
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    Yangjin Kim · Kenichi Hibino · Naohiko Sugita · Mamoru Mitsuishi

    Full-text · Article · Dec 2015 · Optics Express
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    ABSTRACT: Background: Laparoscopic Kasai portoenterostomy has been performed in infants with biliary atresia at several institutions, but laparoscopic anastomosis requiring multi-directional suturing on a vertical plane of the liver remains a challenge. To assist multi-directional suturing, we developed a multi-degree-of-freedom (DOF) needle driver whose tip length was 15 mm and shaft diameter was 3.5 mm. The tip of the multi-DOF needle driver has three DOFs for grasp, flection and rotation. The aim of this study was to evaluate the performance of the multi-DOF needle driver in two kinds of in vivo experiments. Methods: Surgeons were asked to perform four-directional laparoscopic suturing on a vertical plane of the liver in six rabbits using the multi-DOF needle driver or a conventional needle driver. The needle grasping time, the needle handling time, the number of needle insertions, the number of liver lacerations, the suturing width and depth, and the area of necrotic tissues were analyzed and compared. Additionally, one surgeon was asked to perform laparoscopic hepato-jejunostomy in four rabbits to assess the feasibility of Kasai portoenterostomy using the multi-DOF needle driver. Results: The suturing depth using the multi-DOF needle driver was significantly larger than that using the conventional needle driver in both the right and downward suturing directions. No statistically significant differences were found in other metrics. Liver lacerations were observed only when suturing was performed using the conventional needle driver. The experimental laparoscopic hepato-jejunostomy using the multi-DOF needle driver was successful. Conclusions: Using the multi-DOF needle driver, uniform multi-directional suturing on a vertical plane of the liver could be performed. The short distal tip of the multi-DOF needle driver demonstrated its advantages in multi-directional suturing in a small body cavity. The multi-DOF needle driver may be able to be used to perform complex tasks in laparoscopic Kasai portoenterostomy.
    No preview · Article · Oct 2015 · Surgical Endoscopy
  • Takayuki Osa · Satoshi Uchida · Naohiko Sugita · Mamoru Mitsuishi
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    ABSTRACT: Teleoperated surgical systems have great potential to improve the performance of surgeons, and their use has spread worldwide in recent years. However, there are some issues that need to be resolved to make robotic surgery more reliable. For instance, the safety of current teleoperated surgical systems is dependent on the performance of the human operator, but human operators can sometimes commit errors. Therefore, a mechanism to ensure the safety of teleoperated surgery should be developed. This paper presents a hybrid system for rate control and admittance control for use in bilateral teleoperation. The proposed control system autonomously avoids excessive contact forces by switching between the rate control mode and the admittance control mode in a stable manner. The stability of the proposed control scheme was analyzed, and the system was found to be able to keep the contact force within an acceptable range. The performance of the proposed control scheme was verified through simulations and experiments. The results of the experiments and simulations showed that the proposed control scheme makes it possible to avoid excessive contact force in a stable manner.
    No preview · Article · Oct 2015 · IEEE/ASME Transactions on Mechatronics
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    Yangjin Kim · Kenichi Hibino · Naohiko Sugita · Mamoru Mitsuishi
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    ABSTRACT: Indium-tin oxide (ITO) thin films have been widely used in displays such as liquid crystal displays and touch panels because of their favorable electrical conductivity and optical transparency. The surface shape and thickness of ITO thin films must be precisely measured to improve their reliability and performance. Conventional measurement techniques take single point measurements and require expensive systems. In this paper, we measure the surface shape of an ITO thin film on top of a transparent plate using wavelength-tuning Fizeau interferometry. The surface shape was determined by compensating for the phase error introduced by optical interference from the thin film, which was calculated using the phase and amplitude distributions measured by wavelength-tuning. The proposed measurement method achieved noncontact, large-aperture, and precise measurements of transparent thin films. The surface shape of the sample was experimentally measured to an accuracy of 5.13 nm.
    Full-text · Article · Sep 2015 · Applied Optics
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    Yangjin Kim · Kenichi Hibino · Naohiko Sugita · Mamoru Mitsuishi
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    ABSTRACT: This paper presents the derivation of a 17-sample phase-shifting algorithm that can compensate the miscalibration and first-order nonlinearity of phase shift error, coupling error, and bias modulation of the intensity and satisfy the fringe contrast maximum condition. The phase error of measurements performed using the 17-sample algorithm is discussed and compared with those of measurements obtained using other algorithms. Finally, the optical thickness variation of a BK7 optically transparent plate obtained using a wavelength tuning Fizeau interferometer and the 17-sample algorithm are presented. The experimental results indicate that the optical thickness variation measurement accuracy for the BK7 plate was 3 nm.
    Full-text · Article · Sep 2015 · Optics Express
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    Yangjin Kim · Kenichi Hbino · Naohiko Sugita · Mamoru Mitsuishi
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    ABSTRACT: Optical thickness is a fundamental characteristic of an optical component. A measurement method combining discrete Fourier-transform (DFT) analysis and a phase-shifting technique gives an appropriate value for the absolute optical thickness of a transparent plate. However, there is a systematic error caused by the nonlinearity of the phase-shifting technique. In this research the absolute optical-thickness distribution of mask blank glass was measured using DFT and wavelength-tuning Fizeau interferometry without using sensitive phase-shifting techniques. The error occurring during the DFT analysis was compensated for by using the unwrapping correlation. The experimental results indicated that the absolute optical thickness of mask glass was measured with an accuracy of 5 nm.
    Full-text · Article · Jul 2015 · Optics Letters
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    ABSTRACT: There is an ongoing demand for temperature measurement during machining processes; however, accomplishing this often proves to be a major challenge. In this paper, we propose a micro temperature sensor that is integrated on the rake face of a cutting tool. Specifically, we propose an array of micro thermocouples, which is implemented on an insert. After calibration, some experiments were conducted with an MC nylon workpiece. The performance of the proposed sensor was evaluated from the obtained thermo-electromotive force and the temperature measurements taken at multiple points.
    No preview · Article · Jun 2015 · CIRP Annals - Manufacturing Technology
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    Full-text · Article · Jun 2015
  • Jianbo Sui · Naohiko Sugita · Mamoru Mitsuishi
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    ABSTRACT: This paper provides a methodology to develop a thermal model for predicting the temperature rise during surgical drilling of bone. The thermal model consists of heat generation calculation based on classical machining theory and development of governing equations of heat transfer individually for drill bit and bone. These two governing equations are coupled by shared boundary conditions. Finite-difference method is utilized to approximate the thermal model and effects of drill bit geometry and process parameters on temperature rise are evaluated by comparison with experiments. The simulated results fit well with experiments with respect to different drill bit geometry (<3.02 °C) and process parameters (<4.32 °C).
    No preview · Article · Jun 2015 · Journal of Manufacturing Science and Engineering
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    Yangjin Kim · Kenichi Hibino · Naohiko Sugita · Mamoru Mitsuishi
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    ABSTRACT: In phase-shifting Fizeau interferometers, the phase-shift error and multiple-beam interference are the most common sources of systematic error affecting high-precision phase measurements. The nonsinusoidal waveforms can be minimized by applying synchronous detection with more than 4-sample. However, when the phase-shift calibration is inaccurate, these algorithms cannot eliminate the effects of nonsinusoidal characteristics. Moreover, when measuring the surface profile of highly reflective samples, the calculated phase is critically determined not only by the decrease in the fringe contrast but also by the coupling error between the harmonics and phase-shift error. In this paper, the phase errors calculated by conventional phase-shifting algorithms were estimated by considering the coupling error. We show that the 4N - 3 algorithm, comprising the polynomial window function and the DFT term, has the smallest phase error among the conventional phase-shifting algorithms. The surface profile of the highly reflective silicon wafer was measured using a wavelength-tuning Fizeau interferometer and the 4N - 3 algorithm.
    Full-text · Article · May 2015 · Applied Optics
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    ABSTRACT: In spinal surgery, a surgeon often needs to remove some parts of the spine to relieve the pressure on the spinal cord or other nerves. In this procedure, the surgeon needs to cut and drill some holes in the spine. This operation is very risky because there are some nerves beneath the target bones, and this procedure therefore requires a skilled and experienced surgeon. However, if the cutting tool could detect penetration of the bone autonomously, the safety of the procedure would be improved drastically. This study presents a hand-held bone cutting tool system that detects the penetration of the workpiece. The system learns the cutting states and motion states from demonstrations by a surgeon, and it autonomously detects the penetration of the workpiece and stops the actuation of the cutting tool immediately before total penetration. The proposed scheme for penetration detection does not require knowledge of the shape and the position of the workpiece and, therefore, it does not require any costly systems, such as robotic arms and position sensor systems. In addition, the proposed scheme can be easily applied to various shapes of the cutting tool, such as drills and saws. The developed system was evaluated through experiments. The results showed that the performance of the developed system was satisfactory in both a motorized and a hand-held setup.
    No preview · Article · Apr 2015 · IEEE/ASME Transactions on Mechatronics
  • Jumpei Arata · Mamoru Mitsuishi · Makoto Hashizume
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    ABSTRACT: In our past study, we have developed a robotic tele-surgery system that is capable of performing a laparoscopie surgery within a long distance through the Internet. To show the feasibility of tele-surgery within long distance, we have conducted several times of tele-surgery experiments between Japan-Korea and Japan-Thailand. Laparoscopie cholecystectomy have been successfully performed in these tests and showed the positive feasibility of tele-surgery.
    No preview · Article · Mar 2015
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    Yangjin Kim · Kenichi Hibino · Naohiko Sugita · Mamoru Mitsuishi
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    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.
    Full-text · Article · Feb 2015 · Optics Express
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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.
    No preview · Article · Jan 2015 · Minimally Invasive Therapy & Allied Technologies
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    Preview · Article · Jan 2015
  • 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.
    No preview · Article · Dec 2014 · CIRP Annals - Manufacturing Technology
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    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.
    No preview · Article · Nov 2014 · Journal of Laparoendoscopic & Advanced Surgical Techniques
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    Full-text · Dataset · Nov 2014

Publication Stats

2k Citations
173.46 Total Impact Points

Institutions

  • 1-2015
    • The University of Tokyo
      • • Department of Medical Engineering
      • • Department of Gynecologic Surgery
      • • Research Center for Advanced Science and Technology
      • • Department of Mechanical Engineering
      白山, Tōkyō, Japan
  • 2012
    • Osaka University
      • School of Medicine
      Suika, Ōsaka, Japan
  • 2008
    • Nagoya Institute of Technology
      Nagoya, Aichi, Japan
  • 2004-2006
    • Okayama University
      • Department of Orthopaedic Surgery
      Okayama, Okayama, Japan