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This paper describes a biped walking control system based on the reactive force interaction control at the foothold. 1) robust control of reactive force/torque interaction at the foothold based on Cartesian space motion controller. 2) the posture control considering the physical constraints of the reactive force/torque at the foothold by quadratic(More)
PURPOSE This study evaluated the stability and risk of single-incision laparoscopic percutaneous extraperitoneal closure (SILPEC) for pediatric inguinal hernia performed by inexperienced pediatric surgeons versus conventional LPEC procedure. METHODS Between 2011 and 2012, a randomized prospective study was performed comparing SILPEC (n = 37, 16 uni- and(More)
OBJECTIVES Acetylcholinesterase (AChE) staining has become the gold standard for definitively diagnosing Hirschsprung disease (HD), although some pitfalls have been reported. We reevaluated a large series at our institute in order to validate the accuracy of AChE staining for detecting HD. METHODS A retrospective study of the rectal mucosal specimens of(More)
BACKGROUND The purpose of this study was to develop a new objective assessment system for the suture ligature method employed in the laparoscopic intestinal anastomosis model. Suturing skills were evaluated objectively using this system. METHODS This study compared 17 expert surgeons, each of whom had performed >500 laparoscopic procedures, with 36 novice(More)
PURPOSE Pediatric surgeons require highly advanced skills when performing endoscopic surgery; however, their experience is often limited in comparison to general surgeons. The aim of this study was to evaluate the effectiveness of endoscopic surgery training for less-experienced pediatric surgeons and then compare their skills before and after training. (More)
PURPOSE We developed a system to objectively verify the endoscopic surgical skills of pediatric surgeons. MATERIALS AND METHODS We developed a thoracoscopic model of congenital diaphragmatic hernia mimicking a newborn's size. The examinees were divided into Experts (n = 10) and Trainees (n = 19), and each group performed two tasks (Task 1, reduction of a(More)
This study aimed to identify detailed differences in laparoscopic surgical processes between expert and novice surgeons in a training environment and demonstrate that surgical process modeling can be used for such detailed analysis. Eleven expert surgeons each of whom had performed $${>}500$$ > 500 laparoscopic procedures were compared with 10 young(More)
We developed and evaluated a visual compensation system that allows surgeons to visualize obscured regions in real time, such that the surgical instrument appears virtually transparent. The system consists of two endoscopes: a main endoscope to observe the surgical environment, and a supporting endoscope to render the region hidden from view by surgical(More)
PURPOSE Endoscopic surgery is performed under a horizontal view in comparison to the vertical view that is associated with open surgery. We developed an endoscopic pseudo-viewpoint alternation system with out any scope action. We investigate the effect of this novel system on forceps manipulation among expert pediatric surgeons. METHODS Six expert(More)
To investigate the incidence and treatment of internal anal sphincter achalasia (IASA) in Japan based on an analysis of data from a nationwide retrospective cohort study of the allied disorders of Hirschsprung’s disease. Five cases of definitive IASA were collected from a nationwide retrospective cohort study conducted from 2001 to 2010 and a search of the(More)