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腎部分摘出術のSLAMを応用した実用的AR支援と電気メスによる熱影響のモデル化

Research Project

Project/Area Number 18K11496
Research Category

Grant-in-Aid for Scientific Research (C)

Allocation TypeMulti-year Fund
Section一般
Review Section Basic Section 61050:Intelligent robotics-related
Research InstitutionOsaka Electro-Communication University

Principal Investigator

小枝 正直  大阪電気通信大学, 総合情報学部, 准教授 (10411232)

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)
大西 克彦  大阪電気通信大学, 総合情報学部, 准教授 (20359855)
小川 修  京都大学, 医学研究科, 教授 (90260611)
Project Period (FY) 2018-04-01 – 2020-03-31
Project Status Discontinued (Fiscal Year 2019)
Budget Amount *help
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2020: ¥910,000 (Direct Cost: ¥700,000、Indirect Cost: ¥210,000)
Fiscal Year 2019: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000)
Fiscal Year 2018: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
KeywordsRALPN / AR / SLAM / ロボット支援腹腔鏡下術 / 腎部分切除 / 電気メス
Outline of Annual Research Achievements

ロボット支援腹腔鏡下術による腎部分切除の実現により,腎機能を維持した腫瘍除去が可能となった.部分切除では腫瘍を漏らさず除去して正常組織を最大限に残存させることが重要であるが,現状,切除領域の決定は医師の経験に依存している.そこで医師と密に連携し,現場のニーズに合ったAR手術支援システムを構築することが本研究の一つの目的である.
ステレオORB-SLAMを用いた内視鏡カメラの位置姿勢推定によるARシステムを開発し,これまでに臨床実験を複数回実施している.実験後,システムに関する意見を医師から集約し,可能な限り速やかにシステムに反映し,改良を続けている.この研究成果については,21st INTERNATIONAL CONFERENCE ON HUMAN-COMPUTER INTERACTION (HCII2019)で発表し,22nd INTERNATIONAL CONFERENCE ON HUMAN-COMPUTER INTERACTION (HCII2020)でも発表予定である.
内視鏡カメラ映像から臓器の位置姿勢を高速かつ高精度に推定する手法に関する研究については,HCII2019, IEEE TENCON 2019 Technologies for Smart Nation (TENCON2019)で発表し,HCII2020でも発表予定である.
マーカを用いた内視鏡カメラの位置姿勢をロバストに計測可能な手法も検討,開発しており,この研究成果については,HCII2019,2020年電子情報通信学会総合大会 (IEICE2020) ISS学生ポスターセッションで発表し,HCII2020でも発表予定である.
電気メスの熱による生体組織への影響をサーモグラフィーカメラで計測して熱損傷範囲をシミュレーションする研究については,HCII2019で発表した.

Report

(2 results)
  • 2019 Annual Research Report
  • 2018 Research-status Report
  • Research Products

    (15 results)

All 2020 2019 2018 Other

All Journal Article (1 results) (of which Peer Reviewed: 1 results) Presentation (13 results) (of which Int'l Joint Research: 10 results) Remarks (1 results)

  • [Journal Article] Calibration of Surgical Knife-Tip Position with Marker-Based Optical Tracking Camera and Precise Evaluation of Its Measurement Accuracy2018

    • Author(s)
      Masanao Koeda, Daiki Yano, Mayuko Doi, Katsuhiko Onishi and Hiroshi Noborio
    • Journal Title

      Journal of Bioinformatics and Neurosciences

      Volume: 4 Pages: 155-159

    • Related Report
      2018 Research-status Report
    • Peer Reviewed
  • [Presentation] "A Hashing Algorithm of Depth Image Matching for Liver Surgery"2020

    • Author(s)
      Satoshi Numata, Masanao Koeda, Katsuhiko Onishi, Kaoru Watanabe and Hiroshi Noborio
    • Organizer
      22nd INTERNATIONAL CONFERENCE ON HUMAN-COMPUTER INTERACTION
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] "The Current Status and Challenges in Augmented Reality Navigation System for Robot-Assisted Laparoscopic Partial Nephrectomy"2020

    • Author(s)
      Akihiro Hamada, Atsuro Sawada, Jin Kono, Masanao Koeda, Katsuhiko Onishi, Takashi Kobayashi, Toshinari Yamasaki, Hiroshi Noborio and Osamu Ogawa
    • Organizer
      22nd INTERNATIONAL CONFERENCE ON HUMAN-COMPUTER INTERACTION
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] "Study on development of AR support system for transnasal endoscopic surgery"2020

    • Author(s)
      Katsuhiko Onishi, Seiyu Fumiyama, Yohei Miki, Masahiro Nonaka, Masanao Koeda and Hiroshi Noborio
    • Organizer
      22nd INTERNATIONAL CONFERENCE ON HUMAN-COMPUTER INTERACTION
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] "Proposal and Evaluation of AR-Based Microscopic Brain Surgery Support System"2019

    • Author(s)
      Masanao Koeda, Sana Nishimoto, Hiroshi Noborio and Kaoru Watanabe
    • Organizer
      21ST INTERNATIONAL CONFERENCE ON HUMAN-COMPUTER INTERACTION
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] "Evaluation of the Degree of Heat Conduction with the da Vinci Surgical System"2019

    • Author(s)
      Akihiro Hamada, Atsuro Sawada, Jin Kono, Masanao Koeda, Katsuhiko Onishi, Takashi Kobayashi, Toshinari Yamasaki, Takahiro Inoue, Hiroshi Noborio and Osamu
    • Organizer
      21ST INTERNATIONAL CONFERENCE ON HUMAN-COMPUTER INTERACTION
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] "Performance and Accuracy Analysis of 3D Model Tracking for Liver Surgery"2019

    • Author(s)
      Satoshi Numata, Masanao Koeda, Katsuhiko Onishi, Kaoru Watanabe and Hiroshi Noborio
    • Organizer
      21ST INTERNATIONAL CONFERENCE ON HUMAN-COMPUTER INTERACTION
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] "A Study of Camera Tip Position Estimating Methods in Transnasal Endoscopic Surgery"2019

    • Author(s)
      Katsuhiko Onishi, Seiyu Fumiyama, Yohei Miki, Masahiro Nonaka, Masanao Koeda and Hiroshi Noborio
    • Organizer
      21ST INTERNATIONAL CONFERENCE ON HUMAN-COMPUTER INTERACTION
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] "DICOM Depth Image Generation using GPGPU for Fast Position and Orientation Estimation on Liver Surgery Support System"2019

    • Author(s)
      Masanao Koeda, Daiki Yano, Takumi Mori, Katsuhiko Onishi and Hiroshi Noborio
    • Organizer
      IEEE TENCON 2019 Technologies for Smart Nation
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] "電気メスによる生体組織内部の熱損傷シミュレーション"2019

    • Author(s)
      小枝 正直,瀧口 亜沙美,濵田 彬弘,澤田 篤郎,河野 仁,小川 修,大西 克彦,登尾 啓史
    • Organizer
      2020年電子情報通信学会総合大会 (IEICE2020)
    • Related Report
      2019 Annual Research Report
  • [Presentation] "経蝶形骨洞手術の映像支援システムの開発"2019

    • Author(s)
      文山 誠友,三木 陽平,大西 克彦,小枝 正直,登尾 啓史,埜中 正博
    • Organizer
      2020年電子情報通信学会総合大会 (IEICE2020) ISS学生ポスターセッション
    • Related Report
      2019 Annual Research Report
  • [Presentation] The development of a 3D navigation system for robot-assisted partial nephrectomy using augmented reality technology2019

    • Author(s)
      Atsuro Sawada,Akihiro Hamada, Atsushi Sengiku, Masanao Koeda, Katsuhiko Onishi and Osamu Ogawa
    • Organizer
      The 2019 Annual EAU Congress
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] Accuracy Verification of Knife Tip Position Estimation for Liver Surgery Support System2018

    • Author(s)
      Masanao Koeda, Daiki Yano, Mayuko Doi, Katsuhiko Onishi and Hiroshi Noborio
    • Organizer
      2018 International Conference on Intelligent Informatics and Biomedical Sciences
    • Related Report
      2018 Research-status Report
    • Int'l Joint Research
  • [Presentation] SLAMによるカメラ位置姿勢推定に基づくロボット支援下腎部分切除術のARサポートシステム2018

    • Author(s)
      小枝 正直,澤田 篤郎,濵田 彬弘,河野 仁,小川 修,大西 克彦,登尾 啓史
    • Organizer
      情報処理学会 第81回全国大会
    • Related Report
      2018 Research-status Report
  • [Remarks]

    • URL

      http://vml.sakura.ne.jp/koeda/index.html

    • Related Report
      2019 Annual Research Report

URL: 

Published: 2018-04-23   Modified: 2021-01-27  

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