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您的检索式：作者名="Kensuke Harada"
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| 1 | Electrohydraulic lithotripsy and rendezvous nasal endoscopic cholangiography for common bile duct stone: A case report显示文摘BACKGROUND In patients with large stones in the common bile duct(CBD),advanced treatment modalities are generally needed.Here,we present an interesting case of a huge CBD stone treated with electrohydraulic lithotripsy(EHL)by the percutaneous approach and rendezvous endoscopic retrograde cholangiography(ERC)using a nasal endoscope.CASE SUMMARY A 91-year-old woman underwent ERC for a symptomatic large CBD stone with a diameter of 50 mm.She was referred to our institution after the failure of lithotomy by ERC,and after undergoing percutaneous transhepatic biliary drainage.We attempted to fragment the stone by transhepatic cholangioscopy using EHL.However,the stones were too large and partly soft clay-like for lithotripsy.Next,we attempted lithotomy with ERC and cholangioscopy by the rendezvous technique using a nasal endoscope and achieved complete lithotomy.No complication was observed at the end of this procedure.CONCLUSION Cholangioscopy by rendezvous technique using a nasal endoscope is a feasible and safe endoscopic method for removing huge CBD stones. | Koichi Kimura Kensuke Kudo Tomoharu Yoshizumi Takeshi Kurihara Shohei Yoshiya Yohei Mano Kazuki Takeishi Shinji Itoh Noboru Harada Toru Ikegami Tetsuo Ikeda | 2019 | World Journal of Clinical Cases2019，7，10： | 2 |
| 2 | Collective Review of Small Carcinomas of the Pancreas显示文摘 | RYOICHI TSUCHIYA TSUTOMU TOMIOKA KUNIHIDE IZAWA TAKATOSHI NODA KENSUKE YAMAMOTO TSUKASA TSUNODA NOBORU HARADA TAKASHI YAMAGUCHI RYOZO YOSHINO TOSHIMITSU MIYAMOTO TOSHIFUMI ETO | 1986 | Annals of Surgery1986，，1： | 1 |
| 3 | Teaching a robot to use electric tools with regrasp planning显示文摘This study presents a straightforward method to teach robots to use tools.Teaching robots is crucial in quickly deploying and reconfiguring robots in next-generation factories.Conventional methods require third-party systems like wearable devices or complicated vision system to capture,analyse,and map human grasps,motion,and tool poses to robots.These systems assume lots of experience from their users.Unlike the conventional methods,this study does not involve learning human motion and skills.Instead,it only learns the object goal poses from the human user whilst employs regrasp planning to generate robot motion.The method is most suitable for a robot to learn the usage of electric tools that can be operated by simply switching on and off.The proposed method is validated using a dual-arm robot with hand-mounted cameras and several tools.Experimental results show that the proposed method is robust,feasible,and simple to teach robots.It can find a collision-free and kino-dynamic feasible grasp sequences and motion trajectories when the goal pose is reachable.The method allows the robot to automatically choose placements or handover considering the surrounding environment as intermediate states to change the pose of the tool and use tools following human demonstrations. | Mohamed Raessa Daniel Sánchez Weiwei Wan Damien Petit Kensuke Harada | 2019 | CAAI Transactions on Intelligence Technology2019，4，1： | 0 |
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