Development of kidney laparoscopic surgery navigator with GPU acceleration by cooperation of physician and sensor

• Project/Area Number: 15K00291
• Research Category: Grant-in-Aid for Scientific Research (C)
• Allocation Type: Multi-year Fund
• Section: 一般
• Research Field: Human interface and interaction
• Research Institution: Osaka Electro-Communication University
• Principal Investigator: ONISHI Katsuhiko 大阪電気通信大学, 総合情報学部, 准教授 (20359855)
• Co-Investigator(Kenkyū-buntansha): 登尾 啓史 大阪電気通信大学, 総合情報学部, 教授 (10198616) ; 小枝 正直 大阪電気通信大学, 総合情報学部, 准教授 (10411232) ; 山口 哲 大阪大学, 歯学研究科, 准教授 (30397773) ; 小川 修 京都大学, 医学研究科, 教授 (90260611)
• Project Period (FY): 2015-04-01 – 2018-03-31
• Project Status: Completed (Fiscal Year 2017)
• Budget Amount: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000); Fiscal Year 2017: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2016: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000); Fiscal Year 2015: ¥2,600,000 (Direct Cost: ¥2,000,000、Indirect Cost: ¥600,000)
• Keywords: 腹腔鏡手術 / カメラ位置姿勢推定 / マーカトラッキング / 腎手術支援システム / 腎臓CGモデル / 重畳表示

Outline of Final Research Achievements

The purpose of our research is to develop a laparoscopic surgical navigation system on the premise of an assistant who can safely and accurately extract kidney cancer. To realize this purpose, we have developed a support system for robot-assisted renal partial resection. And we have proposed a method to estimate the position and orientation of a laparoscopic camera using marker measurement with an external sensor. As a result of verifying the operation of the prototype system by the assistant of the doctor and the method of estimating the position and orientation of the proposed laparoscopic camera, it was confirmed that there is certain usefulness.

Research Products

• [Journal Article] A Study of Guidance Method for AR Laparoscopic Surgery Navigation System (2017)
  • Author(s): Onishi Katsuhiko、Miki Yohei、Okuda Keishi、Koeda Masanao、Noborio Hiroshi
  • Journal Title: HCI (19), Lecture Notes in Computer Science book series Volume: 10289 Pages: 556-564
  • DOI: 10.1007/978-3-319-58637-3_43
  • ISBN: 9783319586366, 9783319586373
  • Peer Reviewed
• [Journal Article] Augmented Reality Navigation System for Robot-Assisted Laparoscopic Partial Nephrectomy (2017)
  • Author(s): Sengiku Atsushi、Koeda Masanao、Sawada Atsuro、Kono Jin、Terada Naoki、Yamasaki Toshinari、Mizushino Kiminori、Kunii Takahiro、Onishi Katsuhiko、Noborio Hiroshi、Ogawa Osamu
  • Journal Title: DUXU 2017, PartⅡ, LNCS Volume: 10289 Pages: 575-584
  • DOI: 10.1007/978-3-319-58637-3_45
  • ISBN: 9783319586366, 9783319586373
  • Peer Reviewed / Open Access
• [Presentation] 腹腔鏡下手術ナビゲーションシステムにおけるカメラの位置姿勢制御手法の検討 (2018)
  • Author(s): 文山 誠友，三木 陽平，奥田 啓嗣，大西 克彦，小枝 正直，登尾 啓史
  • Organizer: 2018年電子情報通信学会総合大会ISS特別企画 学生ポスターセッション
• [Presentation] A study of guidance method for AR laparoscopic surgery navigation system (2017)
  • Author(s): Katsuhiko Onishi, Yohei Miki, Keishi Okuda, Masanao Koeda and Hiroshi Noborio
  • Organizer: the 19th International Conference on Human-Computer Interaction (HCII2017)
  • Place of Presentation: Vancouver, Canada
  • Year and Date: 2017-07-09
  • Int'l Joint Research
• [Presentation] Augmented Reality Navigation System for Robot-Assisted Laparoscopic Partial Nephrectomy (2017)
  • Author(s): Atsushi Sengiku, Masanao Koeda, Atsuro Sawada, Jin Kono, Naoki Terada, Toshinari Yamasaki, Kiminori Mizushino, Takahiro Kunii, Katsuhiko Onishi, Hiroshi Noborio and Osamu Ogawa
  • Organizer: the 19th International Conference on Human-Computer Interaction (HCII2017)
  • Place of Presentation: Vancouver, Canada
  • Year and Date: 2017-07-09
  • Int'l Joint Research
• [Presentation] 腹腔鏡手術ナビゲーションシステムにおけるカメラ一姿勢推定手法の一検討 (2017)
  • Author(s): 三木 陽平，奥田 啓嗣，矢野 大貴，大西 克彦，小枝 正直，登尾 啓史
  • Organizer: 2017年電子情報通信学会総合大会ISS特別企画 学生ポスターセッション
  • Place of Presentation: 名城大学，名古屋市
  • Year and Date: 2017-03-22
• [Presentation] 腹腔鏡下手術ナビゲーションステムにおけるカメラ位置姿勢推定手法の精度評価 (2017)
  • Author(s): 奥田 啓嗣，三木 陽平，矢野 大貴，大西 克彦，小枝 正直，登尾 啓史
  • Organizer: 第17回日本VR医学会学術大会
• [Presentation] Image Overlay Support with 3DCG Organ Model for Robot-Assisted Laparoscopic Partial Nephrectomy (2016)
  • Author(s): Masanao Koeda, Kiminori Mizushino, Katsuhiko Onishi, Hiroshi Noborio, Takahiro Kunii, Masatoshi Kayaki, Atsushi Sengiku, Atsuro Sawada, Takeshi Yoshikawa, Yoshiyuki Matsui, Osamu Ogawa
  • Organizer: the 18th International Conference on Human-Computer Interaction (HCII2016)
  • Place of Presentation: Toronto, Canada
  • Year and Date: 2016-07-17
  • Int'l Joint Research
• [Presentation] Image Overlay Support with 3D CG Organ Model for Robot-Assisted Laparoscopic Partial Nephrectomy (2016)
  • Author(s): M. Koeda, K. Mizushino, K. Onishi, H. Noborio, T. Kunii, M. Kayaki, A. Sengiku, A. Sawada, T. Yoshikawa, Y. Matsui and O. Ogawa
  • Organizer: the 18th International Conference on Human-Computer Interaction (HCII2016)
  • Place of Presentation: Toronto, Canada
  • Year and Date: 2016-07-17
  • Int'l Joint Research
• [Presentation] ロボット支援下腎部分切除術（RALPN）における3Dナビゲーションシステムの開発 (2016)
  • Author(s): 千菊 敦士，澤田 篤郎，寺田 直樹，小枝 正直，水篠 公範，大西 克彦，登尾 啓史，小川 修
  • Organizer: 第16回日本VR医学会学術大会 (JSMVR2016)
  • Place of Presentation: 横浜情報文化センター，横浜市
• [Presentation] ロボット支援腎部分切除術をCG重畳表示により支援するシステム (2015)
  • Author(s): 小枝 正直，水篠 公範，大西 克彦，登尾 啓史，國居 貴浩，榧木 方俊，千菊 敦士，澤田 篤郎，吉川 武志，松井 喜之，小川 修
  • Organizer: 第16回計測自動制御学会システムインテグレーション部門講演会 (SI2015)
  • Place of Presentation: 名古屋国際会議場
  • Year and Date: 2015-12-14
• [Presentation] 仮想腫瘍を埋め込んだ柔軟な臓器モデルの製作 (2015)
  • Author(s): 小枝 正直，水篠 公範，千菊 敦士，澤田 篤郎，吉川 武志，松井 喜之，小川 修，國居 貴浩，岸本 直樹，大西 克彦，登尾 啓史
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2015(ROBOMEC2015)
  • Place of Presentation: 京都市勧業館「みやこめっせ」
  • Year and Date: 2015-05-17