Real-time adaptive control of robots for microsurgery: towards submillimeter accuracy without added sensors
| Project/Area Number |
19K14935
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| Research Category |
Grant-in-Aid for Early-Career Scientists
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| Allocation Type | Multi-year Fund |
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| Review Section |
Basic Section 20020:Robotics and intelligent system-related
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| Research Institution | The University of Tokyo |
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Principal Investigator |
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| Project Period (FY) |
2019-04-01 – 2023-03-31
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| Project Status |
Completed (Fiscal Year 2022)
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| Budget Amount *help |
¥4,290,000 (Direct Cost: ¥3,300,000、Indirect Cost: ¥990,000)
Fiscal Year 2021: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2020: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2019: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
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| Keywords | 手術ロボット / 適応制御 / 画像処理 / ロボティクス / センサ融合 |
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| Outline of Research at the Start |
Surgeons can use surgical robots to increase their accuracy in adult surgery, but robots are unavailable for procedures in narrow workspaces. This research aims to improve the safety and accuracy of surgical robots using endoscopic images to enable the use of robots for surgeries in narrow regions.
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| Outline of Final Research Achievements |
Surgeons can use surgical robots to increase their accuracy in adult surgery, but robots are unavailable for procedures in narrow workspaces. This research aims to improve the safety and accuracy of surgical robots using endoscopic images to enable the use of robots for surgeries in narrow regions.
In this project, the online calibration of surgical instruments with partial or complete task space measurements using external sensors was investigated. Using such online calibration makes it possible to have very high accuracy for the positioning of the tools, depending mostly on the accuracy of the sensors. In parallel to the calibration, the investigation of the recognition and tracking of instruments from endoscopic images was also investigated. AI-based methods for tool tracking have been done using advanced simulators that generate convincing computer-generated images. The results are available in high-ranked peer-reviewed publication (also green open-source) and free software.
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| Academic Significance and Societal Importance of the Research Achievements |
The proposed adaptive control algorithm is the first of its kind and will guide the development in surgical robotics research. It can also be used in other fields of robotics, such as industrial applications. This development will help pave a future for surgeries in challenging scenarios.
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Report
(5 results)
Research Products
(17 results)
