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2020 Fiscal Year Research-status Report

Automatic Optimal Design of a Visual-based Stiffness Sensor and real-time Colour-coded Stiffness Map for Minimally Invasive Procedures.

Research Project

Project/Area Number 20K14691
Research InstitutionThe University of Tokyo

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)

Project Period (FY) 2020-04-01 – 2022-03-31
KeywordsVisual-based sensing / Optimal design / MIS / Medical Robotics / Remote palpation / Stiffness sensing / Topological optimization / Stiffness map
Outline of Annual Research Achievements

Study on the topological structure of 3D printed materials have been carried out. Large scale prototypes have been designed and fabricated. Additionally, this research brought some novel work related to the coronavirus outbreak. The topological and material properties studies have been used for realizing customized 3D printed masks from 2D image..
Deep neural network have been implemented for retrieve 3D features from 2D information. This work will be tailored for implementing deep 3D neural network for realizing topological optimal design and stiffness mapping.
The implementation of a remote palpation system which can give mechanical properties of soft tissue by using our stiffness sensor, is under development. Such system would be particularly beneficial for remote diagnostic procedures.

Current Status of Research Progress
Current Status of Research Progress

3: Progress in research has been slightly delayed.

Reason

The corona virus outbreak and health issue of the PI have slightly delayed this research.
The PI was supposed to visit the Micro Technology and Medical Device Technology laboratory at the University of Munich to conduct joint research on the topological optimization of the stiffness sensor. Unfortunately, due to the outbreak, this travel plan has been postponed. However, virtual meeting have been carried out and hopefully one student from Munich will join our lab at the University of Tokyo in the next few months.

Strategy for Future Research Activity

The PI is studying novel methods for topological optimization and looking also into deep neural network.
When the design will be finalized, different prototypes will be fabricated by using novel soft materials.Preliminary prototypes have been already fabricated with a bio-compatible material.
The sensor will be integrate in surgical manipulator and used for creating real-time stiffness map of anatomical surfaces.
A remote palpation system composed by a mobile manipulator robot equipped with a large scale stiffness sensor will be implemented and used for remote external palpation. This realization of this system will be particular useful for implementing diagnostic system. Application of a remote palpation system span from rescue medical device to at-home care for elderly.

Causes of Carryover

A mobile manipulator platform will be purchased and used for testing the efficiency of the proposed remote stiffness sensing system. The palpation site will be connected to a remote one equipped with display and haptic feedback where it will be possible to visualize the real-time stiffness map. This can be used for external palpation and minimally invasive surgery.
The PI is planning to visit the University of Munich in the next year to conduct joint research on optimal design of visual-based stiffness mechanisms. Additionally, hybrid-virtual workshop will be organized to promote this research and exchange opinion with other groups working in the same field.
The PI also hope to join in person conferences and events in the next year. Publication costs are also planned for the next year.

  • Research Products

    (9 results)

All 2021 2020

All Journal Article (4 results) Presentation (5 results) (of which Int'l Joint Research: 5 results,  Invited: 2 results)

  • [Journal Article] Automatic Design of Compliant Surgical Forceps With Adaptive Grasping Functions2020

    • Author(s)
      Sun Yilun、Liu Yuqing、Xu Lingji、Zou Yunzhe、Faragasso Angela、Lueth Tim C.
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 5 Pages: 1095~1102

    • DOI

      10.1109/LRA.2020.2967715

  • [Journal Article] On the Extinction?Free Stabilization of Predator-Prey Dynamics2020

    • Author(s)
      Massaroli Stefano、Califano Federico、Faragasso Angela、Yamashita Atsushi、Asama Hajime
    • Journal Title

      IEEE Control Systems Letters

      Volume: 4 Pages: 964~969

    • DOI

      10.1109/LCSYS.2020.2997741

  • [Journal Article] Camera Orientation Estimation in Leaking Indoor Environment via Vanishing Point of Water Drops,2020

    • Author(s)
      H. Xu, R. Komatsu, H. Woo, A. Faragasso, A. Yamashita and H. Asama
    • Journal Title

      2020 IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR),

      Volume: - Pages: -

  • [Journal Article] Identification of a Class of Hybrid Dynamical Systems2020

    • Author(s)
      Massaroli Stefano、Califano Federico、Faragasso Angela、Risiglione Mattia、Yamashita Atsushi、Asama Hajime
    • Journal Title

      IFAC-PapersOnLine

      Volume: 53 Pages: 875~882

    • DOI

      10.1016/j.ifacol.2020.12.846

  • [Presentation] Reproducibility and Benchmarking in Medical Robotics: How to manufacture effective devices2021

    • Author(s)
      Angela Faragasso
    • Organizer
      TUM-UTokyo Online Workshop
    • Int'l Joint Research
  • [Presentation] Robotics Research and Education: Present and Future2021

    • Author(s)
      Angela Faragasso
    • Organizer
      The University of New South Wales (UNSW)
    • Int'l Joint Research / Invited
  • [Presentation] Smart design of effective robot mechanisms and devices2021

    • Author(s)
      Angela Faragasso
    • Organizer
      25th of may 2021 Workshop on Embodied Intelligence
    • Int'l Joint Research
  • [Presentation] Reproducibility and benchmarking in Robotics and Healthcare2021

    • Author(s)
      Angela Faragasso
    • Organizer
      Worcester Polytechnic Institute (WPI)
    • Int'l Joint Research / Invited
  • [Presentation] Replicability and Reproducibility in Medical Robotics: How accurately can we train our doctors?2020

    • Author(s)
      Angela Faragasso
    • Organizer
      IEEE/RSJ IROS 2020 Workshop on "Robot-assisted Medical Examination Training
    • Int'l Joint Research

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Published: 2021-12-27  

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