Dynamics analysis of musculoskeletal and organ systems during exercise by body-mounted robotic monitoring device

2021 Fiscal Year Final Research Report

• Project/Area Number: 19K21941
• Research Category: Grant-in-Aid for Challenging Research (Exploratory)
• Allocation Type: Multi-year Fund
• Review Section: Medium-sized Section 20:Mechanical dynamics, robotics, and related fields
• Research Institution: The University of Electro-Communications
• Principal Investigator: Koizumi Norihiro 電気通信大学, 大学院情報理工学研究科, 准教授 (10396765)
• Co-Investigator(Kenkyū-buntansha): 岡田 英孝 電気通信大学, 大学院情報理工学研究科, 教授 (20303018) ; 東郷 俊太 電気通信大学, 大学院情報理工学研究科, 准教授 (30751523)
• Project Period (FY): 2019-06-28 – 2022-03-31
• Keywords: 医療技能のデジタル化 / 医デジ化 / Me-DigIT / Medical Digitalization / 超音波ロボット / Robotic Ultrasound / 体内モーションキャプチャ / 体外モーションキャプチャ

Outline of Final Research Achievements

Extracting / tracking and following / monitoring technology for internal organs that move with deformation while interacting with each other by breathing, technology for linking / integrating information from external and internal motion capture, organs are displaced / deformed / rotated according to breathing It is possible to monitor the dynamics of organs by synthesizing time-series ultrasound images even if the organs that move in the body are partially deleted on the ultrasound image due to the case of swelling or shielding such as ribs. There have been remarkable achievements in the development of the algorithm technology, the diagnostic image optimization algorithm technology by the above-mentioned robotic avoidance operation of shielding, and the algorithm technology for evaluating the appropriateness of the acquired image from the contact state of the probe and the contour of the organ.

Free Research Field

医療ロボティクス

Academic Significance and Societal Importance of the Research Achievements

本研究により、これまで不可能であった人体の筋骨格系および体内臓器系の統一・統合的な動力学的解析・理解を可能とする、全く新しいロボット運動学の分野を開拓することが可能となり、人体の鏡像としてのロボット学の基盤になりうるものと期待している。