Development of 3D navigation system during robot-assissted laparoscopic partial nephrectomy

• Project/Area Number: 17K13035
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Multi-year Fund
• Research Field: Medical systems
• Research Institution: Kyoto University
• Principal Investigator: Sawada Atsuro 京都大学, 医学研究科, 助教 (10784796)
• Project Period (FY): 2017-04-01 – 2020-03-31
• Project Status: Completed (Fiscal Year 2019)
• Budget Amount: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000); Fiscal Year 2019: ¥780,000 (Direct Cost: ¥600,000、Indirect Cost: ¥180,000); Fiscal Year 2018: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000); Fiscal Year 2017: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
• Keywords: 3Dナビゲーション / ロボット支援下腎部分切除術 / 3Dナビゲーションシステム / SLAM / 医工学 / バーチャルリアリティ / 手術ナビゲーション / ロボット支援下手術 / 腎部分切除術

Outline of Final Research Achievements

We have developed 3D navigation system to indicate the location of renal tumors during robot-assissted laparoscopic partial nephrectomy. We used SLAM (Simultaneous Localization and Mapping) technique which calculate the posture and position of objects in 3 dimentionalimages. We succeeded to confirm the precise auto-tracking ability during robotoic surgeries by combination of SLAM technique and the novel system which register the 3D model onto realtime 3D image. We are planning to improve our auto-registration function and SLAM technique to develop clinically useful navigation system for robotic surgery.

Academic Significance and Societal Importance of the Research Achievements

術前画像から得られた3Dモデルを術中のリアルタイム3D映像内に投影し、腫瘍位置を推定するシステムは今までに実用化されたものがなく、我々はSLAM技術を応用することで本研究分野の中で新規性の高い成果を挙げている。当研究成果により従来から難易度が高いとされている埋没型腫瘍などの術中位置推定が容易となり、より安全かつスムーズに手術を遂行することが可能となった。現在取り組んでいる術中ナビゲーション技術は他のロボット手術への汎用性もあり、より精度を高めることでロボット手術全体の安全性の向上に寄与すると考えている。

Research Products

• [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] The development of a 3D navigation system for robot-assisted partial nepherectomy using augmented reality technology (2018)
  • Author(s): Sawada Atsuro
  • Organizer: European association of urology annual meeting 2019
  • Int'l Joint Research
• [Presentation] 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
  • Organizer: 19th International Conference on Human-Computer Interaction
  • Int'l Joint Research