Yoshito Otake

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We have recently developed a snake-like manipulator for use in orthopaedic environments. One example application is the treatment of osteolysis (bone degradation) due to total hip arthroplasty. Recent literature suggest constant curvature models to define manipulator configuration from string (or actuator cable) length; however, our manipulator does not(More)
PURPOSE A system architecture has been developed for integration of intraoperative 3D imaging [viz., mobile C-arm cone-beam CT (CBCT)] with surgical navigation (e.g., trackers, endoscopy, and preoperative image and planning data). The goal of this paper is to describe the architecture and its handling of a broad variety of data sources in modular tool(More)
Intraoperative patient registration may significantly affect the outcome of image-guided surgery (IGS). Image-based registration approaches have several advantages over the currently dominant point-based direct contact methods and are used in some industry solutions in image-guided radiation therapy with fixed X-ray gantries. However, technical challenges(More)
Mandibular movement findings have not always been useful in clinical, even though measuring techniques have improved. This is because there is no method to evaluate condylar movement including the position of the temporal bone. In this study, we have attempted to apply 3-dimensional imaging to mandibular movement data, and have developed a 4-demensional(More)
PURPOSE A novel electromagnetic tracking configuration was characterized and implemented for image-guided surgery incorporating C-arm fluoroscopy and/or cone-beam CT (CBCT). The tracker employed a field generator (FG) with an open rectangular aperture and a frame enclosure with two essentially hollow sides, yielding a design that presents little or no X-ray(More)
This paper describes the development and initial cadaver studies using a prototype image-guided surgery system for femoroplasty, which is a potential alternative treatment for reducing fracture risk in patients with severe osteoporosis. Our goal is to develop an integrated surgical guidance system that will allow surgeons to augment the femur using(More)
PURPOSE Real-time surgical navigation relies on accurate image-to-world registration to align the coordinate systems of the image and patient. Conventional manual registration can present a workflow bottleneck and is prone to manual error and intraoperator variability. This work reports alternative means of automatic image-to-world registration, each method(More)
The likelihood of finding manufactured components (surgical tools, implants, etc.) within a tomographic field-of-view has been steadily increasing. One reason is the aging population and proliferation of prosthetic devices, such that more people undergoing diagnostic imaging have existing implants, particularly hip and knee implants. Another reason is that(More)
PURPOSE Conventional tracker configurations for surgical navigation carry a variety of limitations, including limited geometric accuracy, line-of-sight obstruction, and mismatch of the view angle with the surgeon's-eye view. This paper presents the development and characterization of a novel tracker configuration (referred to as "Tracker-on-C") intended to(More)
As operative procedures become more complicated, simply increasing the number of devices will not facilitate such operations. It is necessary to consider the ergonomics of the operating environment, especially with regard to the provision of navigation data, the prevention of technical difficulties, and the comfort of the operating room staff. We have(More)