2021 Fiscal Year Research-status Report
Novel surgical endoscopic instrument: implementing bird's-eye view in minimally invasive surgery
| Project/Area Number |
19K23479
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| Research Institution | The University of Tokyo |
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Principal Investigator |
ファラガッソ アンジェラ 東京大学, 大学院工学系研究科(工学部), 特任助教 (80847070)
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| Project Period (FY) |
2019-08-30 – 2023-03-31
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| Keywords | Multi-camera system / MIS / Modular Mechanism / Expanded View / Narrow Space Exploration / Medical Robotics / Extended-View / Modular sensor |
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| Outline of Annual Research Achievements |
Multi-camera systems were recently introduced into laparoscopy to increase the narrow field of view of the
surgeon. The video streams are stitched together to create a panorama that is easier for the surgeon to comprehend. Most of the developed approaches try to combine images from cameras placed on the tip of
the instruments itself. The proposed system instead benefit from a novel design in which the cameras are placed around the device and can also change the relative position within them.
The first prototype has now been realized and 3D printer with metal. It employs two camera holders attached to a rigid base containing an inner road. The inner road allows the rotations of the cameras to a specific angle as well as their translation. The system is modular, i.e. it is possible to add more cameras as well as change the type of cameras by only changing the cameras' holders. The minimum distance between the two camera's center is 10 mm and the maximum is 20 mm. In this first prototype the rotation and translation of the mechanism is done manually but it can be easily automatized by adding motors in the device.
The camera used for the realization of this prototype is the Mini Micro Security Camera by AutoGuard Guard that is a small size light weight camera with a Field of View (FoV) of 170 snd 30 frame per seconds (fps). A non-supervised deep learning approach is being implemented to provide a panoramic view of the anatomical areas as well as the of the instruments itself.
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| Current Status of Research Progress |
Current Status of Research Progress
2: Research has progressed on the whole more than it was originally planned.
Reason
The project is now progressing smoothly and it should be finalized within a couple of months.
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| Strategy for Future Research Activity |
In the next few months the image processing algorithm will be optimized for the designed prototype. Experimental tests with a phantom mimicking the internal anatomical areas of the human's body will be performed. Additionally, the system will be implemented and tested in narrow space explorations scenario.
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| Causes of Carryover |
In this fiscal year the money left will be used to pay the metal print and join the International Conference on Intelligent Robots and Systems (IROS 2022) which will be held in Kyoto in October and for publications fees.
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