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Novel surgical endoscopic instrument: implementing bird's-eye view in minimally invasive surgery

Research Project

Project/Area Number 19K23479
Research Category

Grant-in-Aid for Research Activity Start-up

Allocation TypeMulti-year Fund
Review Section 0301:Mechanics of materials, production engineering, design engineering, fluid engineering, thermal engineering, mechanical dynamics, robotics, aerospace engineering, marine and maritime engineering, and related fields
Research InstitutionThe University of Tokyo

Principal Investigator

ファラガッソ アンジェラ  東京大学, 大学院工学系研究科(工学部), 特任助教 (80847070)

Project Period (FY) 2019-08-30 – 2023-03-31
Project Status Granted (Fiscal Year 2021)
Budget Amount *help
¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2020: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2019: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
KeywordsMulti-camera system / MIS / Modular Mechanism / Expanded View / Narrow Space Exploration / Medical Robotics / Extended-View / Modular sensor / Modula mechanism / Expanded view / Narrow space exploration / Fish-eye camera / Smart design / Cable driven device / Visual System / Visual sensor / Laparoscopic surgery / Bird's-eye view
Outline of Research at the Start

The aim of this research is to fulfil bird’s-eye view in MIS by designing a novel surgical endoscopic system. This will allow surgeons to have a broad 3D view alongside the instrument itself, and hence prevent injuries caused by the contact between the instrument’s body and the anatomical area.

Outline of Annual Research Achievements

Multi-camera systems were recently introduced into laparoscopy to increase the narrow field of view of the
surgeon. The video streams are stitched together to create a panorama that is easier for the surgeon to comprehend. Most of the developed approaches try to combine images from cameras placed on the tip of
the instruments itself. The proposed system instead benefit from a novel design in which the cameras are placed around the device and can also change the relative position within them.
The first prototype has now been realized and 3D printer with metal. It employs two camera holders attached to a rigid base containing an inner road. The inner road allows the rotations of the cameras to a specific angle as well as their translation. The system is modular, i.e. it is possible to add more cameras as well as change the type of cameras by only changing the cameras' holders. The minimum distance between the two camera's center is 10 mm and the maximum is 20 mm. In this first prototype the rotation and translation of the mechanism is done manually but it can be easily automatized by adding motors in the device.
The camera used for the realization of this prototype is the Mini Micro Security Camera by AutoGuard Guard that is a small size light weight camera with a Field of View (FoV) of 170 snd 30 frame per seconds (fps). A non-supervised deep learning approach is being implemented to provide a panoramic view of the anatomical areas as well as the of the instruments itself.

Current Status of Research Progress
Current Status of Research Progress

2: Research has progressed on the whole more than it was originally planned.

Reason

The project is now progressing smoothly and it should be finalized within a couple of months.

Strategy for Future Research Activity

In the next few months the image processing algorithm will be optimized for the designed prototype. Experimental tests with a phantom mimicking the internal anatomical areas of the human's body will be performed. Additionally, the system will be implemented and tested in narrow space explorations scenario.

Report

(3 results)
  • 2021 Research-status Report
  • 2020 Research-status Report
  • 2019 Research-status Report

Research Products

(20 results)

All 2022 2021 2020 2019 Other

All Int'l Joint Research (1 results) Journal Article (5 results) (of which Int'l Joint Research: 4 results) Presentation (12 results) (of which Int'l Joint Research: 9 results,  Invited: 10 results) Funded Workshop (2 results)

  • [Int'l Joint Research] Technical University of Munich/TUM Department of Mechanical Engineering/MIMED Institute(ドイツ)

    • Related Report
      2019 Research-status Report
  • [Journal Article] Socially aware robot navigation in crowds via deep reinforcement learning with resilient reward functions2022

    • Author(s)
      Lu Xiaojun、Woo Hanwool、Faragasso Angela、Yamashita Atsushi、Asama Hajime
    • Journal Title

      Advanced Robotics

      Volume: 36 Pages: 388-403

    • DOI

      10.1080/01691864.2022.2043184

    • Related Report
      2021 Research-status Report
  • [Journal Article] Camera Orientation Estimation in Leaking Indoor Environment via Vanishing Point of Water Drops2020

    • Author(s)
      Hao Xu, Ren Komatsu, Hanwool Woo, Angela Faragasso, Atsushi Yamashita, Hajime Asama
    • Journal Title

      2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR)

      Volume: 0 Pages: 0-0

    • DOI

      10.1109/ssrr50563.2020.9292615

    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Journal Article] On the Extinction?Free Stabilization of Predator-Prey Dynamics2020

    • Author(s)
      Massaroli Stefano、Califano Federico、Faragasso Angela、Yamashita Atsushi、Asama Hajime
    • Journal Title

      IEEE Control Systems Letters

      Volume: 4 Pages: 964-969

    • DOI

      10.1109/lcsys.2020.2997741

    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Journal Article] Multistable Energy Shaping of Passive Linear Systems with Hybrid Mode Selector2020

    • Author(s)
      Massaroli Stefano、Califano Federico、Faragasso Angela、Yamashita Atsushi、Asama Hajime
    • Journal Title

      IFAC-PapersOnLine

      Volume: 53 Pages: 9118-9124

    • DOI

      10.1016/j.ifacol.2020.12.2151

    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Journal Article] Automatic Design of Compliant Surgical Forceps With Adaptive Grasping Functions2020

    • Author(s)
      Y. Sun, Y. Liu, L. Xu, Y. Zou, A. Faragasso and T. C. Lueth
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 5 Pages: 1094-1101

    • DOI

      10.1109/lra.2020.2967715

    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Novel Mechanical Manipulator for Efficient Fuel Debris Retrieval2022

    • Author(s)
      Angela Faragasso
    • Organizer
      TUM-UTokyo On-line Workshop 2022 "Excellence, Diversity, and Mobility "
    • Related Report
      2021 Research-status Report
    • Invited
  • [Presentation] Reproducibility and Benchmarking in the field: from Healthcare to Nuclear Decommissioning2021

    • Author(s)
      Angela Faragasso
    • Organizer
      International Conference on Intelligent Robots and Systems
    • Related Report
      2021 Research-status Report
    • Int'l Joint Research
  • [Presentation] Reproducibility and Benchmarking in Robotics and Healthcare2021

    • Author(s)
      Angela Faragasso
    • Organizer
      The International Conference on Robotics and Automation
    • Related Report
      2021 Research-status Report
    • Int'l Joint Research
  • [Presentation] Smart design of effective robot mechanisms and devices2021

    • Author(s)
      Angela Faragasso
    • Organizer
      2021 Workshop on Embodied Intelligence
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] Robotics Research and Education: Present and Future2021

    • Author(s)
      Angela Faragasso
    • Organizer
      The University of New South Wales (UNSW)
    • Related Report
      2020 Research-status Report
    • Invited
  • [Presentation] Reproducibility and benchmarking in Robotics and Healthcare2020

    • Author(s)
      Angela Faragasso
    • Organizer
      Lecture at Worcester Polytechnic Institute (WPI)
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] Replicability and Reproducibility in Medical Robotics: How accurately can we train our doctors?2020

    • Author(s)
      Angela Faragasso
    • Organizer
      RoPat 2020 - IEEE/RSJ IROS 2020 Workshop on "Robot-assisted Medical Examination Training"
    • Related Report
      2020 Research-status Report
    • Invited
  • [Presentation] Toward Reproducible Research: Benchmarking and Verification in Medical and Remote-Controlled Rescue Robotics2019

    • Author(s)
      Angela Faragasso
    • Organizer
      Seminar at La Sapienza, University of Rome
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] Remote Technology for Decommissioning and Its Expansion to Other Application2019

    • Author(s)
      Angela Faragasso
    • Organizer
      Seminar at Nankai University
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] Reproducibility of Research, Benchmarking and Verification in Medical Robotic2019

    • Author(s)
      Angela Faragasso
    • Organizer
      Search Results Web result with site links IROS 2019 -The 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] Port-Hamiltonian Approach to Neural Network Training2019

    • Author(s)
      Stefano Massaroli
    • Organizer
      58th Conference on Decision and Control (CDC) - Nice, France - December 11th-13th
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] A Novel Recursive Linear Estimator Based on the Frisch Scheme2019

    • Author(s)
      Stefano Massaroli
    • Organizer
      2th Asian Control Conference (ASCC)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research / Invited
  • [Funded Workshop] Steps Towards Widespread Reproducibility of Research and Objective Performance Evaluation of Intelligent Robotic Systems2021

    • Related Report
      2020 Research-status Report
  • [Funded Workshop] Autonomous System in Medicine Workshop2020

    • Related Report
      2020 Research-status Report

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Published: 2019-09-03   Modified: 2022-12-28  

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