Ultrahigh accuracy of ultrasound theragnostic systems realized by technologizing and digitizing medical professional skills

• Project/Area Number: 17H03200
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Single-year Grants
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: The University of Electro-Communications
• Principal Investigator: KOIZUMI NORIHIRO 電気通信大学, 大学院情報理工学研究科, 准教授 (10396765)
• Co-Investigator(Kenkyū-buntansha): 小木曽 公尚 電気通信大学, 大学院情報理工学研究科, 准教授 (30379549) ; 月原 弘之 東京大学, 大学院工学系研究科(工学部), 助教 (50431862) ; 西山 悠 電気通信大学, 大学院情報理工学研究科, 准教授 (60586395) ; 宮嵜 英世 国立研究開発法人国立国際医療研究センター, その他部局等, 診療科長 (80323666) ; 葭仲 潔 国立研究開発法人産業技術総合研究所, 生命工学領域, 主任研究員 (90358341)
• Project Period (FY): 2017-04-01 – 2021-03-31
• Project Status: Completed (Fiscal Year 2020)
• Budget Amount: ¥17,420,000 (Direct Cost: ¥13,400,000、Indirect Cost: ¥4,020,000); Fiscal Year 2019: ¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000); Fiscal Year 2018: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000); Fiscal Year 2017: ¥5,200,000 (Direct Cost: ¥4,000,000、Indirect Cost: ¥1,200,000)
• Keywords: 医療技能のデジタル化 / 医デジ化 / Me-DigIT / Medical Digitalization / 超音波ロボット / Robotic Ultrasound / NIUTS / 医療のデジタル化 / 超音波診断ロボット / 超音波診断・治療ロボット / 非侵襲超音波診断・治療統合システム / Non-Invasive Ultrasound Theragnostic System / 強力集束超音波 / 医療用ロボティックベッド / 医療ロボティクス / Robotic ultrasound / Non-Invasive ultrasound theranostic system / ロボティクス

Outline of Final Research Achievements

The purpose of this research is to establish a method for constructing an integrated ultrasonic diagnosis / treatment system that operates robustly and with high accuracy, and excellent research results regarding the core basic technology related to robot mechanism / control / image processing algorithm technology for this purpose. Have been piled up.
In particular, medical image processing technology has made epoch-making breakthroughs in the field of image processing by machine learning such as deep learning in recent years, and this project also started research on medical robot vision technology that incorporates deep learning. The results have been steadily accumulating (received the 25th Robotics Symposia Student Encouragement Award (2020), the 21st and 22nd Japan Society of Ultrasonics Medicine Encouragement Award (2020, 2021), etc.).

Academic Significance and Societal Importance of the Research Achievements

医療技能のデジタル化（医デジ化）を加速させることで時間（いつでも）・空間（どこでも）・人間（医療専門家や患者）によらず、一定水準以上の医療を実現することができるものと強く期待されている。2015年に深層学習を援用したU-Netと呼ばれる臓器抽出における強力な医用画像処理アルゴリズムが開発された。これを踏まえて本研究においても同技術を援用することで患部抽出・追従・モニタリングに関する新規のアルゴリズムをこれまでに提案してきている。

Research Products

• [Journal Article] Use of intra-procedural fusion imaging combining contrast-enhanced ultrasound using a perflubutane-based contrast agent and auto sweep three-dimensional ultrasound for guiding radiofrequency ablation and evaluating its efficacy in patients with hepatocellular carcinomaInternational (2020)
  • Author(s): Katsuyuki Sanga, Kazushi Numata, Hiromi Nihonmatsu, Katsuaki Ogushi, Hiroyuki Fukuda, Makoto Chuma, Hiroshi Hashimoto, Norihiro Koizumi, Shin Maeda
  • Journal Title: Journal of Hyperthermia (IJH) Volume: 37 Issue: 1 Pages: 202-211
  • DOI: 10.1080/02656736.2020.1729422
  • Peer Reviewed / Open Access
• [Journal Article] Sagittal alignment in an MR-TRUS fusion biopsy using only the prostate contour in the axial image (2020)
  • Author(s): Riki Igarashi, Norihiro Koizumi, Yu Nishiyama, Kyohei Tomita, Yuka Shigenari, Sunao Shoji
  • Journal Title: ROBOMECH Journal Volume: 7 Issue: 1 Pages: 1-7
  • DOI: 10.1186/s40648-020-0155-9
  • Peer Reviewed / Open Access
• [Journal Article] Usefulness of computer-aided diagnosis system in evaluating severity of benign prostatic hyperplasia, using a super-ellipse model to characterize changes in prostate contours (2020)
  • Author(s): Sunao Shoji, Yuka Shigenari, Izumi Hanada, Tatsuya Otaki, Takahiro Ogawa, Masayoshi Kawakami, Hakushi Kim, Masanori Hasegawa,Yoshiaki Kawamura, Norihiro Koizumi, Akira Miyajima
  • Journal Title: The Journal of Urology Volume: 203 Issue: Supplement 4 Pages: 605-606
  • DOI: 10.1097/ju.0000000000000891.07
  • Peer Reviewed / Open Access
• [Journal Article] Method of Medical DigITalization (Me-DigIT) and Its Effects and Social Impacts (2019)
  • Author(s): 小泉憲裕, 西山 悠, 江浦史生,今泉飛翔, 大塚研秀, 佐々木雄大, 重成佑香, 五十嵐立樹, 草原健太, 小林賢人, 月原弘之, 松本直樹, 小川眞広
  • Journal Title: Journal of the Japan Society for Precision Engineering Volume: 85 Issue: 9 Pages: 749-752
  • DOI: 10.2493/jjspe.85.749
  • NAID: 130007703006
  • ISSN: 0912-0289, 1882-675X
  • Year and Date: 2019-09-05
  • Open Access
• [Journal Article] Automatic Diagnosis by Compact Portable Ultrasound Robot : State Estimation of Internal Organs with Steady-State Kalman Filter (2019)
  • Author(s): Yudai Sasaki, Fumio Eura, Kento Kobayashi, Ryosuke Kondo, Kyohei Tomita, Yu Nishiyama, Hiroyuki Tsukihara, Naoki Matsumoto, and Norihiro Koizumi
  • Journal Title: Proc. of 2019 IEEE Healthcare Innovations and Point of Care Technologies Conference (HI-POCT) Volume: 2019 Pages: 29-32
  • DOI: 10.1109/hi-poct45284.2019.8962758
  • Peer Reviewed / Open Access
• [Journal Article] Development of compact portable ultrasound robot for home healthcare (2019)
  • Author(s): Sasaki Yudai、Eura Fumio、Kobayashi Kento、Kondo Ryosuke、Tomita Kyohei、Nishiyama Yu、Tsukihara Hiroyuki、Matumoto Naoki、Koizumi Norihiro
  • Journal Title: The Journal of Engineering Volume: 2019 Issue: 14 Pages: 495-499
  • DOI: 10.1049/joe.2018.9406
  • Peer Reviewed / Open Access
• [Journal Article] Method for Extracting Acoustic Shadows to Construct an Organ Composite Model in Ultrasound Images (2018)
  • Author(s): Akihide Otsuka, Norihiro Koizumi, Izumu Hosoi, Hiroyuki Tsukihara, Yu Nishiyama
  • Journal Title: Proc. of 2018 15th International Conference on Ubiquitous Robots (UR2018) Volume: 2018 Pages: 719-722
  • DOI: 10.1109/urai.2018.8441771
  • NAID: 130007551002
  • Peer Reviewed / Open Access
• [Journal Article] Out-of-Plane Motion Detection System Using Convolutional Neural Network for US-guided Radiofrequency Ablation Therapy (2018)
  • Author(s): Ryosuke Kondo, Norihiro Koizumi, Yu Nishiyama, Naoki Matsumoto and Kazushi Numata
  • Journal Title: Proc. of 2018 15th International Conference on Ubiquitous Robots (UR2018) Volume: 2018 Pages: 729-731
  • DOI: 10.1109/urai.2018.8441865
  • Peer Reviewed / Open Access
• [Journal Article] Automatic Fascia Extraction and Classification for Measurement of Muscle Layer Thickness (2018)
  • Author(s): Tsubasa Imaizumi, Norihiro Koizumi, Ryosuke Kondo, Yu Nishiyama, Naoki Matsumoto
  • Journal Title: Proc. of 2018 15th International Conference on Ubiquitous Robots (UR2018) Volume: 2018 Pages: 493-496
  • DOI: 10.1109/urai.2018.8441877
  • NAID: 130007551007
  • Peer Reviewed / Open Access
• [Journal Article] Medical and bio are new digitals - Realization of ultrasound diagnosis and treatment with ultra-high precision by Me-DigIT- (2018)
  • Author(s): KOIZUMI Norihiro、SEO Joonho、LEE Deukhee、KAYASUGA Atsushi、KONDO Ryosuke、TOMITA Kyohei、HOSOI Izumu、NISHIYAMA Yu、TSUKIHARA Hiroyuki、MIYAZAKI Hideyo、FUKUDA Hiroyuki、NUMATA Kazushi、YOSHINAKA Kiyoshi、AZUMA Takashi、SUGITA Naohiko、HONMA Yukio、MATSUMOTO Yoichiro、MITSUISHI Mamoru
  • Journal Title: Choonpa Igaku Volume: 45 Issue: 2 Pages: 173-182
  • DOI: 10.3179/jjmu.JJMU.R.125
  • NAID: 130006496705
  • ISSN: 1346-1176, 1881-9311
• [Journal Article] Servoing Performance Enhancement via a Respiratory Organ Motion Prediction Model for a Non-Invasive Ultrasound Theragnostic System (2017)
  • Author(s): Tatsuya Fujii, Norihiro Koizumi, Atsushi Kayasuga, Dongjun Lee, Hiroyuki Tsukihara, Hiroyuki Fukuda, Kiyoshi Yoshinaka, Takashi Azuma,Hideyo Miyazaki, Naohiko Sugita, Kazushi Numata, Yukio Honma, Yoichiro Matsumoto, Mamoru Mitsuishi
  • Journal Title: Journal of Robotics and Mechatronics Volume: 29 Issue: 2 Pages: 434-446
  • DOI: 10.20965/jrm.2017.p0434
  • NAID: 130007519865
  • ISSN: 0915-3942, 1883-8049
  • Year and Date: 2017-04-20
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Novel and Simple Ultrasonographic Methods for Estimating the Abdominal Visceral Fat Area (2017)
  • Author(s): Asano Takeharu、Kubota Naoto、Koizumi Norihiro、Itani Kazunori、Mitake Tsuyoshi、Yuhashi Kazuhito、Liao Hongen、Mitsuishi Mamoru、Takeishi Shigemi、Takahashi Toshiaki、Ohnishi Shin、Sasaki Shiro、Sakuma Ichiro、Kadowaki Takashi
  • Journal Title: Int J Endocrinol. Volume: 2017 Pages: 1-12
  • DOI: 10.1155/2017/8796069
  • Peer Reviewed / Open Access / Int'l Joint Research
• [Journal Article] A new device for fiducial registration of image-guided navigation system for liver RFA (2017)
  • Author(s): Doba Nobutaka、Fukuda Hiroyuki、Numata Kazushi、Hao Yoshiteru、Hara Kouji、Nozaki Akito、Kondo Masaaki、Chuma Makoto、Tanaka Katsuaki、Takebayashi Shigeo、Koizumi Norihiro、Kobayashi Akira、Tokuda Junichi、Maeda Shin
  • Journal Title: International Journal of Computer Assisted Radiology and Surgery Volume: 13 Issue: 1 Pages: 115-124
  • DOI: 10.1007/s11548-017-1647-9
  • Peer Reviewed / Int'l Joint Research
• [Presentation] Deep Learning Based 3-Dimensional Liver Motion Estimation Using 2-Dimensional Ultrasound Images (2019)
  • Author(s): Tsubasa Imaizumi, Ryosuke Kondo, Kenta Kusahara, Yu Nishiyama, Hiroyuki Tsukihara, Naoki Matsumoto, Kazushi Numata, Norihiro Koizumi
  • Organizer: 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS 2019)
  • Int'l Joint Research
• [Presentation] Lesion Tracking Method Using CNN in Non-Invasive Ultrasound Diagnostic Treatment Integrated System (2019)
  • Author(s): Riki Igarashi, Kyohei Tomita, Yu Nishiyama, Yuka Shigenari, Norihiro Koizumi
  • Organizer: 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS 2019)
  • Int'l Joint Research
• [Presentation] Development of Bed-Type Ultrasound Diagnosis and Therapeutic Robot (2019)
  • Author(s): Kento Kobayashi, Yudai Sasaki, Fumio Eura, Ryosuke Kondo, Kyohei Tomita, Takahiro Kobayashi, Yusuke Watanabe, Akihide Otsuka, Hiroyuki Tsukihara, Naoki Matsumoto, Kazushi Numata, Hidetoshi Nagaoka, Toshiyuki Iwai, Hideyuki Iijima, Yu Nishiyama, Norihiro Koizumi
  • Organizer: 2019 IEEE International Conference on Cyborg and Bionic Systems (CBS 2019)
  • Int'l Joint Research
• [Presentation] Matching axial images of magnetic resonance imaging and transrectal ultrasound based on deep learning (2019)
  • Author(s): Riki Igarashi, Norihiro Koizumi, Yu Nishiyama, Kyohei Tomita, Yuka Shigenari, Sunao Shoji
  • Organizer: 33rd International Congress and Exhibition on computer assisted radiology and surgery (CARS 2019)
  • Int'l Joint Research
• [Presentation] Segmentation of liver parenchyma in ultrasound images for automatic diagnosis of liver cirrhosis (2019)
  • Author(s): Tsubasa Imaizumi, Norihiro Koizumi, Yu Nishiyama, Naoki Matsumoto, Masahiro Ogawa
  • Organizer: 33rd International Congress and Exhibition on computer assisted radiology and surgery (CARS 2019)
  • Int'l Joint Research
• [Presentation] Method for Shape Extraction and Modeling of Prostate Contours by Using Sperellipses (2018)
  • Author(s): Yuka Shigenari, Norihiro Koizumi, Kyohei Tomita, Yu Nishiyama, Sunao Shoji
  • Organizer: 2018 15th International Conference on Ubiquitous Robots (UR2018)
  • Int'l Joint Research
• [Presentation] Out-of-Plane Motion Detection System Using Convolutional Neural Network for US-guided Radiofrequency Ablation Therapy (2018)
  • Author(s): Ryosuke Kondo, Norihiro Koizumi, Yu Nishiyama, Naoki Matsumoto and Kazushi Numata
  • Organizer: 2018 15th International Conference on Ubiquitous Robots (UR2018)
  • Int'l Joint Research
• [Presentation] Method for Extracting Acoustic Shadows to Construct an Organ Composite Model in Ultrasound Images (2018)
  • Author(s): Akihide Otsuka, Norihiro Koizumi, Izumu Hosoi, Hiroyuki Tsukihara, Yu Nishiyama
  • Organizer: 2018 15th International Conference on Ubiquitous Robots (UR2018)
  • Int'l Joint Research
• [Presentation] Automatic Fascia Extraction and Classification for Measurement of Muscle Layer Thickness (2018)
  • Author(s): Tsubasa Imaizumi, Norihiro Koizumi, Ryosuke Kondo, Yu Nishiyama, Naoki Matsumoto
  • Organizer: 2018 15th International Conference on Ubiquitous Robots (UR2018)
  • Int'l Joint Research
• [Presentation] Development of Compact Portable Ultrasound Robot for Home Healthcare (2018)
  • Author(s): Yudai Sasaki, Fumio Eura, Kento Kobayashi, Ryosuke Kondo, Kyohei Tomita, Yu Nishiyama, Hiroyuki Tsukihara, Naoki Matumoto and Norihiro Koizumi
  • Organizer: 14th Annual Asian Conference on Computer Aided Surgery(ACCAS2018)
  • Int'l Joint Research
• [Presentation] A study for tracking focal lesions in non-invasive ultrasound theragnostic system (2017)
  • Author(s): Kyohei Tomita, Norihiro Koizumi, Atsushi Kayasuga, Yu Nishiyama, Hiroyuki Tsukihara, Hideyo Miyazaki, Kiyoshi Yoshinaka, Mamoru Mitsuishi
  • Organizer: 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2017)
  • Int'l Joint Research
• [Presentation] An automatic templates selection method for ultrasound guided tumor tracking (2017)
  • Author(s): Ryosuke Kondo, Norihiro Koizumi, Kyohei Tomita, Yu Nishiyama, Hidenori Sakanashi, Hiroyuki Fukuda, Hiroyuki Tsukihara, Kazushi Numata, Mamoru Mitusishi, Yoichiro Matsumoto
  • Organizer: 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI 2017)
  • Int'l Joint Research
• [Presentation] Development of portable ultrasound guided physiological motion compensation device (2017)
  • Author(s): Fumio Eura, Rika Aizawa, Ryosuke Kondo, Kyohei Tomita, Yu Nishiyama, Norihiro Koizumi
  • Organizer: 2017 IEEE International Conference on Cyborg and Bionic Systems (CBS 2017)
  • Int'l Joint Research
• [Book] 人工知能と社会 (2018)
  • Author(s): AIX（人工知能先端研究センター）、栗原 聡、長井 隆行、小泉 憲裕、内海 彰、坂本 真樹、久野美和子
  • Total Pages: 240
  • Publisher: 株式会社オーム社
  • ISBN: 9784274221811
• [Remarks] 電気通信大学 小泉研究室
  • URL: http://www.medigit.mi.uec.ac.jp/
• [Remarks] 小泉 憲裕の研究ブログ
  • URL: http://blog2009nkoizumi.japanprize.jp/
• [Remarks] 小泉 憲裕の研究ブログ
  • URL: http://blog2009nkoizumi.japanprize.jp
• [Patent(Industrial Property Rights)] 生体内運動追跡方法およびプログラム (2018)
  • Inventor(s): 小泉憲裕,西山 悠,近藤亮祐,冨田恭平,江浦史生,沼田和司
  • Industrial Property Rights Holder: 小泉憲裕,西山 悠,近藤亮祐,冨田恭平,江浦史生,沼田和司
  • Industrial Property Rights Type: 特許
  • Filing Date: 2018
  • Acquisition Date: 2020
  • Overseas
• [Patent(Industrial Property Rights)] 生体内運動追跡方法およびプログラム (2018)
  • Inventor(s): 小泉憲裕, 西山 悠, 近藤亮祐, 冨田恭平, 江浦史生, ほか
  • Industrial Property Rights Holder: 小泉憲裕, 西山 悠, 近藤亮祐, 冨田恭平, 江浦史生, ほか
  • Industrial Property Rights Type: 特許
  • Filing Date: 2018
  • Overseas
• [Patent(Industrial Property Rights)] 生体内運動追跡装置 (2018)
  • Inventor(s): 小泉憲裕, 栢菅 篤, 冨田恭平, 細井泉澄, 西山 悠, ほか
  • Industrial Property Rights Holder: 小泉憲裕, 栢菅 篤, 冨田恭平, 細井泉澄, 西山 悠, ほか
  • Industrial Property Rights Type: 特許
  • Filing Date: 2018
  • Overseas
• [Patent(Industrial Property Rights)] 生体内運動追跡装置 (2017)
  • Inventor(s): 小泉憲裕, 栢菅 篤, 冨田恭平, 細井泉澄, 西山 悠, ほか
  • Industrial Property Rights Holder: 小泉憲裕, 栢菅 篤, 冨田恭平, 細井泉澄, 西山 悠, ほか
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 2017-040348
  • Filing Date: 2017
• [Patent(Industrial Property Rights)] 生体内運動追跡方法およびプログラム (2017)
  • Inventor(s): 小泉憲裕, 西山 悠, 近藤亮祐, 冨田恭平, 江浦史生, ほか
  • Industrial Property Rights Holder: 小泉憲裕, 西山 悠, 近藤亮祐, 冨田恭平, 江浦史生, ほか
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 2017-158071
  • Filing Date: 2017