2020 Fiscal Year Final Research Report
Study on the measurement of soft-tissue position and deformation for surgical navigations
| Project/Area Number |
16H03191
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| Research Category |
Grant-in-Aid for Scientific Research (B)
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| Allocation Type | Single-year Grants |
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| Section | 一般 |
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| Research Field |
Medical systems
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| Research Institution | Tokyo Medical and Dental University (2017-2020)
The University of Tokyo (2016) |
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Principal Investigator |
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| Co-Investigator(Kenkyū-buntansha) |
斎藤 季 東京大学, 大学院医学系研究科(医学部), 特任助教 (00646466)
小山 博史 東京大学, 大学院医学系研究科(医学部), 教授 (30194640)
金 太一 東京大学, 医学部附属病院, 助教 (90447392)
中冨 浩文 東京大学, 医学部附属病院, 准教授 (10420209)
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| Project Period (FY) |
2016-04-01 – 2021-03-31
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| Keywords | 臓器変形トラッキング / 手術支援 / 形状計測 / 非接触計測 / ブレインシフト |
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| Outline of Final Research Achievements |
We provided the surface shapes and textures with laser-beam pattern projection and camera image capturing. In addition, we provided its application to estimate soft-tissue deformation and finally projected a surgical plan directory onto the brain surfaces by projection mapping accurately. A laser optical device and a high-speed camera were employed to measure a textured surface of the object with stereo measurement, and then texture image processing and non-linear deformation tracking provided high-accurate compensation of soft-tissue deformation during surgeries. It was implemented into a projection mapping system that we have developed as a surgical navigation. The system showed the performance of surgical-plan projection within the errors around 1.2 mm.
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| Free Research Field |
医用システム
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| Academic Significance and Societal Importance of the Research Achievements |
医療に使用できるレベルの高信頼性，高精度な可視光による画像3次元計測手法，およびそれを用いた物体追跡手法を確立した．具体的には，可視光画像からtextureを持った表面形状を計測し，形状情報とtextureの両方を用いた安定で高精度な物体移動と変形追跡を実現した．変形を伴う物体追跡では2次元画像の対応点探索手法をそのまま適用できないため，形状とテクスチャの空間統合処理を行った後，非線形対応点探索を行った．さらに，それを手術ナビゲーションに実装してマーカレス手術ナビゲーションシステムを試作し，性能を確認した．臓器変形推定誤差は1 mm以下であり，従来法と比べて半減した．
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