九州大学-研究者情報 [DANWATTA SANJAYA VIPULA BANDARA (助教) 工学研究院機械工学部門]

DANWATTA SANJAYA VIPULA BANDARA（だんわったさんじゃや　う゛いぷらばんだーら）

データ更新日：2023.12.19

助教　／　工学研究院機械工学部門

原著論文

1.	Takumi Hiejima, Hirofumi Nogami, Aya Saito, Kazuyuki Ban, DSV Bandara, Ryo Takigawa, Jumpei Arata, Non-wearable pulse rate measurement system using laser Doppler flowmetry with algorithm to eliminate body motion artifacts for masked palm civet (Parguma larvata) during husbandry training, Japanese Journal of Applied Physics , 62, 2023.04, Husbandry training (HT) shapes specific actions of animals to facilitate healthcare or animal research. The challenge of HT is that learning the specific actions requires zoo-keepers to grasp the stress states of animals. Here we suggest a non-wearable pulse rate measurement system to help zoo-keepers. The pulse rate indicates the stress state. By using laser Doppler flowmetry with an algorithm to eliminate body motion artifacts, it is possible to measure pulse rates. In the algorithm, the cutoff frequency is an important parameter. This paper reports the relationship between the cutoff frequency and the blood flow signal. We applied 100 Hz, 12 kHz and 15 kHz cutoff frequencies and compared blood flow signals. The results indicated that the appropriate cutoff frequency can vary depending on the magnitude of body motion artifacts. When there are few body motion artifacts, a low cutoff frequency is suitable. Otherwise, a high cutoff frequency is preferred..
2.	Toshiro Osaka, Kenichiro Seto, Bandara DSV, Hirofumi Nogami, Jumpei Arata, Compact Variable Stiffness Actuator for Surgical Robots, Journal of Robotics and Mechatronics, 34, 6, 1225-1232, 2022.12, [URL], Highly rigid surgical robots are capable of precise positioning; however, there is a risk of injury to the surrounding organs owing to undesired contact. To solve this problem, surgeons can change their stiffness according to the desired motion by contracting and relaxing the muscles. Therefore, surgical robots that can change their stiffness according to their application, similar to a surgeon, are useful in improving safety. However, existing variable stiffness actuators cannot easily achieve a wide variable stiffness range while maintaining a small size and lightweight, which are critical factors for surgical robots. This study presents the design, fabrication, and evaluation of a variable stiffness actuator that is compact and provides a wide range of variable stiffness, with elastic elements arranged in a circumferential direction..
3.	D.S.V Bandara, Ryu Nakadate, Murilo M. Marinho, Kanako Harada, Mamoru Mitsuishi, Jumpei Arata, 3.5 mm compliant robotic surgical forceps with 4 DOF : design and performance evaluation, Advanced Robotics, doi.org/10.1080/01691864.2022.2138721, 37, 4, 270-280, 2022.11, Minimally invasive surgery (MIS) is a viable alternative to general surgery with distinct advantages. Robotically assisted MIS, has been demonstrated to achieve higher accuracy and repeatability in comparison with those of manual procedures. Despite these advantages, owing to the nature of some surgical procedures in which dexterous tissue manipulations in deep narrow areas of the human body are necessary, there is a need for further miniaturized tools with smaller bending radii. To cater to this requirement, this study proposes a new compliant mechanism based surgical robotic forceps. It can generate four degrees of freedom at the tip of the forceps including two bending motions in two perpendicular axes, grasping and rotation. A better combination of the stress distribution through the elastic material, grasping force, and range of motion was determined based on a series of finite element analyses. In addition, the manufactured prototype underwent a series of laboratory experiments to evaluate its effectiveness. Details of the mechanism, finite element analysis, prototype implementation, and evaluations are presented in this paper..
4.	Keisuke Osawa, D. S. V. Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto & Jumpei Arata , 2.5-mm articulated endoluminal forceps using a compliant mechanism, International Journal of Computer Assisted Radiology and Surgery , 10.1007/s11548-022-02726-9, 1-8, 2022.08, [URL], Purpose Gastrointestinal cancer can be treated using a flexible endoscope through a natural orifice. However, treatment instruments with limited degrees of freedom (DOFs) require a highly skilled operator. Articulated devices useful for endoluminal procedures, such as endoscopic submucosal dissection and biopsy, have been developed. These devices enable dexterous operation in a narrow lumen; however, they suffer from limitations such as large size and high cost. To overcome these limitations, we developed a 2.5-mm articulated forceps that can be inserted into a standard endoscope channel based on a compliant mechanism. Methods The compliant mechanism allows the device to be compact and affordable, which is possible due to its monolithic structure. The proposed mechanism consists of two segments, 1-DOF grasping and 2-DOF bending, that are actuated by tendon-sheath mechanisms. A prototype was designed based on finite element analysis results. Results To confirm the effectiveness of the proposed mechanism, we fabricated the prototype using a 3D printer. A series of mechanical performance tests on the prototype revealed that it achieved the following specifications: (1) DOF: 1-DOF grasping + 2-DOF bending, (2) outer diameter: 2.5 mm, (3) length of the bending segment: 30 mm, and (4) range of motion: 0∘ to 20∘ (grasping) and −90∘ to +90∘ (bending). Finally, we performed a tissue manipulation test on an excised porcine colon and found that a piece of mucous membrane tissue was successfully resected using an electric knife while being lifted with the developed forceps. Conclusion The results of the evaluation experiment demonstrated a positive feasibility of the proposed mechanism, which has a simpler structure compared to those of other conventional mechanisms; furthermore, it is potentially more cost-effective and is disposable. The mechanical design, prototype implementation, and evaluations are reported in this paper..
5.	Keisuke Osawa, D.S.V Bandara, Ryu Nakadate, Yoshihiro Nagao, Tomohiko Akahoshi, Masatoshi Eto, Jumpei Arata, Stress Dispersion Design in Continuum Compliant Structure toward Multi-DOF Endoluminal Forceps, Applied Sciences - MDPI, 2022.02.
6.	R.A.R.C GOPURA, D.S.V BANDARA, A Hand Prosthesis with an Under-Actuated and Self-Adaptive Finger Mechanism, Engineering, 10, 7, 448-463, 2018.07.
7.	D.S.V BANDARA, Jumpei ARATA, Kazuo KIGUCHI, Towards controlling of a trans-humeral prosthesis with EEG signals, Bioengineering, MDPI, 5, 2, 26, 2018.03.
8.	D.S.V BANDARA, Jumpei ARATA, Kazuo KIGUCHI, A Non-Invasive BCI Approach for Predicting Motion Intention of ADL Tasks for an Upper-Limb Wearable Robot, International Journal of Advanced Robotic Systems, 2018, https://doi.org/10.1177/1729881418767310, 2018.03.
9.	D.S.V BANDARA, R.A.R.C GOPURA, K.T.M.U HEMAPALA, Kazuo KIGUCHI, Development of a multi-DoF transhumeral robotic arm prosthesis, MEDICAL ENGINEERING & PHYSICS, 10.1016/j.medengphy.2017.06.034, 48, 131-141, 2017.07.

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