| Project/Area Number |
25350568
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Medical systems
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| Research Institution | Kyushu University |
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Principal Investigator |
Nakadate Ryu 九州大学, 先端医療イノベーションセンター, 助教 (40584470)
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| Co-Investigator(Kenkyū-buntansha) |
石井 裕之 早稲田大学, 理工学術院総合研究所(理工学研究所), 准教授(任期付) (10398927)
斎藤 明子 東京女子医科大学, 医学部, 准教授 (60101854)
剣持 一 九州大学, 先端医療イノベーションセンター, 特任助教 (60215134)
橋爪 誠 九州大学, 医学研究院, 教授 (90198664)
東 隆 東京大学, 大学院医学系研究科(医学部), 教授 (90421932)
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| Project Period (FY) |
2013-04-01 – 2017-03-31
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| Project Status |
Completed (Fiscal Year 2016)
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| Budget Amount *help |
¥4,940,000 (Direct Cost: ¥3,800,000、Indirect Cost: ¥1,140,000)
Fiscal Year 2015: ¥1,040,000 (Direct Cost: ¥800,000、Indirect Cost: ¥240,000)
Fiscal Year 2014: ¥2,080,000 (Direct Cost: ¥1,600,000、Indirect Cost: ¥480,000)
Fiscal Year 2013: ¥1,820,000 (Direct Cost: ¥1,400,000、Indirect Cost: ¥420,000)
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| Keywords | 超音波診断ロボット / ロボティクス / 医工学 / 超音波 / ロボッティクス / HIFU / ビジュアルサーボ |
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| Outline of Final Research Achievements |
The study aim was to develop a robotic system which holds a medical ultrasound probe and automatically keeps tracking the target cross section of the human organ even if it is moving by respiratory motion. We have developed a new probe holding robot and algorithms for improving the tracking performance. By using sensor fusion of the patient respiratory volume and ultrasound image, we have successfully achieved a significant reduction of the tracking error compared with the traditional image feedback control.
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