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Study on the measurement of soft-tissue position and deformation for surgical navigations

Research Project

Project/Area Number 16H03191
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Medical systems
Research InstitutionTokyo Medical and Dental University (2017-2020)
The University of Tokyo (2016)

Principal Investigator

Nakajima Yoshikazu  東京医科歯科大学, 生体材料工学研究所, 教授 (40343256)

Co-Investigator(Kenkyū-buntansha) 斎藤 季  東京大学, 大学院医学系研究科(医学部), 特任助教 (00646466)
小山 博史  東京大学, 大学院医学系研究科(医学部), 教授 (30194640)
金 太一  東京大学, 医学部附属病院, 助教 (90447392)
中冨 浩文  東京大学, 医学部附属病院, 准教授 (10420209)
Project Period (FY) 2016-04-01 – 2021-03-31
Project Status Completed (Fiscal Year 2020)
Budget Amount *help
¥14,820,000 (Direct Cost: ¥11,400,000、Indirect Cost: ¥3,420,000)
Fiscal Year 2020: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
Fiscal Year 2019: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
Fiscal Year 2018: ¥2,470,000 (Direct Cost: ¥1,900,000、Indirect Cost: ¥570,000)
Fiscal Year 2017: ¥1,950,000 (Direct Cost: ¥1,500,000、Indirect Cost: ¥450,000)
Fiscal Year 2016: ¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000)
Keywords臓器変形トラッキング / 手術支援 / 形状計測 / 非接触計測 / ブレインシフト / 手術ナビゲーション / 変形補正 / 変形計測 / 位置姿勢計測 / 軟組織変形計測 / 臓器トラッキング / 血管抽出 / 非接触光学計測 / 軟組織変形トラッキング / プロジェクションマッピング / コンピュータ外科学 / 非線形レジストレーション / 医療・福祉 / 情報工学 / 情報システム / 生体生命情報学 / ソフトコンピューティング / 医用システム
Outline of Final Research Achievements

We provided the surface shapes and textures with laser-beam pattern projection and camera image capturing. In addition, we provided its application to estimate soft-tissue deformation and finally projected a surgical plan directory onto the brain surfaces by projection mapping accurately. A laser optical device and a high-speed camera were employed to measure a textured surface of the object with stereo measurement, and then texture image processing and non-linear deformation tracking provided high-accurate compensation of soft-tissue deformation during surgeries. It was implemented into a projection mapping system that we have developed as a surgical navigation. The system showed the performance of surgical-plan projection within the errors around 1.2 mm.

Academic Significance and Societal Importance of the Research Achievements

医療に使用できるレベルの高信頼性,高精度な可視光による画像3次元計測手法,およびそれを用いた物体追跡手法を確立した.具体的には,可視光画像からtextureを持った表面形状を計測し,形状情報とtextureの両方を用いた安定で高精度な物体移動と変形追跡を実現した.変形を伴う物体追跡では2次元画像の対応点探索手法をそのまま適用できないため,形状とテクスチャの空間統合処理を行った後,非線形対応点探索を行った.さらに,それを手術ナビゲーションに実装してマーカレス手術ナビゲーションシステムを試作し,性能を確認した.臓器変形推定誤差は1 mm以下であり,従来法と比べて半減した.

Report

(6 results)
  • 2020 Annual Research Report   Final Research Report ( PDF )
  • 2019 Annual Research Report
  • 2018 Annual Research Report
  • 2017 Annual Research Report
  • 2016 Annual Research Report
  • Research Products

    (19 results)

All 2020 2019 2018 2017 2016

All Journal Article (3 results) (of which Int'l Joint Research: 3 results,  Peer Reviewed: 3 results,  Open Access: 2 results) Presentation (15 results) (of which Int'l Joint Research: 10 results,  Invited: 7 results) Patent(Industrial Property Rights) (1 results)

  • [Journal Article] Indoor Position Detection Using Smartwatch and Beacons2020

    • Author(s)
      Yoshikazu Nakajima*, Yoshio Sohma, Jue Jiang
    • Journal Title

      Sensors and Materials

      Volume: 32 Issue: 2 Pages: 455

    • DOI

      10.18494/SAM.2020.2386

    • ISSN
      0914-4935, 2435-0869
    • Year and Date
      2020-02-10
    • Related Report
      2020 Annual Research Report 2019 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Suction-fixing surgical device for assisting liver manipulation with laparoscopic forceps2020

    • Author(s)
      Yoshikazu Nakajima*, Rina Suzuki, Yutaro Suzuki, Takaaki Sugino, Toshihiro Kawase, Shinya Onogi, Haruna Seki, Tatsuki Fujiwara, Katushiro Ouchi
    • Journal Title

      nternational Journal of Computer Assisted Radiology and Surgery

      Volume: 15 Issue: 10 Pages: 1653-1664

    • DOI

      10.1007/s11548-020-02239-3

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Marker-less tracking of brain surface deformations by non-rigid registration integrating surface and vessel/sulci features.2016

    • Author(s)
      Jiang J, Nakajima Y, Sohma Y, Saito T, Kin T, Oyama H, Saito N.
    • Journal Title

      Int J Comput Assist Radiol Surg.

      Volume: 11 Issue: 9 Pages: 1687-701

    • DOI

      10.1007/s11548-016-1358-7

    • Related Report
      2016 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Presentation] Suction-fixing surgical device for assisting liver manipulation with laparoscopic forceps2020

    • Author(s)
      Y. Nakajima, R. Suzuki, Y. Suzuki, T. Sugino, H. Seki, T. Fujiwara, K. Ouchi
    • Organizer
      Suction-fixing surgical device for assisting liver manipulation with laparoscopic forceps," 2020 Computer Assisted Radiology and Surgery International Congress
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Projection-mapping navigation with image deformation tracking for brain surgeries2019

    • Author(s)
      Y. Nakajima, Y. Sohma, J. Jiang
    • Organizer
      2019 Computer Assisted Radiology and Surgery International Congress (CARS 2019)
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 臓器変形トラッキング機能を有する手術支援プロジェクションマッピングシステムの開発2019

    • Author(s)
      中島義和, Jue Jiang, 相馬芳男
    • Organizer
      第58回日本生体医工学会大会
    • Related Report
      2019 Annual Research Report
  • [Presentation] AI collaboration for medicine and its feasibility for supporting population aging2019

    • Author(s)
      Yoshikazu Nakajima
    • Organizer
      The 22nd East-Asia round table meeting
    • Related Report
      2019 Annual Research Report
    • Invited
  • [Presentation] AI collaboration towards strong AI realization2019

    • Author(s)
      Yoshikazu Nakajima
    • Organizer
      The 7th international symposium on the Dialogue for Global Innovation (DFGI 2019)
    • Related Report
      2019 Annual Research Report
    • Invited
  • [Presentation] Computerization of Medicine and Biology2018

    • Author(s)
      Yoshikazu Nakajima
    • Organizer
      International Symposium on Frontier of Science, Technology and Engineering(FOSTE)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Effectiveness and invasiveness evaluation of the organ manipulation finger in in-vivo trial2018

    • Author(s)
      Joonhwan Kim, Yoshikazu Nakajima, Hiroshi Tsukihara, Hidemichi Kiyomatsu, Sakura Uto, Ichiro Sakuma
    • Organizer
      The 14th Asian Conference on Computer Aided Surgery (ACCAS2018)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research
  • [Presentation] ステレオ透視撮影による刺入直線計画とレーザー光誘導による穿刺ナビゲーション2018

    • Author(s)
      中島義和
    • Organizer
      第27回日本コンピューター外科学会大会
    • Related Report
      2018 Annual Research Report
  • [Presentation] Strong-AI data analysis in medicine by using autonomous networking of small and weak AIs2018

    • Author(s)
      Yoshikazu Nakajima
    • Organizer
      The 6th International Symposium of " Dialogue for Global Innovation" on Technology and Humanity-part 2
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Knowledge sharing among small AI computers in medicine2018

    • Author(s)
      Yoshikazu Nakajima
    • Organizer
      IKCEST International Symposium 2018
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Autonomous Networking of Small and Weak-AI Computers and Its Applications for Medical Assistance2018

    • Author(s)
      Yoshikazu Nakajima
    • Organizer
      The 21st East Asia Round Table Meeting of Academies of Engineering ( EA-RTM)
    • Related Report
      2018 Annual Research Report
    • Int'l Joint Research / Invited
  • [Presentation] Recognizing of hand pose in basic surgical tasks using depth images2017

    • Author(s)
      H. Gaibin and Y. Nakajima
    • Organizer
      017 Computer Assisted Radiology and Surgery International Congress (CARS 2017)
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Artificial Intelligence and IoT in Medicine2017

    • Author(s)
      Y. Nakajima
    • Organizer
      International Symposium on Frontier of Science, Technology and Engineering (FOSTE)
    • Related Report
      2017 Annual Research Report
    • Invited
  • [Presentation] Integration of Sensing, Simulation and AI Analysis in Medicine2017

    • Author(s)
      Y. Nakajima
    • Organizer
      The 2nd International Symposium on Biomedical Engineering
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Computer integrated analysis of pre- and intra-operative surgical data2017

    • Author(s)
      Y. Nakajima
    • Organizer
      The 4th Joint Symposium between IBB/TMDU and Chulalongkorn University on Biomedical Materials and Engineering
    • Related Report
      2017 Annual Research Report
    • Int'l Joint Research
  • [Patent(Industrial Property Rights)] 臓器追跡装置、臓器追跡方法及び臓器追跡プログラム2018

    • Inventor(s)
      中島 義和
    • Industrial Property Rights Holder
      中島 義和
    • Industrial Property Rights Type
      特許
    • Industrial Property Number
      2018-048534
    • Filing Date
      2018
    • Related Report
      2017 Annual Research Report

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Published: 2016-04-21   Modified: 2022-01-27  

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