Morito Monden

2A1-A32 Analysis of operator-interface failures of a human-machine interface (FAce MOUSe) for laparoscopic manipulator system

We have developed a face tracking interface, called FAce MOUSe, for controlling the position of a laparoscope. In this paper, we evaluated our FAce MOUSe interface by analyzing operator-interface failures in an ex-vivo model. An ex-vivo experiment was conducted under laboratory conditions using a conventional laparoscopic surgical training box, standard laparoscopic equipments, and the AESOP system (Computer Motion, Inc.). Experimental subjects were five surgeons who had never used the FAce MOUSe. The FAce MOUSe’s mean success rate of Trigger Actions was 51.7 %, whereas the number of times for being misrecognized was zero for all subjects.

2A1-A33 Development of a face tracking type interface for laparoscopic manipulator system based on human engineering

In order for robotic devices to be introduced successfully into surgical practice, the development of intuitive and easy-to-use surgeon-robot interfaces is essential. We developed a human-machine interface of the laparoscopic manipulator system, called “FAce MOUSe” before. The proposed FAce MOUSe is an image-based system which tracks the surgeon’s facial motions robustly in real time and does not require the use of any body-contact devices, such as head-mounted sensing devices. The surgeon can easily and precisely control the motion of the laparoscope by simply making the appropriate face gesture, without hand or foot switches or voice input. We have developed a new robotic laparoscope positioning system for solo surgery based on a real-time, face-tracking technique. The developed man-machine interface is called “ FAce MOUSe Easy Click”. The ideal human-machine interface would be easy to operate and move the endoscope accurately and safely to the desired position. The proposed interface represents a promising approach toward this ultimate goal.

Molecular Staging of Rectal Cancer Using RT-PCR Analysis on Intraoperative Pelvic Lavage Samples.

直腸癌手術では直腸剥離操作時の側方向脈管離断に伴う癌細胞漏出の可能性があり, 側方リンパ節転移との関連等が推測されるが, その実際および臨床的意義は不明である. そこで近年単離された消化管上皮細胞特異的遺伝子マーカーGS04094を用いたRT-PCR法にて骨盤腔遊離癌細胞を検出し, 臨床病理学的因子との関連を検討した. 直腸癌14例の開腹時 (pre), 直腸剥離操作終了時 (post) の骨盤腔を生食100mlで洗浄, 細胞診と共にRNA抽出, GS04094のRT-PCR解析を行った結果, 陽性症例を5例 (pre (+), post (+): 4例, pre (-), post (+): 1例) 認めた. RT-PCR陽性と壁深達度, リンパ節転移, リンパ管侵襲 (v), およびpre (+) においては腫瘍の局在 (Ra) とに有意の相関を認めた. 直腸癌の術中洗浄液を用いたGS04094のRT-PCR解析により側方向への脈管離断による漏出癌細胞, また腹膜翻転部以上の癌においては漿膜表面への遊離癌細胞を高感度に検出できる可能性があり, 直腸癌の進展度評価, 術式決定における有用性が示唆された.