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腹腔鏡下手術のための音響式多軸力検出に基づく触覚フィードバックシステムの開発

Research Project

Project/Area Number 19J23169
Research Category

Grant-in-Aid for JSPS Fellows

Allocation TypeSingle-year Grants
Section国内
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionNagoya Institute of Technology

Principal Investigator

LY HOANG HIEP  名古屋工業大学, 工学研究科, 特別研究員(DC1)

Project Period (FY) 2019-04-25 – 2022-03-31
Project Status Completed (Fiscal Year 2021)
Budget Amount *help
¥2,500,000 (Direct Cost: ¥2,500,000)
Fiscal Year 2021: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 2020: ¥800,000 (Direct Cost: ¥800,000)
Fiscal Year 2019: ¥900,000 (Direct Cost: ¥900,000)
KeywordsTumor detection / Tactile display / Shear force / Pneumatic-based device / Substitutional display / Tumor characterization / Laparoscopic surgery / tactile display / pneumatic power / shear force / tumor detection / substitutional display / laparoscopic surgery / tactile sensor / acoustic reflection / multiple force sensor
Outline of Research at the Start

In this study, 1)I will develop a tactile sensor capable of detecting force information of 2 axes (normal and tangential force). 2)Then, I plan to propose a tactile display which appropriately and effectively presents the measured biaxial force from the grasper. 3)In addition, I will establish a model using deep learning that could present the contact object’s features such as the shape and softness of the tissue from the measured force from the grasper.

Outline of Annual Research Achievements

In laparoscopic cancer surgery, assessing the target tumor enables surgeons to resect the tumor with a minimum margin . I developed a ring-type substitutional tactile display with high clinical applicability, called SuP-Ring, that provides users with normal and shear force feedback for intra-operative tumor localization. The experimental results showed that users could enhance their performance in localizing the tumor based on the shear feedback of the tactile display, while the normal feedback contributes to ensuring the safety requirements during operation. Furthermore, users could identify the tumor depth and size based on both normal and shear feedback. The SuP-Ring concept and the experimental results were summarized and published in two international journals and my doctoral thesis.

Research Progress Status

令和3年度が最終年度であるため、記入しない。

Strategy for Future Research Activity

令和3年度が最終年度であるため、記入しない。

Report

(3 results)
  • 2021 Annual Research Report
  • 2020 Annual Research Report
  • 2019 Annual Research Report
  • Research Products

    (6 results)

All 2021 2020 2019

All Journal Article (3 results) (of which Int'l Joint Research: 3 results,  Peer Reviewed: 3 results,  Open Access: 3 results) Presentation (3 results) (of which Int'l Joint Research: 1 results)

  • [Journal Article] SuP-Ring: pneumatic tactile display with substitutional representation of contact force components using normal indentation.2021

    • Author(s)
      Hiep Hoang Ly, Yoshihiro Tanaka, Michitaka Fujiwara
    • Journal Title

      International Journal of Medical Robotics and Computer Assisted Surgery

      Volume: 7 Issue: 6

    • DOI

      10.1002/rcs.2325

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Tumor Depth and Size Perception Using a Pneumatic Tactile Display in Laparoscopic Surgery2021

    • Author(s)
      Ly Hoang Hiep、Tanaka Yoshihiro、Fujiwara Michitaka
    • Journal Title

      IEEE Access

      Volume: 9 Pages: 167795-167811

    • DOI

      10.1109/access.2021.3135698

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] A tactile sensor using the acoustic reflection principle for assessing the contact force component in laparoscopic tumor localization2021

    • Author(s)
      Ly Hiep Hoang, Yoshihiro Tanaka, Michitaka Fujiwara
    • Journal Title

      International Journal of Computer Assisted Radiology and Surgery

      Volume: 16 Issue: 2 Pages: 289-299

    • DOI

      10.1007/s11548-020-02294-w

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Presentation] An assessment of the contact force component in laparoscopic tissue palpation2021

    • Author(s)
      Hoang Hiep Ly, Yoshihiro Tanaka
    • Organizer
      第39回日本ロボット学会学術講演会, 日本ロボット学会, オンライン
    • Related Report
      2021 Annual Research Report
  • [Presentation] Development of a 2-axis Tactile Sensor Using Acoustic Reflection Principle for Tumor Detection in Laparoscopic Surgery2020

    • Author(s)
      Hoang Hiep Ly, Yoshihiro Tanaka
    • Organizer
      IEEE Haptics Symposium 2020
    • Related Report
      2019 Annual Research Report
    • Int'l Joint Research
  • [Presentation] 複数の検知機能を有する反射音式触覚センサに向けた基礎検討2019

    • Author(s)
      LY HOANG HIEP, 田中 由浩
    • Organizer
      第37回日本ロボット学会学術講演会
    • Related Report
      2019 Annual Research Report

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Published: 2019-05-29   Modified: 2024-03-26  

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