Toru Naito

Intelligent assistance in operation of active catheter for minimum invasive surgery

It is important to assist doctors in operating the (active) catheter in complex and narrow brain blood vessels aiming at the minimum invasive surgery. We propose the concept of the intelligent medical assistance system for the operation of the active catheter. To realize the system we built a prototype of a basic system consisting of a joy-stick and a 3D computer graphics display. The joystick is used for the command input and the force display. We evaluated the effectiveness of the prototype and the proposed assistance methods through the experiments.<<ETX>>

Operational assistance of the crane system by the interactive adaptation interface

We propose a new crane system using the interactive adaptation interface (IAI/F). This system can adapt to an operator considering the following two points. One is the state of operators psychology and the other is operators skill. The former is estimated by the skin potential reflex (galvanic skin reflex). The latter is estimated by the history of the payload oscillation and command inputs. In order to adapt an operator, the system tunes its time constant by the recursive fuzzy inference (RFI). We also propose multiple display for the operational assistance. This gives information needed for the crane operation. We made a computer simulator of the crane system, and did some operation experiments on this simulator. We show effectiveness of the proposed crane operational assistance system based on the experimental results.

Interactive adaptation interface monitoring and assisting operator by recursive fuzzy criterion

This paper considers the interactive relationship that both the user and machine try to adapt to each other. We call this relationship as the interactive adaptation. The interactive adaptation interface (IAI/F) is an intelligent interface which is designed under consideration of the interactive adaptation. This interface changes the characteristics of the system according to the given task, considering the state of the user such as the skill level, technique, characteristics, physical condition, etc. We propose a design and realization method of IAI/F which is based on the recursive fuzzy reasoning. We present the system considering the interactive adaptation, and discuss its effectiveness based on the experimental results.<<ETX>>

Operational assistance system for crane using interactive adaptation interface-design of 3D virtual crane simulator for operation training

A rough terrain crane has excellent operativity and mobility, yet the operation of the rough terrain crane is very difficult because of complexity of the control system, payloads swing, lack of information, etc. These problems can be settled by intelligent crane system if it can assist an operator to perform efficient crane operation. We proposed an assistance system for crane operation using an interactive adaptation interface. The assistance system produces various kinds of operational assistance. In this paper, we propose a crane simulator system for operation training using the proposed crane system. The proposed system has a function called multimodal display which presents various kinds of operational assistance. We consider the realization of the training system by adaptation of the strength of operational assistance based on operators state; we focus on the operators skill level. We propose an adaptation method based on operational skill and perform simple operation experiments to confirm the effectiveness of the method described.

Intelligent assistance for intravascular tele-surgery and experiments on virtual simulator

It is important to assist doctors operating intravascular surgical tools such as a catheter that is designed for minimum invasive surgery inside complex and narrow brain blood vessels. We propose a intelligent medical assistance system for operation of the intravascular surgical tool that is teleoperated by the doctor seeing a 2D X-ray image. We built a prototype of a virtual simulator system consisting of a joystick and a 3D-computer graphics display. The joystick is used for the controller of catheter head direction and the force display. We evaluated the effectiveness of the proposed visual and force assistance methods through extensive experiments.

VR training system with adaptive operational assistance considering straight-line transfer operation

This paper deals with an operational assistance system of a rough terrain crane. A proper control rule to operate the payload in the straight-line motion is proposed. The system assists straight-line operation with force display based on the rule. The strength of assistance can be adapted to operators skill level by changing the gain of force display. We present some experiments on a crane simulator, and show the effectiveness of the proposed operational assistance system.

Concept and Realization of Interactive Adaptive Interface Using Recursive Fuzzy Inference.

We design a machine which adapts to the user considering personal differences. This paper deals with the interactive relationship in which both the user and the machine try to adapt to each other. We call this relationship interactive adaptation. The interactive adaptive interface (IAI/F) is an intelligent interface which is designed in consideration of interactive adaptation. This interface changes the characteristics of the system according to the given task, taking into consideration the state of the user, such as skill level, technique, characteristics, physical conditions. We propose a design and realization method for the IAI/F, based on recursive fuzzy reasoning. As an application example, we present a virtural-reality simulation game and apply the proposed IAI/F based on the users performance and the skin potential reflex (G.S.R.). We present the system considering interactive adaptation, and show some experimental results and statistical evaluation results to discuss its effectiveness.