Robust visual servoing for medical ultrasound for HIFU therapy
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 |
Section | 一般 |
Research Field |
Medical systems
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Research Institution | Kyushu University |
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)
|
Project Period (FY) |
2013-04-01 – 2017-03-31
|
Project Status |
Completed (Fiscal Year 2016)
|
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)
|
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 |
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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Report
(5 results)
Research Products
(17 results)
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[Presentation] Mechanical evaluation of Laparoscopic Ultrasound2016
Author(s)
Jumpei Arata, Kazunari Fukami, Susumu Oguri, Tetsuo Ikeda, Ryu Nakadate, Shinya Onogi, Masamichi Sakaguchi, Tomohiko Akahoshi, Kanako Harada, Mamoru Mitsuishi, Makoto Hashizume
Organizer
The 12th Asian Conference on Computer Aided Surgery
Place of Presentation
韓国
Year and Date
2016-10-14
Related Report
Int'l Joint Research
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[Presentation] Laparoscopic Ultrasound Manipulator based on a Spring based Elastic Mechanism2016
Author(s)
Jumpei Arata, Kazunari Fukami, Susumu Oguri ,Tetsuo Ikeda, Ryu Nakadate, Shinya Onogi, Masamichi Sakaguchi, Tomohiko Akahoshi, Kanako Harada, Mamoru Mitsuishi, Makoto Hashizume
Organizer
Computer Assisted Radiology 29th International Congress and Exhibition (CARS 2016)
Place of Presentation
Hamburg
Year and Date
2016-06-21
Related Report
Int'l Joint Research
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[Presentation] Human abdomen recognition using camera and force sensor in medical robot system for automatic ultrasound scan2013
Author(s)
Bin Mustafa, A.S., Ishii, T., Matsunaga, Y., Nakadate, R., Ishii, H., Ogawa, K., Saito, A., Sugawara, M., Niki, K., Takanishi, A.
Organizer
35th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC2013)
Place of Presentation
Osaka, Japan
Related Report
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