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2003 Fiscal Year Final Research Report Summary

Navigation system for endoscope

Research Project

Project/Area Number 12480263
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Research Field Biomedical engineering/Biological material science
Research InstitutionOsaka University

Principal Investigator

TAMURA Shinichi  Osaka University Graduate School of Medicine, Professor, 医学系研究科, 教授 (30029540)

Co-Investigator(Kenkyū-buntansha) TAMAKI Yasuhiro  Osaka University Graduate School of Medicine, Associate Professor, 医学系研究科, 助教授 (10273690)
KATO Amami  Osaka University Graduate School of Medicine, Associate Professor, 医学系研究科, 助教授 (00233776)
SATO Yoshinobu  Osaka University Graduate School of Medicine, Associate Professor, 医学系研究科, 助教授 (70243219)
HAMA Hiromitsu  Osaka City University, Professor, 工学部, 教授 (20047377)
Project Period (FY) 2000 – 2003
KeywordsIntra-body localization / Ultrasound / Endoscope / 3D position sensor / Transducer / トランスジューサ
Research Abstract

Different from conventional virtual navigation, we have developed two real intra-body navigation systems, which support endoscopic examination and endoscopic surgery.
(1)Ultrasound method
Commercially available ultrasound probe is set in water pool and another ultrasound transducer is placed at separated position which transmits ultrasound pulses synchronized to the ultrasound probe. The ultrasound probe catches the transmitted pulse from the transducer and displays on a monitor of the commercially available ultrasound diagnostic equipment as a marker. Thus we can locate the position (six dgrees-of-freedom) of the ultrasound probe as the relative position from the ultrasound transducer, and consequently as the absolute position by using optical localizer for ultrasound transducer.
(2)Hybrid method with magnetic and optical localizers
In this research, end of hard grip lod of an ultrasound endoscope is localized by an optical localizer and another end of the hard lod is localized bymagnetic sensor which is used for measuring magnetic field and location calibration/compensation. At another end of the hard lod, flexible ultrasound probe lod is connected. Another miniature magnetic sensor is attached at the tip of the flexible probe lod to locate the ultrasound probe in five degrees-of-freedom. Thus we can locate the ultrasound probe with six-degrees-of-freedom, whose locating precision is improved from 14.7mm without compensation to 1.96mm. Further we have derived the geometry of oblique endoscope and developed an easy calibration method.

  • Research Products

    (8 results)

All Other

All Publications (8 results)

  • [Publications] 平野雅嗣: "内視鏡ナビゲーションのための体腔内超音波プローブ位置決め精度検証"Med.Imag.Tech. Vol.18,No.5. 735-739 (2000)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Shinichi Tamura: "Intra-body three-dimensional position sensor for an ultrasound endoscope"IEEE Trans on Biomedical Engineering. vol.49,No.10. 1187-1194 (2002)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 中田和久: "光磁気ハイブリッド方式による磁気式3次元位置センサの簡便迅速な磁気ひずみ補正法"信学論D-II. vol.J87-D-II. 302-312 (2004)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] 山口鉄藏: "斜視内視鏡のカメラモデルとキャリブレーション法の開発"信学論D-II. vol.J87-D-II. 313-324 (2004)

    • Description
      「研究成果報告書概要(和文)」より
  • [Publications] Hirano, Masatsugu: "Evaluation of Accuracy of Localizing an Intravascular Ultrasound Probe for Endoscope Navigation"Med.Imag.Tech. Vol.18,No.5. 735-739 (2000)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Shinichi Tamura: "Intra-body three-dimensional position sensor for an ultrasound endoscope"IEEE Trans on Biomedical Engineering. vol.49,No.10. 1187-1197 (2002)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Kazuhisa Nakada: "A Rapid Method for Magnetic Tracker Calibration Using a Magneto-Optic Hybrid Tracker"The IEICE Transactions on Information and Systems, PT.2 (JAPANESE EDITION). Vol.J87-D-II No.1. 302-312 (2004)

    • Description
      「研究成果報告書概要(欧文)」より
  • [Publications] Tetsuzo Yamaguchi: "Development of Camera Model and Calibration Procedure for Oblique-Viewing Endoscope"The IEICE Transactions on Information and Systems, PT.2 (JAPANESE EDITION). Vol.J87-D-II No.1. 313-324 (2004)

    • Description
      「研究成果報告書概要(欧文)」より

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Published: 2005-04-19  

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