Program of Technical Session

ACCAS2016 technical program (October 14,2016)

Session: FR1, Room 3rd floor of DCC, Robotics and instrumentation l 9:30 – 10:30 Chair: Jaesoon Choi

FR1-1 9:30-9:40P.24

Verification of Pupil Variation for Use in Zoom Control

Yang Cao, Satoshi Obata, Yo Kobayashi, Satoshi Miura, Kazuya Kawamura, Satoshi Ieiri, Makoto Hashizume, Shigeki Sugano, and Masakatsu G. FujieAffiliaions: Waseda Univ., Kyushu Univ., Chiba Univ., and Kagoshima Univ. (JP)

FR1-2 9:40-9:50P.26

Development of Ciliary microrobots mimic movements of Paramecium Sangwon Kim, Seungmin Lee, Junghoon Lee, Li Zhang, Bradley J. Nelson, and Hongsoo Choi Affiliaions: DGIST and ETH (KR)

FR1-3 9:50-10:00P.28

Method of Image Processing to Recognize Forceps and Triangle Working Area for Laparoscopic Surgery Kazuki Naruki, Toshikazu Kawai, Atsushi Nishikawa, Yuji Nishizawa, and Tatsuo Nakamura Affiliaions: Osaka Inst. Tech, Shinshu Univ, National Cancer C. Hosp., Kyoto Univ. (JP)

FR1-4 10:00-10:10P.31

Cognitive Engine for Calibration of Surgical Robots Xiaoyu Tan, Xiaoyu Tan, Chin-Boon Chng, Bin Duan, Kah-Bin Lim, and Chee Kong Chui Affiliaions: National Univ. of Singapore (SG)

FR1-5 10:10-10:20P.33

State Monitoring for Surgical Robot System Based on Robot Operating System Haoruo Zhang, Qixin Cao, and Weibang Bai Affiliaions: Shanghai Jiao Tong Univ. (CN)

FR1-6 10:20-10:30P.35

Screw insertion mechanism using twisted rolling frictions Seongbo Shim, Jaesung Hong Affiliaions: DGIST (KR)

10:30-11:00 Break

Program of Technical Session

Session: FR2, Room 3rd floor of DCC, Image Processing for CAS 11:00 – 12:00 Chair: Il Hyung Park

FR2-1 11:00-11:10 P.38

Fully automatic liver segmentation by using a sectionalized heuristic rule and a concave detection method Qing Huang, , Hui Ding, Xiaodong Wang, and Guangzhi Wang Affiliaions: Tsinghua Univ., Peking Univ. Cancer Hosp. & Inst. (CN)

FR2-2 11:10-11:20 P.41

2D3D Image Registration based Non-invasive Registration method for Neurosurgical Navigation system Seung Hak Shin, Youngsoo Kim Affiliaions: Hanyang Univ.(KR)

FR2-3 11:20-11:30 P.43

MR-PAI Navigation: the phantom study Changhwan Lee, Jongseong Jang, Sara Park, Chulhong Kim, Young Soo Kim Affiliaions: Hanyang Univ. (KR)

FR2-4 11:30-11:40 P.45

Evaluation of Four-dimensional Human Model using MRI Naoki Suzuki, Asaki Hattori, and Makoto Hashizume Affiliaions: Jikei Univ. Kyushu Univ.(JP)

FR2-5 11:40-11:50 P.47

A Method for Estimating Tissue Deformation by Deep Neural Network Kaoru Kobayashi, Ken’ichi Morooka, Yasushi Miyagi, Takaichi Fukuda, Tokuo Tsuji, and Ryo Kurazume Affiliaions: Kyushu Univ., Fukuoka Mirai Hosp., Kumamoto Univ., Kanazawa Univ. (JP)

FR2-6 11:50-12:00 P.49

Customized preoperative plate-bending using 3D-Printed patient Jaeyeong Park, Sanghyun Joung, Hyun-woo Lee, Jinhan Lee, Chang-Wug Oh, and Ilhyung Park Affiliaions: Kyungpook National Univ. (KR)

12:00-13:30 Lunch Time

Program of Technical Session

IROS/ISCAS/ACCAS joint workshop (Invited Talks)13:30-18:00

13:30-13:35 Byung-Ju Yi (Hanyang Univ. KR)

Opening Address

13:35-14:05 Pierre Jannin (Univ. of Rennes, FR)

Surgical Skill Analysis and Modeling

14:05-14:35 Takeyoshi Dohi (Tokyo Denki Univ., JP )

Engineering to Develop the Computer Aided Surgery

14:35-15:05 Makoto Hashizume (Kyushu Univ. JP)

Surgical Navigation System based on Multidisciplinary Computational Anatomy

15:05-15:35 Guang-Zhong Yang (Imperial college London, UK)

Perceptual Learning for Medical Robotics

15:35-16:00 Coffee Break

16:00-16:30 Danail Stoyanov (Univ. College London, UK)

Inferring Geometry+ from Endoscopic Video

16:30-17:00 Young Soo Kim (Hanyang Univ., KR)

Surgical Robot System in Stereotactic Neurosurgery

17:00-17:30 Sungchul Kang (KIST, KR)

Slim, Stiff, and Steerable Endoscopic Surgical Robots for Endonasal Skull Base Surgery and Epiduroscopic Neuroplasty

17:30-17:55 Panel Discussion

17:55-18:00 Pierre Jannin (Univ. of Rennes, FR)

Closing Address

18:30-20:30 Banquet

Chair: Yung-Ho Jo, Co-chair: Byung-Ju Yi

Program of Technical Session

ACCAS2016 technical program (October 15,2016)

Invited Talk 9:00-9:30

Robotic Thyroid Surgery: Functional and Oncologic Outcomes Tae Kyung Affiliaions: Hanyang Univ.(KR) Chair: Young-soo Kim

Session: SA1, Room 3rd floor of DCC, Robotics and instrumentation ll 9:30 – 10:30 Cahir: Hyung-Joo Kim

SA1-1 9:30-9:40 P.52

Mechanical evaluation of Laparoscopic Ultrasound Manipulator using a Spring based Elastic Mechanism Jumpei Arata, Kazunari Fukami, Susumu Oguri, Tetsuo Ikeda, Ryu Nakadate, Shinya Onogi, Masamichi Sakaguchi, Tomohiko Akahoshi, Kanako Harada, Mamoru Mitsuishi, and Makoto Hashizume Affiliaions: Kyushu Univ., Nagoya Inst. Tech, Univ, of Tokyo (JP)

SA1-2 9:40-9:50 P.53

Modulation of motion scaling ratio based on microscope magnification for master-slave microsurgical robotic system Kouhei Miyamoto, Yusuke Kurose, Kanako Harada, Hirofumi Nakatomi, Nobuhito Saito, Akio Morita, Naohiko Sugita, and Mamoru Mitsuishi Affiliaions: Univ. of Tokyo, Univ. of Tokyo Hosp., Nippon Medical School (JP)

SA1-3 9:50-10:00 P.55

MR Marker Frame Development for Image-Guided Breast Needle Intervention Robot System Samuel Park, Ki-Woong Lim, Jung-Gun Kim, and Yung-Ho Jo Affiliaions: National Cancer Center (KR)

SA1-4 10:00-10:10 P.57

A humanoid robot for coaching patients for physical rehabilitation exercises Sao Mai Nguyen, Philippe Tanguy, Olivier Remy-Neris, and André Thépaut Affiliaions: Telecom Bretagne, CHRU Brest (FR)

SA1-5 10:10-10:20 P.59

Design of the Control System for an Rehabilitative Robot Hu Kaixiang, Yang Cao, Masakatsu G. Fujie, Kanno, Peng Chen, and Qixin Cao Affiliaions: Shanghai Jiaotong Univ., Waseda Univ. (CN)

10:20-11:00 Break

Program of Technical Session

Session: SA2, Room 3rd floor of DCC, Robotics and instrumentation lll 11:00 – 12:00 Chair: Keri Kim

SA2-1 11:00-11:10 P.62

Atlas Based Automated Segmentation of Mandible for Preoperative Planning of Sagittal Split Ramus Osteotomy Keiji Onoe, Keiji Onoe, Futoshi Yokota,Yoshiyuki Kagiyama, Yasumi Ito, KoichiroUeki, Akinori Moroi, Norio Takeuchi, Yoshito Otake, and Yoshinobu Sato Affiliaions: Univ. of Yamanashi, Nara Inst. of Science and Tech., Hosei Univ. (JP)

SA2-2 11:10-11:20 P.65

Autostereoscopic Integral Videography imaging using the stereo endoscopic images for 3D endoscope system Jumpei Ogasawara, Kenta Kuwana, Renon Doine, Hiromasa Yamashita, Toshio Chiba, and Takeyoshi Dohi Affiliaions: Tokyo Denki Univ., Nihon Univ. (JP)

SA2-3 11:20-11:30 P.67

Robot Assisted Surgical Suture in Confined Spaces of the Cornea ChangYong Song, Kyunghwan Kim Affiliaions: NT Robot, co. (KR)

SA2-4 11:30-11-40 P.71

Architecture Design for a MIS Robot Control System Xingpeng Da, Qixin Cao, Peng Chen, and Masaru Adachi Affiliaions: Shanghai Jiao Tong Univ., Yaskawa Electric Corporation (CN)

SA2-5 11:40-11:50 P.73

Two Layers CAN Bus Control Scheme for Minimally Invasive Surgical Robot Yuanjie Tan, Qixin Cao, Peng Chen, and Tiewen Pan Affiliaions: Shanghai Jiao Tong Univ., The Second Military Medical Univ. (CN)

SA2-6 11:50-12:00 P.76

Regulatory Science on International Standardization of Computer-Assisted Medical Device and Robot (CAMDR) based on Medical Doctor's View Ilhyung Park, Chul-woo Park, Chang-Wuk Oh, and Sanghyun Joung Affiliaions: Kyungpook National Univ. (KR)

12:00-13:30 Lunch Time

Invited Talk 13:30-14:00

The current status of robotic colorectal surgery Kang-Yeong Lee Affiliaion: Yonsei Univ.(KR) Chair: Woo-Jung Lee

Program of Technical Session

Session: SA3, Room 3rd floor of DCC, Surgical Navigation and Simulation

14:00 – 15:30 Chair: Jaesung Hong

SA3-1 14:00-14:10 P.78

In Situ Real 3D See-Through Microsurgical Guidance System Xinran Zhang, Guowen Chen, and Hongen Liao Affiliaions: Tsinghua Univ. (CN)

SA3-2 14:10-14:20 P.81

A Virtual AED Training Kit using a Hand Motion-capture Device Tae Hayashida, Yasushi Yamauchi Affiliaions: Toyo Univ. (JP)

SA3-3 14:20-14:30 P.83

Real Time High Quality Autostereoscopic Surgical Display using One-Pass Integral Videography Imaging Guowen Chen, Zhencheng Fan, Xinran Zhang, Mengfei Liu, and Hongen Liao Affiliaions: Tsinghua Univ. (CN)

SA3-4 14:30-14-40 P.86

Kalman filter-based orientation and position tracking system of surgical instruments using visual sensors Young Jin Joe, Hyun Min Oh, and Min Young Kim Affiliaions: Kyungpook national univ. (KR)

SA3-5 14:40-14:50 P.88

Clinical application of image-guided navigation surgery using tablet PC Yasuda J, Okamoto T, Fujiwara Y, Suzuki F, Futagawa Y, Onda S, Yanaga K, Suzuki N, and Hattori A Affiliaions: The Jikei Univ. Daisan Hosp. (JP)

SA3-6 14:50-15:00 P.90

Panoramic image for shoulder arthroscopy Kyunghwa Jung, In-Ho Jeon. and Jaesung Hong Affiliaions: DGIST, Asan Medical Center (KR)

SA3-7 15:00-15:10 P.92

Markerless Augmented Reality-based Navigation for precise electrode positioning Junghyuk Song, Sangseo Jeon, Seongpung Lee, and Jaesung Hong Affiliaions: DGIST (KR)

SA3-8 15:10-15:20 P.94

A Real-Time MR Image-Guided Surgical Navigation System for a MR-Compatible High Definition Flexible Endoscope Atsushi Yamada, Shigeyuki Naka, Shigehiro Morikawa, and Tohru Tani Affiliaions: Shiga Univ. of Medical Science (JP)

SA3-9 15:20-15:30 P.96

A Patient-specific Haptic Drilling Simulator Based on Surface Rendering Denghongo Liao, Shuheng Liao, and Xiaojun Chen Affiliaions: Shanghai Jiao Tong Univ. (CN)

15:30-16:00 Break

Program of Technical Session

Session: SA4, Room 3rd floor of DCC Teaser Session and Poster Presentation 16:00 – 18:00 Chair: Hongsoo Choi, Co-chair: Sungon Lee

SA4-1 16:00-16:01 P.99

A robust marker detection method for optical surgical navigation system Shuaiyifan Ma, Zijian Zhao Affiliaions: Shandong Univ. (CN)

SA4-2 16:01-16:02 P.101

Generalized Force Model of Retractor in Open-Surgery Chang-Hoon Lee, Byung-Ju Yi Affiliaions: Hanyang Univ. (KR)

SA4-3 16:02-16:03 P.104

Virtual Grasping of T-shaped Handle Driver Using Virtual Human Platform Yoshiki Kobayashi, Yasushi Yamauchi Affiliaions: Toyo Univ. (JP)

SA4-4 16:03-16:04 P.106

4-DOF Surgical Robot Mechanism Design with Position-Adjustable RCM Jae Hong Woo, Jong-Tae Seo, and Byung-Ju Yi Affiliaions: Hanyang Univ. (KR)

SA4-5 16:04-16:05 P.109

A successful case of navigation surgery using augmented reality technology to detect the tumor location of liver metastatic lesion after effective chemotherapy Futagawa Y, Yasuda J, Okamoto T, Fujiwara Y, Kanehira T, Onda S, Yanaga K, Suzuki N, and Hattori A Affiliaions: The Jikei Univ. Daisan Hosp. (JP)

SA4-6 16:05-16:06 P.110

Assessment of image-guided navigation system as an educational tool Okamoto T, Yasuda J, Suzuki F, Futagawa S, Onda S, Yanaga K, Suzuki N, and Hattori A

Affiliaions: The Jikei Univ. Daisan Hosp. (JP)

SA4-7 16:06-16:07 P.112

Laser beam steering system for epiduroscopic laser treatment: A feasibility study Seong-il Kwon, Heechul Kim, and Keri Kim Affiliaions: KIST (KR)

SA4-8 16:07-16:08 P.114

Hybrid Robotic Surgical Trainer for Medical Simulation Chin Boon Chng and Chee-Kong Chui Affiliaions: National Univ. of Singapore (SG)

SA4-9 16:08-16:09P.116

Design of Vascular Intervention Robot Based on Certification Standards Hanbyung Kim, Hyo-Jeong Cha, and Byung-Ju Yi Affiliaions: Hanyang Univ. (KR)

SA4-10 16:09-16:10 P.121

Shape Reconstruction of Flexible Robot Using Novel Configuration of FBG sensors - A Preminary Report – Siyang Zuo, Jun bo Wei, and Shuxin Wang Affiliaions: Tianjin Univ. (CN)

Program of Technical Session

SA4-11 16:10-16:11 P.123

Design of Ear Surgical Robot with Consideration of ISO Standard Sang-Hwa Kim, Jae-Hong Woo, and Byung-Ju Yi Affiliaions: Hanyang Univ. (KR)

SA4-12 16:11-16:12 P.127

Design of an Endoscope Holder Mechanism for Sinus Surgery Hyun-Soo Yoon, Yoo-Sam Chung*, Ji-Heui Kim, and Byung-Ju Yi Affiliaions: Hanyang Univ, Asan Medical Center (KR)

SA4-13 16:12-16:13 P.130

Continuum Flexible Robot with Multiple Curvature Seongho Bak, Daekeun Ji, Seongbo Shim, and Jeasung Hong Affiliaions: DGIST (KR)

SA4-14 16:13-16:14 P.132

A Light-weight Riobot End-effector for Biopsy Procedure Automation with Spring-Triggered Biopsy Gun Mechanism Sanghoon Park, Youngjin Moon, Jongseok Won, and Jaesoon Choi Affiliaions: Asan Medical Center (KR)

SA4-15 16:14-16:15 P.135

Prototype Design of a Teleoperation Robot for Endotracheal Intubation Yuanfa Tao, Tiewen Pan, and Qixin Cao Affiliaions: Hefei Univ. of Tech, Second Military Med. Univ., Shanghai Jiaotong Univ. (CN)

SA4-16 16:15-16:16 P.137

Stiffness-based Recognition of Grasped Object for Cable Driven Surgical Robotic Instrument Yusuke Kurose, Kanako Harada, Ko Yamamoto, Naoyuki Shono, Hirofumi Nakatomi, Nobuhito Saito, Akio Morita, Eiju Watanabe, Naohiko Sugita, and Mamoru Mitsuishi Affiliaions: Univ. of Tokyo, Nippon Medical School, Jichi Medical Univ. Hosp. (JP)

SA4-17 16:16-16:17 P.140

Comparison of Dynamic Motion Scaling Methods for Master-Slave Microsurgical Robotic System Sunho Ko, Atsushi Nakazawa, Yusuke Kurose, Kanako Harada, Naoyuki Shono, Naoyuki Shono, Nobuhito Saito, Akio Morita, and Mamoru Mitsuishi Affiliaions: Univ. of Tokyo, Nippon Medical School (JP)

SA4-18 16:17-16:18 P.142

Microscopic Image Processing for Automation of Eye Surgical Robot Jiyong Kim, Takashi Tayama, Yusuke Kurose, Murilo Marques Marinho, Tatsuya Nitta, Kanako Harada, and Mamoru Mitsuishi Affiliaions: Seoul National Univ, Univ. of Tokyo (JP)

SA4-19 16:18-16:19 P.145

The Delta-PantoScope: A novel kinematics for single port MIS positioner Jeremy Olivier, Jerry Bielmann, Jiantao Zhang, and Linfei Xiong Affiliaions: EPFL, Robo Medical Inc (CH)

SA4-20 16:19-16:20 P.147

Autometic tracking of the movements of hyoid bone and thyroid cartilage in the videofluoroscopic swallowing study Jongseong Jang, Taikon Kim, Min Sung Chung, and Hashizume Makoto Affiliaions: Kyushu Univ, Hanyang Univ. (JP)

Program of Technical Session

Authors of poster papers please submit three pages PPT file for teaser session in advance toabid_mecha@yahoo.com or Registration Desk before 14th of October.

After teaser session, the interactive poster session will be held for one hour in the corridor of 3rd

floor of convention center of DCC. All Authors are requested to attach their poster (Size A0) on the

board by noon of 15th of October.

SA4-21 16:20-16:21 P.149

Evaluation of pelvic arteries displacement by postural changes Hidemichi kiyomatsu, Junchen Wang, Ma Lei, Tomomichi Kiyomatsu, Etsuko Kobayashi, Ichiro Sakuma, and Toshiaki Watanabe Affiliaions: Univ. of Tokyo, Beihang Univer. (JP)

SA4-22 16:21-16:22 P.151

Development of a Selectively Passive Macro-micro Type Neurosurgical Robot Sung Mok Kim, Joono Cheong, Whee Kuk Kim, and Byung-Ju Yi Affiliaions: Korea Univ. (KR)

SA4-23 16:22-16:23 P.153

Development of a voxel-based haptic surgical simulator based on virtual reality Shuheng Liao, Denghong Liao, and Xiaojun Chen Affiliaions: Shanghai Jiao Tong Univ. (CN)

SA4-24 16:23-16:24 P.155

Design of a 6-DOF Serial Manipulator for Transcranial Magnetic Stimulation Hyunsoo Shin, Wooseok Ryu, and Sungon Lee Affiliaions: Hanyang Univ. (KR)

SA4-25 16:24-16:25 P.158

Weighted-RRT Motion Planning Method for Nurse-Assistant Robot Qiang Qiu, Xiaoxiao Zhu, Qixin Cao, Hiroshi Yokoi, and Tiewen Pan Affiliaions: Shanghai Jiao Tong University, the University of Electro-Communications, The Second Military Medical Univ. (CN)

SA4-26 16:25-16:26 P.161

3D Reconstruction of a Thyroid Phantom using Kinect Sensor for Ultrasound Scanning Robot (NCCUSR) Yeoun-Jae Kim, Woong-Bae Yoon, Hye-Gyeong Ahn, and Kwang-Gi Kim Affiliaions: National Cancer Center (KR)

SA4-27 16:26-16:27 P.163

SMART injector for microsurgery Sunjin Jang ,Dongwoo Koo, and Cheol Song Affiliaions: DGIST (KR)

Interactive Poster Session 16:30-17:30

Award Ceremony 17:30-18:00