2021 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.
| Project/Area Number |
20K14691
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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) |
2020-04-01 – 2023-03-31
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| Keywords | Visual-based sensing / Optimal design / MIS / Medical Robotics / Remote Palpation / Stiffness Sensing / Topological Optimization / Stiffness map |
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| Outline of Annual Research Achievements |
New methodologies for automatic topological optimization have been explored with the aim of realizing an optimized stiffness sensor to be embedded a the tip of the endoscopic cameras. The sensing principle is based on the clip-on stiffness device previously developed by the PI. In particular, this sensor embeds cantilever beams of different elasticities attached at the tip of the endoscopic camera and used to palpate the anatomical areas. Images of the cantilevers in feedback during the contacts are analyzed and used to retrieve the mechanical properties of the contact surfaces. The design of the cantilever beams embedded in the sensor has been previously realized through brute-force techniques. In this project automatic design is being implemented to optimize the sensibility and spatial resolution of the sensor.
Currently, techniques for Computer-Automated Design are being explored, adapted and employed in this project for automatically find the optimal design of the cantilever beams embedded in the sensor.
A novel tele-haptic and tele-palpation systems is also being realized. The proposed system comprises two main platforms, one placed on the patient’s side and another placed on the clinician’s side which are connected through a communication network. A user-friendly platform is controlled by the medical expert and used to visualize the surrounding of the patient while manipulating a robotic arm which embeds the visual-based stiffness sensor. The sensory system will allow to retrieve the sense of touch feedback to the medical expert via an innovative tactile device.
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| Current Status of Research Progress |
Current Status of Research Progress
3: Progress in research has been slightly delayed.
Reason
The PI was on maternity leaves this year, and hence the project has been delayed. Moreover, she 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 now been cancelled. However, the PI has recently started a new collaboration with a domestic company and new optimization techniques for the stiffness sensor have been brainstormed and will be tried out in the next months.
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| Strategy for Future Research Activity |
The PI is now focusing on the automatic optimal design of the stiffness sensor previously developed and aim at finalize it in the next couple of months. After completing this task the PI will focus on the image processing algorithm, which strictly depends on the design of the sensor, and implementation of the color coded stiffness map. The algorithm will also consider the non-linearity of the interaction between the sensor and the anatomical areas to improve the spatial resolution of the sensor.
After fabrication, the device will be integrated in a tele-palpation and tele-haptic system and used in remote medical examination experimental tests.
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| Causes of Carryover |
The budget will be used for fabricating the sensor and purchasing different items used in the clinal and remote room. In particular the PI plans to purchase: a Phantom Omni, sensor for tactile pad, a computer and screen for the clinical room, and a mobile base manipulator.
Additionally publication costs and travel expenses are planned for the next year.
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Research Products
(4 results)
