Mobile Robot with Following Function and Autonomous Return Function

Naoki Tsuda,Shuji Harimoto,Takeshi Saitoh,Ryosuke Konishi 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8

This paper proposes the mobile robot consisted of following function and returning function with monocular camera. In the following function, the robot follows the target object such as the person who walks in front of robot, and moves until reaching his destination. To follow him, the region extraction method is applied. Furthermore, the robot records the moving route. In the returning function, the robot moves by tracing the recorded route. We developed the mobile robot based on the electronic wheelchair and carried out several experiments. As the result, we confirm that our robot moves both following mode and returning mode adequate accuracy.

Pancreatic Compression during Lymph Node Dissection in Laparoscopic Gastrectomy: Possible Cause of Pancreatic Leakage

Satoshi Ida,Naoki Hiki,Takeaki Ishizawa,Yugo Kuriki,Mako Kamiya,Yasuteru Urano,Takuro Nakamura,Yasuo Tsuda,Yosuke Kano,Koshi Kumagai,Souya Nunobe,Manabu Ohashi,Takeshi Sano 대한위암학회 2018 Journal of gastric cancer Vol.18 No.2

Purpose: Postoperative pancreatic fistula is a serious and fatal complication of gastrectomy for gastric cancer. Blunt trauma to the parenchyma of the pancreas can result from an assistant's forceps compressing and retracting the pancreas, which in turn may result in pancreatic juice leakage. However, no published studies have focused on blunt trauma to the pancreas during laparoscopic surgery. Our aim was to investigate the relationship between compression of the pancreas and pancreatic juice leakage in a swine model. Materials and Methods: Three female pigs were used in this study. The pancreas was gently compressed dorsally for 15 minutes laparoscopically with gauze grasped with forceps. Pancreatic juice leakage was visualized by fluorescence imaging after topical administration of chymotrypsin-activatable fluorophore in real time. Amylase concentrations in ascites collected at specified times was measured. In addition, pancreatic tissue was fixed with formalin, and the histology of the compressed sites was evaluated. Results: Fluorescence imaging enabled visualization of pancreatic juice leaking into ascites around the pancreas. Median concentrations of pancreatic amylase in ascites increased from 46 U/L preoperatively to 12,509 U/L 4 hours after compression. Histological examination of tissues obtained 4 hours after compression revealed necrotic pancreatic acinar cells extending from the surface to deep within the pancreas and infiltration of inflammatory cells. Conclusions: Pancreatic compression by the assistant's forceps can contribute to pancreatic juice leakage. These findings will help to improve the procedure for lymph node dissection around the pancreas during laparoscopic gastrectomy.

Pheromone Studies on Astigmatid Mites: Recent Progress - A Comparison of Molecular Phylogeny, Distribution and Function of Female Sex Pheromone in Caloglyphus spp.(Acarina: Acaridae)

Yasumasa Kuwahara,Naoki Mori,Kiminori Shimizu,Chihiro Tanaka,Mitusya Tsuda Korean Society of Applied Entomology 1998 Journal of Asia-Pacific Entomology Vol.1 No.1

Female sex pheromones, which elicit mounting behavior of conspecific males, were identified in 4 species of the genus Caloglyphus(Acarina: Acaridae). Although the sex pheromones are distributed over both males and femles, they could be classified into two groups; one is an adult-specific pheromone, and the other is one that is detectable even in nymphal stages. In addition, in the adult-specific species, the pheromonal content ratios of female to male were found to be larger than those observed in the nonspecific species. The two types of pheromonal distribution were compared with phylogenetic relationships based on a portion of the mitochondrial cytochrome oxidase subunit I(COI) gene in the four species. The polymerase chain reaction was used to amplify the COI from the four mites, with primers used in spider mites(Tetranychidae). Fragments of the COI(453bp) were obtained for the three species. The phylogenetic tree, based on the COI sequences, was inferred using a maximum parsimony method. Analysis of the pheromonal distribution within this phylogenetic framework agreed with the hypothesis that the mite sex pheromone evolved from a common compound, which originally fundtioned as a male sexual excitant, into a biologically active, sex linked specific one.

Pancreatic Compression during Lymph Node Dissection in Laparoscopic Gastrectomy: Possible Cause of Pancreatic Leakage

Ida, Satoshi,Hiki, Naoki,Ishizawa, Takeaki,Kuriki, Yugo,Kamiya, Mako,Urano, Yasuteru,Nakamura, Takuro,Tsuda, Yasuo,Kano, Yosuke,Kumagai, Koshi,Nunobe, Souya,Ohashi, Manabu,Sano, Takeshi The Korean Gastric Cancer Association 2018 Journal of gastric cancer Vol.18 No.2

Purpose: Postoperative pancreatic fistula is a serious and fatal complication of gastrectomy for gastric cancer. Blunt trauma to the parenchyma of the pancreas can result from an assistant's forceps compressing and retracting the pancreas, which in turn may result in pancreatic juice leakage. However, no published studies have focused on blunt trauma to the pancreas during laparoscopic surgery. Our aim was to investigate the relationship between compression of the pancreas and pancreatic juice leakage in a swine model. Materials and Methods: Three female pigs were used in this study. The pancreas was gently compressed dorsally for 15 minutes laparoscopically with gauze grasped with forceps. Pancreatic juice leakage was visualized by fluorescence imaging after topical administration of chymotrypsin-activatable fluorophore in real time. Amylase concentrations in ascites collected at specified times was measured. In addition, pancreatic tissue was fixed with formalin, and the histology of the compressed sites was evaluated. Results: Fluorescence imaging enabled visualization of pancreatic juice leaking into ascites around the pancreas. Median concentrations of pancreatic amylase in ascites increased from 46 U/L preoperatively to 12,509 U/L 4 hours after compression. Histological examination of tissues obtained 4 hours after compression revealed necrotic pancreatic acinar cells extending from the surface to deep within the pancreas and infiltration of inflammatory cells. Conclusions: Pancreatic compression by the assistant's forceps can contribute to pancreatic juice leakage. These findings will help to improve the procedure for lymph node dissection around the pancreas during laparoscopic gastrectomy.

DNA mismatch repair-related protein loss as a prognostic factor in endometrial cancers

Masafumi Kato,Masashi Takano,Morikazu Miyamoto,Naoki Sasaki,Tomoko Goto,Hitoshi Tsuda,Kenichi Furuya 대한부인종양학회 2015 Journal of Gynecologic Oncology Vol.26 No.1

Objective: Recent investigations have revealed DNA mismatch repair (MMR) gene mutations are closely related with carcinogenesis of endometrial cancer; however the impact of MMR protein expression on prognosis is not determined. Correlations between MMR-related protein expression and clinicopathological factors of endometrial cancers are analyzed in the present study. Methods: A total of 191 endometrial cancer tissues treated between 1990 and 2007 in our hospital were enrolled. Immunoreactions for MSH2, MLH1, MSH6, and PMS2 on tissue microarray specimens and clinicopathological features were analyzed retrospectively. Results: Seventy-six cases (40%) had at least one immunohistochemical alteration in MMR proteins (MMR-deficient group). There were statistically significant differences of histology, International Federation of Gynecology and Obstetrics (FIGO) stage, and histological grade between MMR-deficient group and the other cases (MMR-retained group). Response rate of first-line chemotherapy in evaluable cases was slightly higher in MMR-deficient cases (67% vs. 44%, p=0.34). MMR-deficient cases had significantly better progression-free and overall survival (OS) compared with MMR-retained cases. Multivariate analysis revealed MMR status was an independent prognostic factor for OS in endometrial cancers. Conclusion: MMR-related proteins expression was identified as an independent prognostic factor for OS, suggesting that MMR was a key biomarker for further investigations of endometrial cancers.

Clear cell histology as a poor prognostic factor for advanced epithelial ovarian cancer: a single institutional case series through central pathologic review

Morikazu Miyamoto,Masashi Takano,Tomoko Goto,Masafumi Kato,Naoki Sasaki,Hitoshi Tsuda,Kenichi Furuya 대한부인종양학회 2013 Journal of Gynecologic Oncology Vol.24 No.1

Objective: Compared with serous adenocarcinoma (SAC), clear cell carcinoma (CCC) often shows chemo-resistance, which would potentially lead to a poor prognosis. On the other hand, there have been arguments over prognoses of CCC and SAC disease. In the present study, multivariate analysis to compare prognosis of CCC patients with that of SAC was aimed for the patients selected from central pathologic review. Methods: Between 1984 and 2009, a total of 500 ovarian cancer patients were treated at our university hospital. Among them,111 patients with CCC and 199 patients with SAC were identified through central pathological review. Overall survival and progression-free survival were compared using Kaplan-Meier method, and prognostic factors were investigated by multiple regression analyses. Results: Median age was 52 years for CCC and 55 years for SAC (p=0.03). The ratio of stage I patients were significantly higher in CCC compared with SAC (55% vs. 13%, p<0.01). Among evaluable cases, response rate was significantly lower in CCC than that in SAC (32% vs. 78%, p<0.01). No significant differences of progression-free survival and overall survival were observed in stage I patients; however, prognoses of CCC were significantly poorer than those of SAC in advanced-stage disease. In stage II-IV patients, not only residual tumors and clinical stages, but also clear cell histology were identified as predictors for poor prognosis. Conclusion: Clear cell histology was identified as a prognostic factor for advanced-stage ovarian cancers. Histologic subtypes should be considered in further clinical studies, especially for advanced epithelial ovarian cancers.