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福岡, 大 ; 米山, 猛 ; 近藤, 升孝 ; Fukuoka, Masaru ; Yoneyama, Takeshi ; Kondo, Masutaka
概要:
金沢大学理工研究域機械工学系<br />微小部品を切削加工で製作するシステムを開発して,マイクロハンドに必要なリンクやピンを製作した.組立てシステムを製作して,ピンの圧着によりリンクを接合した.これにより,開閉部の大きさが約2mmのマイクロ
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ハンドを作成した。駆動アクチュエータとしてとしてボイスコイルモータを採用し,ハンドの開閉動作を行わせ,把持が行えることを確認した。<br />出版者照会後に全文公開
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米山, 猛 ; 香川, 博之 ; 山出, 洋司 ; 瀧野, 孔延 ; 楊, 青 ; 伊藤, 豊次 ; 稲城, 正高 ; Yoneyama, Takeshi ; Kagawa, Hiroyuki ; Yamade, Youji ; Takano, Yorinobu ; Qyang, Qing ; Itoh, Toyotsugu ; Inagi, Masataka
概要:
金沢大学理工研究域機械工学系<br />レーザによる金属粉体の焼結積層造形技術を用いて冷却水路を内蔵した金型を製作し，射出成形における冷却促進と成形品の高精度化を図った．本報告では，スティール粉体を用いて冷却水路をコア内に持つ金型を作成し，
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通常の水路を持つスティールの切削金型による冷却と比較した．その結果冷却水路を内蔵した金型を用いると金型内の温度が均一化し，成形品のソリ量も減少することがわかった．<br />出版者照会後に全文公開
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末廣, 栄覚 ; 米山, 猛 ; 香川, 博之 ; 大原, 功 ; 阿部, 諭 ; 宮丸, 充 ; Suehiro, Yoshiaki ; Yoneyama, Takeshi ; Kagawa, Hiroyuki ; Ohara, Isao ; Abe, Satoshi ; Miyamaru, Mitsuru
概要:
金沢大学理工研究域機械工学系<br />Using an injection mold produced by a metal laser sintering combined with high–speed milling, coolin
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g channels are arranged at effective positions. It promotes the cooling speed and improves the shape accuracy. In this research, spirallyformed cooling channel was located between the ribs where heat accumulates and causes the temperature difference in the work piece. The effect of the reduction of the warp has been confirmed compared with a steel mold with conventionalcooling channels. Analyzed temperature in the resin and the displacement of the warp agreed well with the experimental result.<br />金属粉末のレーザ焼結による積層造形とミーリングを複合した金属光造形複合加工を用いて射出成形金型を製作すれば,冷却管を任意の場所に配置でき,樹脂の冷却促進とそりの低減につなげられる.本研究では,熱のこもりやすいリブ形状成形品のリブ間に冷却管を配置し,その効果を実験により調べた.その結果従来の金型に比べそりを低減できることを確認した.さらに射出成形シミュレーションを用いて樹脂温度とそりを解析し,金型設計に対して有効であることをみいだした.<br />出版者照会後に全文公開
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Chinbe, Hiroyuki ; Yoneyama, Takeshi ; Watanabe, Tetsuyou ; Miyashita, Katsuyoshi ; Nakada, Mitsutoshi
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Purpose: Development and evaluation of an effective attachment device for a bilateral brain tumor resection robotic surg
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ery system based on the sensory performance of the human index finger in order to precisely detect gripping- and pulling-force feedback. Methods: First, a basic test was conducted to investigate the performance of the human index finger in the gripping- and pulling-force feedback system. Based on the test result, a new finger-attachment device was designed and constructed. Then, discrimination tests were conducted to assess the pulling force and the feedback on the hardness of the gripped material. Results: The results of the basic test show the application of pulling force on the side surface of the finger has an advantage to distinguish the pulling force when the gripping force is applied on the finger-touching surface. Based on this result, a finger-attachment device that applies a gripping force on the finger surface and pulling force on the side surface of the finger was developed. By conducting a discrimination test to assess the hardness of the gripped material, an operator can distinguish whether the gripped material is harder or softer than a normal brain tissue. This will help in confirming whether the gripped material is a tumor. By conducting a discrimination test to assess the pulling force, an operator can distinguish the pulling-force resistance when attempting to pull off the soft material. Pulling-force feedback may help avoid the breaking of blood pipes when they are trapped in the gripper or attached to the gripped tissue. Conclusion: The finger-attachment device that was developed for detecting gripping- and pulling-force feedback may play an important role in the development of future neurosurgery robotic systems for precise and safe resection of brain tumors. © 2017 CARS<br />Embargo Period 12 months
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Tatsuno, Daichi ; Yoneyama, Takeshi ; Kawamoto, Kiichiro ; Okamoto, Masayuki ; 立野, 大地 ; 米山, 猛
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To build a processing method for textile carbon fiber reinforced thermoplastic (CFRTP) sheets, a production system to fo
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rm, cut, and join the sheets by using a mechanical servo press machine was developed and examined. The system's problems were analyzed, and attempts were made to solve them through a series of processes. In press forming, the effects of sheet geometry, fiber orientation, and slide motion on the forming of the variant-cross-sectional-beam, which has a narrow and wide part, were investigated. In addition, the shear-cutting method was chosen trimming the unnecessary region of the variant-cross-sectional-beam. For the joining process, a thermal welding method that uses a heating-plate was chosen. The closed-sectional-beam was fabricated by thermally welding a pair of the variant-cross-sectional-beams. Finally, the potential of the production system for textile CFRTP sheets using the mechanical servo press machine was discussed. © 2016 The Authors Polymer Composites published by Wiley Periodicals, Inc. on behalf of Society of Plastics Engineers.<br />Embargo Period 12 months
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Yoneyama, Takeshi ; Watanabe, Tetsuyou ; Kagawa, Hiroyuki ; Hamada, Jun-ichiro ; Hayashi, Yutaka ; Nakada, Mitsutoshi
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Purpose For the application of less invasive robotic neurosurgery to the resection of deep-seated tumors, a prototype sy
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stem of a force-detecting gripper with a flexible micromanipulator and force feedback to the operating unit will be developed. Methods Gripping force applied on the gripper is detected by strain gauges attached to the gripper clip. The signal is transmitted to the amplifier by wires running through the inner tube of the manipulator. Proportional force is applied on the finger lever of the operating unit by the surgeon using a bilateral control program. A pulling force experienced by the gripper is also detected at the gripper clip. The signal for the pulling force is transmitted in a manner identical to that mentioned previously, and the proportional torque is applied on the touching roller of the finger lever of the operating unit. The surgeon can feel the gripping force as the resistance of the operating force of the finger and can feel the pulling force as the friction at the finger surface. Results A basic operation test showed that both the gripping force and pulling force were clearly detected in the gripping of soft material and that the operator could feel the gripping force and pulling force at the finger lever of the operating unit. Conclusions A prototype of the force feedback in the microgripping manipulator system has been developed. The system will be useful for removing deep-seated brain tumors in future master-slave-type robotic neurosurgery. © 2013 CARS.
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Watanabe, Tetsuyou ; Yoneyama, Takeshi ; Toribatake, Yasumitsu ; Hayashi, Hiroyuki
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There are multiple diseases that cause intermittent claudication, including lumber spinal canal stenosis (LSS) and perip
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heral arterial disease (PAD). LSS is categorized on the basis of the diseased part: L4 and L5. The medical treatment for these groups is totally different and the differentiation is important. With this in mind, we examined walking-motion data for patients and derived several features for the differentiation in previous studies. However, these features were not specialized for classification, and there is no guarantee that the features are effective for real differentiation. The present study investigates the possibility of differentiation by gait analysis, via use of an L1-regularized support vector machine (SVM). An L1-regularized SVM can execute both classification and feature selections simultaneously. On the basis of this method, our paper presents the methodology for classifying the underlying disease of the intermittent claudication with an accuracy of 79.7%. In addition, new effective features for the differentiation are extracted. © 2013 IEEE.
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Yoneyama, Takeshi ; Watanabe, Tetsuyo ; Kagawa, Hiroyuki ; Hamada, Jun-ichiro ; Hayashi, Yasuhiko ; Nakada, Mitsutoshi
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In order to realize a less invasive robotic neurosurgery for the deeply seated tumor, a force detecting gripper with a f
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lexible micro manipulator has been developed. Gripping force applied on the gripper is detected by strain gages fit on the gripper clip. Signal is conducted to the amplifier by the cables through the inner pipe of the manipulator. In order to approach to the deeply seated tumor through a narrow hole, a micro manipulator which can flex at the end part to face the gripper for the target and can rotate the closing direction of the gripper at the end of the manipulator has been developed. Some operation test showed that the developed manipulator can approach flexibly to the target, and the taking out force of a target on the soft material was detected clearly. © 2011 IEEE.
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Yoneyama, Takeshi ; Watanabe, Tetsuyou ; Kagawa, Hiroyuki ; Hamada, Jun-ichiro ; Hayashi, Yutaka ; Nakada, Mitsutoshi
概要:
In order to realize a less invasive robotic neurosurgery for the deeply seated tumor, a force detecting gripper with a flexible micro manipulator has been developed. Gripping force applied on the gripper is detected by strain gages fit
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on the gripper clip. Signal is conducted to the amplifier by the cables through the inner pipe of the manipulator. In order to approach to the deeply seated tumor through a narrow hole, a micro manipulator which can flex at the end part to face the gripper for the target and can rotate the closing direction of the gripper at the end of the manipulator has been developed. Some operation test showed that the developed manipulator can approach flexibly to the target, and the taking out force of a target on the soft material was detected clearly.
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Watanabe, Tetsuyou ; Yoneyama, Takeshi ; Toribatake, Yasumitsu ; Hayashi, Hiroyuki ; Yokogawa, Noriaki
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Intermittent Claudication [1] is a walking symptom. After a short time walking, patients suffer from pains at lower limb
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s. But if taking a rest, the pains can be relieved and they can walk again. Unfortunately, it arises from not one but mainly two kinds of diseases: LSS (lumber spinal canal stenosis) and PAD (peripheral arterial disease). Additionally, it is reported that symptom is similar and LSS groups is furthermore divided into two main groups: L4 and L5 groups. Therefore, it is clinically very important to differentiate which diseases the patients suffer from, PAD, L4 or L5. We aims at developing the system to differentiate them from short walking motion data. In our previous paper [2], we derived differentiation factors, but did not consider the difference between L4 and L5 and the results are limited. This paper focuses on biarticular muscles associated with the diseases, and derive new and effective differentiation factors. The results supports their effectiveness and validity. © 2012 IEEE.
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