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Haptic Force Simulation for Cardiac Muscle Palpation Training System
Yusuke Nakagawa,Ryuichi Oguro 제어로봇시스템학회 2009 제어로봇시스템학회 국제학술대회 논문집 Vol.2009 No.8
In this paper, we present the mechanical palpation training system for cardiac muscle treatment, and propose the spring-system model based on the feedback control, which is for a regeneration of palpation feeling. Our approach is to directly touch the linear actuator, get optical reactive force with the control of spring stretch and recognize it as a feeling. In order to decide the target position of the spring stretch, we need to know the quantity of finger force, i.e., disturbance. By using disturbance observer, the force can be estimated. This proposed control method is experimentally verified by the simulation results.
A Feedback Control for a Feel Regeneration System with Linear Slider
Yusuke Nakagawa,Ryuichi Oguro,Takashi Yoshimura 제어로봇시스템학회 2008 제어로봇시스템학회 국제학술대회 논문집 Vol.2008 No.10
In this paper, we present the feel regeneration system that uses a linear motor, and propose the feedback control system based on disturbance observer for generating the reaction force from object things. The proposed feel regeneration system consists of the linear slider and the sensing stage that is connected with the base by spring elements. In addition, we can get optical reactive force by controlling the stretch of the spring, which is a cause of producing the reactive force, and we recognize it as a feeling. In particular, the feel that the stage moves without adding the power, i.e., the regeneration of a feeling of the friction-less is the base technology of such a system, and we call this feeling the one like pushing air. The feedback controller realizes this friction-less feeling with the use of disturbance observer, which is proposed in order to estimate and cancel the friction force. The proposed control algorism and the system are experimentally verified by results of simulation.
( Takashi Hoshino ),( Toshifumi Watanabe ),( Yusuke Nakagawa ),( Hiroki Katagiri ),( Nobutake Ozeki ),( Toshiyuki Ohara ),( Mikio Shioda ),( Yuji Kono ),( Ichiro Sekiya ),( Hideyuki Koga ) 대한슬관절학회 2021 대한슬관절학회지 Vol.33 No.-
Purpose: This study assessed the clinical outcomes of periprosthetic joint infection patients who underwent twostage revision total knee arthroplasty with antibiotic-loaded cement spacers fabricated using a handmade silicone mold. Materials and methods: This study included seven patients (average age 77 years, average follow-up time 54 months) who underwent surgery at our hospital between 2009 and 2013. Clinical outcomes including knee scores, function scores, knee range of motion, and walking ability at the final observation, period from the primary total knee arthroplasty to implant removal, period from implant removal to revision total knee arthroplasty, and followup period after revision total knee arthroplasty were investigated. Results: At the final follow-up, the average knee range of motion was 99°, with no significant differences at each stage; average knee and function scores were 84 and 77, respectively. With cement spacers, five patients were able to walk with a t-cane. No recurrence of infection was observed. Conclusions: The clinical outcomes of the current case series demonstrated good knee function with preserved walking ability, without any recurrence of periprosthetic joint infection. This study suggests that using a handmade silicone mold could be an effective option for periprosthetic joint infection after a total knee arthroplasty.
Yui Kishimoto,Naoki Okano,Ken Ito,Kensuke Takuma,Seiichi Hara,Susumu Iwasaki,Kensuke Yoshimoto,Yuto Yamada,Koji Watanabe,Yusuke Kimura,Hiroki Nakagawa,Yoshinori Igarashi 대한소화기내시경학회 2022 Clinical Endoscopy Vol.55 No.2
Background/Aims: Endoscopic evaluation of intraductal papillary mucinous neoplasms (IPMNs) is useful in determining whetherthe lesions are benign or malignant. This study aimed to examine the usefulness of peroral pancreatoscopy (POPS) in determiningthe prognosis of IPMNs. Methods: POPS with videoscopy was performed using the mother–baby scope technique. After surgery, computed tomography/magnetic resonance cholangiopancreatography or ultrasonography and blood tests were performed every 6 months during thefollow-up. Results: A total of 39 patients with main pancreatic duct (MPD)–type IPMNs underwent POPS using a videoscope, and theprotrusions in the MPD were observed in 36 patients. The sensitivity and specificity of cytology/biopsy performed at the time ofPOPS were 85% and 87.5%, respectively. Of 19 patients who underwent surgery, 18 (95%) patients had negative surgical margins and1 (5%) patient had a positive margin. Conclusions: In IPMNs with dilatation of the MPD, POPS is considered effective if the lesions can be directly observed. Thediagnosis of benign and malignant lesions is possible depending on the degree of lesion elevation. However, in some cases, slightlyelevated lesions may increase in size during the follow-up or multiple lesions may be simultaneously present; therefore, carefulfollow-up is necessary.