Automatic Optimal Design of a Visual-based Stiffness Sensor and real-time Colour-coded Stiffness Map for Minimally Invasive Procedures.
| Project/Area Number |
20K14691
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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 |
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)
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| Project Period (FY) |
2020-04-01 – 2024-03-31
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| Project Status |
Completed (Fiscal Year 2023)
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| Budget Amount *help |
¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
Fiscal Year 2021: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2020: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
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| Keywords | Visual based sensing / MIS / Optimal design / Medical Robotics / Remote Palpation / Topological Optimization / Visual-based sensing / Stiffness Sensing / Real-time Stiffness Map / Stiffness map / Remote palpation / Stiffness sensing / Topological optimization / Stiffness Sensor / Laparoscopic Surgery / Optimal 3D Design |
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| Outline of Research at the Start |
The aim of this research is to create a real-time stiffness map for minimally invasive procedures by developing an optimal task-specific visual-based stiffness sensor, to be embedded at the tip of the endoscopic camera, and used to model the nonlinear behaviour characterizing anatomical surfaces.
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| Outline of Annual Research Achievements |
This research has made substantial progress in the development of a visual-based stiffness sensor for minimally invasive procedures. By employing generative design in Fusion 360, the sensor was optimized for integration with a lightweight UFactory Lite6 robot. This setup was interfaced with the Robot Operating System (ROS), enabling remote manipulation and path replanning through a semi-autonomous navigation algorithm. The project established a remote system with the robot on one side and the Meta Quest on the other, enhancing the operator's control and visualization capabilities. The information gathered could be used for generating a real-time colour-coded stiffness map, promising to enhance the precision and safety of minimally invasive surgeries.
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Report
(4 results)
Research Products
(27 results)
