A haptic device "DELTA-R" using a new redundant parallel mechanism

	Nowadays, several haptic devices are commercialized and becoming common not only in research fields but also in consumer use. In this research, a new parallel mechanism DELTA-R is proposed for a new haptic device within high quality force display capability and operability. DELTA-R consists of 3 DOF of translational motions. The key features of DELTA-R comparing with conventional parallel mechanisms are: a redundant actuation, a small footprint, and a wide working area. The prototype is equipped with a 3 DOF of rotation mechanism, which its center of motions is located on the wrist position of operator. video(WMV)

	A new multi-DOF haptic device"D-8" using a redundant parallel mechanism

	In recent years, parallel mechanisms have been widely introduced to haptic devices for advantageous benefits such as a high rigidity, a high output force, a high accuracy and a high backdrivability by its multi-legged structure and fixed actuators on the base. On the other hand, multi-DOF haptic devices including rotational motions are getting important in resent years as haptic applications have grown more diverse as typified by a surgical training system. However, realizing a multi-DOF haptic device within a wide range of rotational working area by using parallel mechanism is a challenging work. In this research, a 6 DOF (3 translations, 2 rotations and 1 passive rotation) parallel mechanism D-8 is presented to overcome this challenge. CAD model-Translations(MPG) CAD model-Rotations(MPG) Prototype video(WMV)

	Development of an Outer Shell Type 2 DOF Bending Manipulator using Spring-link Mechanism

	In recent years, robotic technology has been introduced to medical fields and many surgical robots have been presented. In this research, an outer shell type 2 DOF bending manipulator using a spring-link mechanism is presented. The mechanism was developed for a surgical robot, which can implement various surgical treatment devices inside of the manipulator. The spring-link mechanism is a simple combination of a flat spring and a rigid link with a passive joint connection. The outer shell type 2 DOF bending manipulator is composed by four spring-link mechanisms. The most unique feature of the manipulator is that these four springs are interconnected in the kinematics. Therefore, it is possible to realize a robust and backlash-free motion by taking into account the interconnections of the springs such as an internal stress of the structure. In addition, by locating the four spring-link mechanisms around the manipulator, it is possible to place medical devices inside of the manipulator. video(MP4) QuickTime would be helpful if you have some troubles for playing the MP4 file.

	Neurosurgical motion base

	Neurosurgical motion base is a 8 DOF robotic arm for positioning a surgical tool. The neurosurgical motion base is developed as a mount-type surgical robot on a conventional surgical head frame, therefore, it is possible to realize a quick installation. In our concept, the neurosurgical motion base holds and positions a cutting-edge surgical tool including a sensor feedback suction tool and a 3D endoscope. In the neurosurgical motion base, a 4 DOF active mechanism is introduced for precise positioning of a surgical tool, and a 4 DOF passive mechanism is introduced for adjusting the robot position on the head frame. By introducing a new 3 DOF parallel mechanism into the active part of neurosurgical motion base, high rigidity and accuracy can be realized, and also it is possible to locate all actuators on the base part for a capability of sterilization. From mechanical evaluations, it was revealed that accuracy and rigidity of the developed robot were 0.04 mm and 6.5 N/mm respectively. In addition, by an installation test on a patient phantom model, a feasibility of the developed robot was positively shown. video(WMV)

	Intelligent neurosurgical instruments

	By introducing the technologies above, the development of intelligent neurosurgical instruments is on-going. In brain tumor removal surgery, tumor removal rate is strongly related to the clinical outcome, especially, in the case of glioma. A surgical treatment is the most important procedure as a first step of the treatments of glioma. However, a complete removal of glioma by a surgical treatment is a great challenge for neurosurgeons. In this research, intelligent neurosurgical instruments were developed to take a key role in improving the tumor removal rate by introducing cutting-edge surgical devices. The intelligent neurosurgical instruments consist of a surgical robot, a master device and a operating software. The surgical robot consists of a surgical motion base and a surgical tool manipulator including a volume control suction tool. In addition, Open Core Control software was developed for connecting these intelligent neurosurgical instruments through network and make them work as a system in a quick and efficient manner.

	A new encounter type haptic device with an actively driven LCD panel

	We have been developing an encounter type haptic device with an actively driven LCD panel system. The system is an integration of three components: a virtual reality display, a motion controller and a motion sensor component. When an operator approaches to the system, pose of LCD panel and view point in virtual reality display are controlled according to motion of the operator. And the system also can provide force feed back while the operator using pen tablet. Therefore, the system is able to provide feeling that the operator is interacting to a real object. video(mpeg)

	Spring-Parallel mechanism

	In nature world, there are several plants that have particular structure. Drakaea, one of the kinds of Orchidaceae, is well known that its flexible structure allows the stem to move forward and backward to the stamen with an insect for pollination. In this study, we developed a circular shape spring structure inspired by Drakaea. The spring is introduced on a parallel structure to realize a precise and wide range of motion. The prototype has 2 DOF of rotations and 1 DOF of translation. The preliminary experimental result revealed its wide range of working area and highly accurate repeatability. The prototype in the video was developed for testing the feasiblity of the mechanism, and to be used for an industrial assembling machine for optical parts. This study was collaborated with an industrial company, and funded by JST. video: Rotational 2 axes motion (wmv) video: Translational motion (wmv)

	Studies on tele-surgery

	We have developed a robotic laparoscopic robot with three arms (2 arms for surgical instruments, and an arm for a laparoscope) with a capability of tele-surgery. Tele-surgery experiments including over different countries such as Japan-Korea and Japan-Thailand have been conducted for testing the feasibility of tele-surgery using the developed system. This research was conducted with the collaborations with Mitsuishi Lab. in the University of Tokyo and CAMIT in Kyushu University. video(WMV)

	And more..

	Also, other developments are on-going on new mechanisms and applications!

	The list below includes the peer-reviewed journal and conference papers.

	A part of my publications can be found on IEEE Explore and Springer

	Motoki Takagi, Jumpei Arata, Akihito Sano, Hideo Fujimoto, "A New Desk-top Type Haptic Device with an Actively Driven Pen-Tablet LCD Panel," Advanced Robotics, 2012. (Accepted)

	Hiroaki Kozuka, Jumpei Arata, Kenji Okuda, Akinori Onaga, Motoshi Ohno, Akihito Sano and Hideo Fujimoto, "A High Precision Positioning Machine within Wide Range Working Area based on Compliant - Parallel Mechanism," Journal of Robotic Society Japan, 2012. (Accepted, written in Japanese)

	Hiroaki Kozuka, Jumpei Arata, Kenji Okuda, Akinori Onaga, Motoshi Ohno, Akihito Sano and Hideo Fujimoto, "A Bio-Inspired Compliant-Parallel Mechanism for High Precision Robot," Proc. of Int. Conf. on Robotics and Automation (ICRA) 2012. (Accepted)

	Jumpei Arata, Hajime Kenmotsu, Motoki Takagi, Tatsuya Hori, Takahiro Miyagi, Hideo Fujimoto, Yasukazu Kajita, Yuichiro Hayashi, Kiyoyuki Chinzei, Makoto Hashizume, "Surgical bedside master console for neurosurgical robotic system," Int J CARS(2012). (Accepted)

	Motoki Takagi, Jumpei Arata, Akihito Sano and Hideo Fujimoto, "A new encounter type haptic device with an actively driven pen-tablet LCD panel," Proc of IEEE Int. Conf. on Robotics and Biomimetics 2011, pp.2453-2458, 2011.

	Jumpei Arata, Norio Ikedo, Hideo Fujimoto, "Haptic Device using a newly developed Redundant Parallel Mechanism," Advance Robotics, Vol.26(1-2), pp.121-135, 2012.

	Jumpei Arata, Yoshitaka Saito, Hideo Fujimoto, "Development of an Outer Shell Type 2 DOF Bending Manipulator using Spring-link Mechanism," Journal of Robotic Society Japan, Vol.29(6), pp.917-925, 2011. (written in Japanese)

	Jumpei Arata, Yasunori Tada, Hiroaki Kozuka, Tomohiro Wada, Yoshitaka Saito, Norio Ikedo, Yuichiro Hayashi, Masazumi Fujii, Yasukazu Kajita, Masaaki Mizuno, Toshihiko Wakabayashi, Jun Yoshida, Hideo Fujimoto, "Neurosurgical robotic system for brain tumor removal," Int J CARS, Vol.6 (3), pp.375-385, 2011.

	Jumpei Arata, Hiroyuki Kondo, Norio Ikedo, Hideo Fujimoto, "Haptic Device using a newly developed Redundant Parallel Mechanism," IEEE Trans. on Robotics, Vol.27(2), pp.201-214, 2011.

	Naoyuki Takesue, Tomohiro Ohara, Ryota Ishibashi, Shigeki Toyama, Masahiko Hoshina, Yoshiyuki Hirai, Naoki Fukaya, Jumpei Arata, Hideo Fujimoto, "Position Control Methods of Spherical Ultrasonic Motor", Intelligent Robots And Systems (IROS) 2010, pp.3061-3066, Taipei, Taiwan, Oct. 2010.

	Jumpei Arata, Hideo Fujimoto, "Redundant Parallel Mechanism for Haptic Applications," Int. J. of Automation Technology Vol.4 No.4, pp.338-345, 2010.

	Jumpei Arata, Norio Ikedo, Hideo Fujimoto, "A new multi-DOF haptic device using a redundant parallel mechanism," EuroHapcitcs2010, Part I, LNCS 6191, pp.57-64, July 2010.

	Jumpei Arata, Tomohiro Wada, Junichi Ikemoto, Yuichiro Hayashi, Masazumi Fujii, Yasukazu Kajita, Masaaki Mizuno, Toshihiko Wakabayashi, Jun Yoshida, Hideo Fujimoto, "Development of a Neurosurgical Motion Base," Journal of Japan Society of Computer Aided Surgery, Vol.12(2), pp.91-100, 2010. (in Japanese).

	Jumpei Arata, Yoshitaka Saito, Hideo Fujimoto, "Outer Shell Type 2 DOF Bending Manipulator using Spring-link Mechanism for Medical Applications," Proc. of Int. Conf. Robotics and Automation (ICRA) 2010, pp.1041-1046, May 2010.

Junichi Tokuda, Gregory S Fischer, Xenophon Papademetris, Ziv Yaniv, Luis Ibanez, Patrick Cheng, Haiying Liu, Jack Blevins, Jumpei Arata, Alexandra J Golby, Tina Kapur, Steve Pieper, Everette C Burdette, Gabor Fichtinger, Clare M Tempany, Nobuhiko Hata, "OpenIGTLink: an open network protocol for image-guided therapy environment," Int J Med Robotics Comput Assist Surg (2009), DOI: 10.1002/rcs.274, 2009.

	Jumpei Arata, Hiroaki Kozuka, Hyug Wook Kim, Naoyuki Takesue, Blagovest Vladimirov, Masamichi Sakaguchi, Junichi Tokkuda, Nobuhiko Hata, Kiyoyuki Chinzei and Hideo Fujimoto, "Open core control software for surgical robots," Int J CARS, Vol.5(3), pp211-220, DOI: 10.1007/s11548-009-0388-9, 2010.

	Jumpei Arata, Hiroyuki Kondo, Masamichi Sakaguchi, Hideo Fujimoto, "Development of Haptic Device "DELTA-4" using Parallel Mechanism," Journal of Robotic Society Japan, Vol.27, No.8, pp.917-925, 2009. (in Japanese)

	Mamoru Mitsuishi, Makoto Hashizume, Patpoing Navicharern, Yuichi Fujino, Kazushi Onda, Shigen Yasunaka, Naohiko Sugita, Jumpei Arata, Hideo Fujimoto, Keiji Tanimoto, Kazuo Tanoue, Satoshi Ieiri, Kozo Konishi, Yukihiko Ueda, "Telesurgery experiment between Japan and Thailand," Proc. of Int. Conf. on Ubiquitous Robots and Ambient Intelligence (URAI) 2009, pp.336-339, Oct 2009.

	Hyung Wook Kim, Jumpei Arata, Hideo Fujimoto, "Haptic Modeling of a suction Process for a Surgery Training System," Proc. of Int. Conf. on Ubiquitous Robots and Ambient Intelligence (URAI) 2009, pp.71-75, Oct 2009.

	Jumpei Arata, Hiroyuki Kondo, Masamichi Sakaguchi Hideo Fujoimoto, "Development of a Haptic Device "DELTA-4" using Parallel Link Mechanism," Proc. of Int. Conf. Robotics and Automation (ICRA) 2009, pp.294-300, May 2009.

	Jumpei Arata, Hiroyuki Kondo, Masamichi Sakaguchi, Hideo Fujimoto, "A haptic device DELTA-4: kinematics and its analysis," Proc. of world Haptics 2009, Pp.452-457, March 2009.

	Jumpei Arata, Hiroaki Kozuka, Hyug Wook Kim, Naoyuki Takesue, Blagovest Vladimirov, Masamichi Sakaguchi, Junichi Tokkuda, Nobuhiko Hata, Kiyoyuki Chinzei and Hideo Fujimoto, "An open source control software using virtual fixture for surgical robots," Int J CARS(2009) 4(Suppl 1):S375-376, June 2009.

	Hideo Fujimoto, Jumpei Arata, "The development of neurosurgical intelligent surgical instruments," Int J CARS(2009) 4(Suppl 1):S233-234, June 2009.

	Masamichi Sakaguchi, Hiroki Hidaka, Jumpei Arata, Hideo Fujimoto, Michitaka Fujiwara, Takuya Watanabe, Akimasa Nakao, "Measurement of trocar inserting force in laparoscopic surgery to human," Int J CARS(2009) 4(Suppl 1):S95-96, June 2009.

Jumpei Arata , Hiroki Takahashi, Shin｡ﾇichi Warisawa, Kazuo Tanoue, Kozo Konishi, Satoshi Ieiri, Shuji Shimizu, Naoki Nakashima, Koji Okamura, Yuichi Fujino, Yukihiro Ueda, Pornarong Chotiwan, Mamoru Mitsuishi, Makoto Hashizume, "Tele-surgery Experiment between Japan-Thailand using a high-speed Network," Journal of Japan Society of Computer Aided Surgery, Vol.10, No.2, pp.139-146, July 2008. (in Japanese) (Award-winning: 2010 Best Paper Award (Excelent Clinical Case Award))

	Jumpei Arata, Hiroki Takahashi, Shigen Yasunaka, Kazushi Onda, Katsuya Tanaka, Naohiko Sugita, Kazuo Tanoue, Kozo Konishi, Satoshi Ieiri, Yuichi Fujino, Yukihiro Ueda, Hideo Fujimoto, Mamoru Mitsuishi and Makoto Hashizume, "Impact of network time-delay and force feedback on tele-surgery," Springer, Int J CARS (2008) 3:371-378, DOI 10.1007/s 11548-008-0228-3, June 2008.

	Masamichi Sakaguchi, Hiroki Hidaka, Jumpei Arata, Hideo Fujimoto, Michitaka Fujiwara, Takuya Watanabe, Akimasa Nakao, "Measurement of Trocar Inserting Motion for Endoscopic Surgery and Development of Force Feedback Device for Training System," Proc. of Int. Conf. on Ubiquitous Robots and Ambient Intelligence (URAI) 2008, FC3-2, Nov 2008.

	Hiroaki Kozuka, Jumpei Arata, Hyung Wook Kim, Naoyuki Takesue, Blagovest Vladimirov, Masamichi Sakaguchi, Junichi Tokuda, Nobuhiko Hata, Kiyoyuki Chinzei, Hideo Fujimoto, "Design of an Open Core Control Software for Surgical Robots with High Connectivity," Proc. of Int. Conf. on Ubiquitous Robots and Ambient Intelligence (URAI) 2008, FC3-4, Nov 2008.

	Jumpei Arata, Hiroki Takahashi, Shigen Yasunaka, Kazushi Onda, Katsuya Tanaka, Naohiko Sugita, Kazuo Tanoue, Kozo Konishi, Satoshi Ieiri, Yuichi Fujino, Yukihiro Ueda, Hideo Fujimoto, Mamoru Mitsuishi, Makoto Hashizume, "A surgical task evaluation study on tele-surgery," Int J CARS(2008) 3(Suppl 1):S312, June 2008.

	Kentaro Go, Kenji Kashiwagi, Yuki Ito, Yu Nakazawa, and Jumpei Arata, "Eye, Robot: A Network Control System for Ophthalmologic ExaminatioN," Computer-Human Interaction, Springer, Vol.5068/2008, pp.48-57, July 2008.

	Masamichi Sakaguchi, Hongzheng You, Hiroki Hidaka, Jumpei Arata, Hideo Fujimoto, Michitaka Fujiwara, Takuya Watanabe, Akimasa Nakao, "Development of Trocar Inserting Motion Mesurement System for Laparoscopic Surgery," Asian Conf. on Computer Aided Surgery (ACCAS) 2008 pp.40, Beijing, April 2008.

	Jumpei Arata, Hiroaki Koduka, Naoyuki Takesue, Blagovest Vladimirov, Masamichi Sakaguchi, Junichi Tokuda, Nobuhiko Hata, Kiyoyuki Chinzei and Hideo Fujimoto, "Development of an open control software for surgical robots," Asian Conf. on Computer Aided Surgery (ACCAS) 2008, pp.30, Beijing, April 2008.

	Jumpei Arata, Hiroki Takahashi, Phongsaen Pitakwatchara, Shin'ichi Warisawa, Kazuo Tanoue, Kozo Konishi, Satoshi Ieiri, Shuji Shimizu, Naoki Nakashima, Koji Okamura, Yuichi Fujino, Yukihiro Ueda, Pornarong Chotiwan, Mamoru Mitsuishi and Makoto Hashizume, "Tele-surgery experiment between Japan-Thailand using high-speed Internet," Int J CARS(2007) 2(Suppl 1):S196-S198, June 2007.

Jumpei Arata, Hiroki Takahashi, Phongsaen Pitakwatchara, Shin'ichi Warisawa, Kazuo Tanoue, Kozo Konishi, Satoshi Ieiri, Shuji Shimizu, Naoki Nakashima, Koji Okamura, Yuichi Fujino, Yukihiro Ueda, Pornarong Chotiwan, Mamoru Mitsuishi, Makoto Hashizume, "A remote surgery experiment between Japan and Thailand over Internet using a low latency CODEC system," Proc. of Int. Conf. Robotics and Automation (ICRA) 2007, pp.953-959, Rome, Italy, April 2007.

	Jumpei Arata, Junichi Ikemoto, Masamichi Sakaguchi, Hideo Fujimoto, "Development of the Surgical Motion Base System using a Parallel Link Mechanism," Asian Conf. on Computer Aided Surgery (ACCAS) 2007, 110076, Singapore, Nov 2007. (Award-winning: Young Investigator Award)

	Masamichi Sakaguchi, Akihiro Hayashi, Hongzheng You, Jumpei Arata, Hideo Fujimoto, Michitaka Fujiwara, Kazunari Misawa, Akimasa Nakao, "Development of Bladeless Trocar Insertion Skill Training System for Endoscopic Surgery," Asian Conf. on Computer Aided Surgery (ACCAS) 2007, 110111, Singapore, Nov 2007.

	Masamichi Sakaguchi, Satoru Yokoi, Jumpei Arata, Hideo Fujimoto, "Information Display Using Thermal Sensation," Proc. of World Haptics 2007, HOD19, Tsukuba, Japan, Mar. 2007.

Jumpei Arata, Hiroki Takahashi, Shin｡ﾇichi Warisawa, Kozo Konishi, Kazuo Tanouec, Satoshi Ieiric, Shuji Shimizu, Naoki Nakashima, Koji Okamura, Young Soo Kim, Sung Min Kim, Joon-Soo Hahm, Makoto Hashizume and Mamoru Mitsuishi, "A Remote Surgery Experiment between Japan-Korea using the Minimally Invasive Surgical System," Journal of Japan Society of Computer Aided Surgery, Vol.8, No.4, pp.401-407, 2006. (Award-winning: 2008 Best Paper Award (Medical Award))

Jumpei Arata, Hiroki Takahashi, Phongsaen Pitakwatchara, Shin'ichi Warisawa, Kozo Konishi, Kazuo Tanoue, Satoshi Ieiri, Shuji Shimizu, Naoki Nakashima, Koji Okamura, Young Kim, Sung Kim, Joon Hahm, Makoto Hashizume, Mamoru Mitsuishi, "A Remote Surgery Experiment Between Japan-Korea Using The Minimally Invasive Surgical System," Proc. of World Congress On Medical Physics And Biomedical Eng. (WC) 2006, pp.2942-2945, Seoul, Korea, Aug. 2006.

Jumpei Arata, Hiroki Takahashi, Phongsaen Pitakwatchara, Shin'ichi Warisawa, Kozo Konishi, Kazuo Tanoue, Satoshi Ieiri, Shuji Shimizu, Naoki Nakashima, Koji Okamura, Young Soo Kim, Sung Min Kim, Joon-Soo Hahm, Makoto Hashizume, Mamoru Mitsuishi, "A Remote Surgery Experiment Between Japan-Korea Using The Minimally Invasive Surgical System," Proc. of Int. Conf. Robotics And Automation (ICRA) 2006, pp.257-262, Orlando, Florida, US, May. 2006.

	Hiroki Takahashi, Shin'ichi Warisawa, Mamoru Mitsuishi, Jumpei Arata, Makoto Hashizume, "Development of High Dexterity Minimally Invasive Surgical System With Augmented Force Feedback Capability," Proc. of The First IEEE / Ras-Embs International Conference On Biomedical Robotics And Biomechatronics (Biorob) 2006, pp.284-289, Tuscany, Feb. 2006.

	Jumpei Arata, Shin'ichi Warisawa, Makoto Hashizume And Mamoru Mitsuishi, "Development of A Dexterous Minimally-Invasive Surgical System," Proc. of Asian Conf. on Computer-Aided Surgery (ACCAS) 2006, pp.4011-4014, Seoul, Korea, Sept. 2006.

	Akio Morita, Shigeo Sora, Mamoru Mitsuishi, Shini'chi Warisawa, Katopo Surman, Daisuke Asai, Jumpei Arata, Shoichi Baba, Hidechika Takahashi, Ryo Mochizuki, Takaaki Kirino, "Microsurgical Robotic System For The Deep Surgical Field: Development of A Prototype And Feasibility Studies In Animal And Cadaveric Models," Journal of Neurosurgery, Vol.103:320-327, Nov. 2005.

	Jumpei Arata, Mamoru Mitsuishi, Shin'ichi Warisawa, Katsuya Tanaka, Takashi Yoshizawa, Makoto Hashizume, "Development of A Dexterous Minimally-Invasive Surgical System With Augmented Force Feedback Capability," Intelligent Robots And Systems (IROS) 2005, pp.3738-3743, Alberta, Canada, Aug. 2005.

	Daisuke Asai, Surman Katopo, Jumpei Arata, Shin'ichi Warisawa, Mamoru Mitsuishi, Akio Morita, Shigeo Sora, Takaaki Kirino, Ryo Mochizuki, "Micro-Neurosurgical System In The Deep Surgical Field," Proc. of Int. Conf. On Medical Image Computing And Computer Assisted Intervention 2004 (MICCAI2004), pp.33-40, Rennes, France, Sept. 2004.

	Jumpei Arata, Kouji Tanaka, Katsuya Tanaka, Shin'ichi Warisawa, Makoto Hashizume, Mamoru Mitsuishi, "Remote Robotic Surgery System For A Laparoscopy," Proc. of The Japan-Usa Symposium on Flexible Automation (JUSFA) 2004, JS020, Denver, US., July 2004.

	Mamoru Mitsuishi, Jumpei Arata, Takashi Yoshizawa, Shin'ichi Warisawa And Makoto Hashizume, "Development of A High Dexterity, Minimally-Invasive Surgical System With Augmented Force Feedback Capability," Proc. of The 1st IEEE Technical Exhibition Based Conf. On Robotics Automation (TEXCRA) 2004, pp61-62, Tokyo, Japan, Nov. 2004.

	Mamoru Mitsuishi, Jumpei Arata, Katsuya Tanaka, Manabu Miyamoto, Takumi Yoshidome, Satoru Iwata, Shin'ichi Warisawa, Makoto Hashizume, "Development of A Remote Minimally-Invasive Surgical System With Operational Environment Transmission Capability," Proc. of Int. Conf. Robotics And Automation (ICRA) 2003, pp.2663-2670, Taipei, Taiwan, Sept. 2003.