start-ver=1.4
cd-journal=joma
no-vol=75
cd-vols=
no-issue=1
article-no=
start-page=95
end-page=101
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2021
dt-pub=202102
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Minimally Invasive Spinal Stabilization with Denosumab before Total Spondylectomy for a Collapsing Lower Lumbar Spinal Giant Cell Tumor
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=A 21-year-old man consulted our hospital for treatment of a spinal giant cell tumor (GCT) of Enneking stage III. Lower lumbar-spine tumors and severe spinal canal stenosis are associated with high risk for surgical mor-bidity. Stability was temporarily secured with a percutaneous pedicle screw fixation in combination with deno-sumab, which shrank the tumor. Total en bloc spondylectomy was then performed 6 months after initiation of denosumab, and the patient was followed for 3 years. There was no local recurrence, and bony fusion was obtained. Minimally invasive surgery and denosumab allowed safer and easier treatment of a collapsing lower lumbar extra-compartmental GCT.
en-copyright=
kn-copyright=

en-aut-name=MinatoKeitaro
en-aut-sei=Minato
en-aut-mei=Keitaro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=1
ORCID=

en-aut-name=HiranoToru
en-aut-sei=Hirano
en-aut-mei=Toru
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=KawashimaHiroyuki
en-aut-sei=Kawashima
en-aut-mei=Hiroyuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=YamagishiTetsuro
en-aut-sei=Yamagishi
en-aut-mei=Tetsuro
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=WatanabeKeigo
en-aut-sei=Watanabe
en-aut-mei=Keigo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

en-aut-name=OhashiMasayuki
en-aut-sei=Ohashi
en-aut-mei=Masayuki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=6
ORCID=

en-aut-name=OgoseAkira
en-aut-sei=Ogose
en-aut-mei=Akira
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=7
ORCID=

en-aut-name=EndoNaoto
en-aut-sei=Endo
en-aut-mei=Naoto
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=8
ORCID=

affil-num=1
en-affil=Division of Orthopedic Surgery, Department of Regenerative and Transplant Medicine, Niigata University Graduate School of Medical and Dental Sciences
kn-affil=

affil-num=2
en-affil=Division of Orthopedic Surgery, Department of Regenerative and Transplant Medicine, Niigata University Graduate School of Medical and Dental Sciences
kn-affil=

affil-num=3
en-affil=Division of Orthopedic Surgery, Department of Regenerative and Transplant Medicine, Niigata University Graduate School of Medical and Dental Sciences
kn-affil=

affil-num=4
en-affil=Division of Orthopedic Surgery, Department of Regenerative and Transplant Medicine, Niigata University Graduate School of Medical and Dental Sciences
kn-affil=

affil-num=5
en-affil=Division of Orthopedic Surgery, Department of Regenerative and Transplant Medicine, Niigata University Graduate School of Medical and Dental Sciences
kn-affil=

affil-num=6
en-affil=Division of Orthopedic Surgery, Department of Regenerative and Transplant Medicine, Niigata University Graduate School of Medical and Dental Sciences
kn-affil=

affil-num=7
en-affil=Department of Orthopedic Surgery, Uonuma Kikan Hospital
kn-affil=

affil-num=8
en-affil=Division of Orthopedic Surgery, Department of Regenerative and Transplant Medicine, Niigata University Graduate School of Medical and Dental Sciences
kn-affil=
en-keyword=spinal stabilization
kn-keyword=spinal stabilization
en-keyword=denosumab
kn-keyword=denosumab
en-keyword=spondylectomy
kn-keyword=spondylectomy
en-keyword=giant cell tumor
kn-keyword=giant cell tumor
END

start-ver=1.4
cd-journal=joma
no-vol=27
cd-vols=
no-issue=15
article-no=
start-page=1147
end-page=1160
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2013
dt-pub=20130722
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Positioning device for outdoor mobile robots using optical sensors and lasers
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=We propose a novel method for positioning a mobile robot in an outdoor environment using lasers and optical sensors. Position estimation via a noncontact optical method is useful because the information from the wheel odometer and the global positioning system in a mobile robot is unreliable in some situations. Contact optical sensors such as computer mouse are designed to be in contact with a surface and do not function well in strong ambient light conditions. To mitigate the challenges of an outdoor environment, we developed an optical device with a bandpass filter and a pipe to restrict solar light and to detect translation. The use of two devices enables sensing of the mobile robot’s position, including posture. Furthermore, employing a collimated laser beam allows measurements against a surface to be invariable with the distance to the surface. In this paper, we describe motion estimation, device configurations, and several tests for performance evaluation. We also present the experimental positioning results from a vehicle equipped with our optical device on an outdoor path. Finally, we discuss an improvement in postural accuracy by combining an optical device with precise gyroscopes.
en-copyright=
kn-copyright=

en-aut-name=NagaiIsaku
en-aut-sei=Nagai
en-aut-mei=Isaku
kn-aut-name=永井伊作
kn-aut-sei=永井
kn-aut-mei=伊作
aut-affil-num=1
ORCID=

en-aut-name=YamauchiGenki
en-aut-sei=Yamauchi
en-aut-mei=Genki
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

en-aut-name=NagataniKeiji
en-aut-sei=Nagatani
en-aut-mei=Keiji
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=3
ORCID=

en-aut-name=WatanabeKeigo
en-aut-sei=Watanabe
en-aut-mei=Keigo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=4
ORCID=

en-aut-name=YoshidaKazuya
en-aut-sei=Yoshida
en-aut-mei=Kazuya
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=5
ORCID=

affil-num=1
en-affil=
kn-affil=自然科学研究科

affil-num=2
en-affil=
kn-affil=Graduate School of Engineering, Tohoku University

affil-num=3
en-affil=
kn-affil=Graduate School of Engineering, Tohoku University

affil-num=4
en-affil=
kn-affil=Department of Intelligent Mechanical Systems , Okayama University

affil-num=5
en-affil=
kn-affil=Graduate School of Engineering, Tohoku University
en-keyword=mobile robot
kn-keyword=mobile robot
en-keyword=position estimation
kn-keyword=position estimation
en-keyword=laser speckle pattern
kn-keyword=laser speckle pattern
en-keyword=optical sensor
kn-keyword=optical sensor
END

start-ver=1.4
cd-journal=joma
no-vol=
cd-vols=
no-issue=
article-no=
start-page=6053
end-page=6058
dt-received=
dt-revised=
dt-accepted=
dt-pub-year=2015
dt-pub=20150928
dt-online=
en-article=
kn-article=
en-subject=
kn-subject=
en-title=
kn-title=Path Tracking by a Mobile Robot Equipped with Only a Downward Facing Camera
en-subtitle=
kn-subtitle=
en-abstract=
kn-abstract=This paper presents a practical path-tracking
method for a mobile robot with only a downward camera facing the passage plane. A unique algorithm for tracking and searching ground images with natural texture is used to localize the robot without a feature-point extraction scheme commonly used in other visual odometry methods. In our tracking algorithm, groups of reference pixels are used to detect the relative translation and rotation between frames. Furthermore, a reference pixel group of another shape is registered both to record a path and to correct errors accumulated during localization. All image processing and robot control operations are carried out with low memory consumption for image registration and fast calculation times for completing the searches on a laptop PC. We also describe experimental results in which a vehicle developed by the proposed method repeatedly performed precise path tracking under indoor and outdoor environments.
en-copyright=
kn-copyright=

en-aut-name=NagaiIsaku
en-aut-sei=Nagai
en-aut-mei=Isaku
kn-aut-name=永井伊作
kn-aut-sei=永井
kn-aut-mei=伊作
aut-affil-num=1
ORCID=

en-aut-name=WatanabeKeigo
en-aut-sei=Watanabe
en-aut-mei=Keigo
kn-aut-name=
kn-aut-sei=
kn-aut-mei=
aut-affil-num=2
ORCID=

affil-num=1
en-affil=
kn-affil=岡山大学大学院自然科学研究科

affil-num=2
en-affil=
kn-affil=岡山大学大学院自然科学研究科
END