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

Research Project

Project/Area Number 19K21941
Research Category

Grant-in-Aid for Challenging Research (Exploratory)

Allocation TypeMulti-year Fund
Review Section Medium-sized Section 20:Mechanical dynamics, robotics, and related fields
Research InstitutionThe 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
Project Status Completed (Fiscal Year 2021)
Budget Amount *help
¥6,370,000 (Direct Cost: ¥4,900,000、Indirect Cost: ¥1,470,000)
Fiscal Year 2020: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
Fiscal Year 2019: ¥4,160,000 (Direct Cost: ¥3,200,000、Indirect Cost: ¥960,000)
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 / ロボティック超音波診断・治療 / 体動補償 / 医療・バイオ用ロボットビジョン技術 / モーション・キャプチャ / 診断画像適正度評価 / 医療のデジタル化 / モーションキャプチャ / 体内臓器系モーションキャプチャ / 運動モニタリング / Robotic ultrasound
Outline of Research at the Start

本研究では超音波技術,人工知能技術,ならびにロボット技術を基盤として非侵襲的な身体装着型のモニタリング装置を新規に開発,これを用いて把持・歩行運動中の体内臓器の挙動を世界で初めて観察可能とすることで人体の骨格および内臓・筋肉の統合的な動力学的解析・理解を促進することを目的とする。
近年,光学あるいは慣性センサを用いたモーションキャプチャの技術により運動中の筋・骨格系の動力学の理解・解析が可能になりつつある。本研究では上記に加えて運動する体内臓器の挙動をも統合的に観察可能とするツールおよびこれに基づく人体の骨格および内臓・筋肉の統合的な動力学的解析手法についての研究を行なう。

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.

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。

Report

(4 results)
  • 2021 Annual Research Report   Final Research Report ( PDF )
  • 2020 Research-status Report
  • 2019 Research-status Report
  • Research Products

    (35 results)

All 2022 2021 2020 2019 Other

All Journal Article (12 results) (of which Peer Reviewed: 11 results,  Open Access: 6 results) Presentation (16 results) (of which Int'l Joint Research: 16 results) Remarks (5 results) Patent(Industrial Property Rights) (2 results)

  • [Journal Article] A novel complementation method of an acoustic shadow region utilizing a convolutional neural network for ultrasound-guided therapy2022

    • Author(s)
      Momoko Matsuyama, Norihiro Koizumi, Akihide Otsuka, Kento Kobayashi, Shiho Yagasaki, Yusuke Watanabe, Jiayi Zhou, Yu Nishiyama, Naoki Matsumoto, Hiroyuki Tsukihara, Kazushi Numata
    • Journal Title

      International Journal of Computer Assisted Radiology and Surgery (IJCARS)

      Volume: 17 Issue: 1 Pages: 107-119

    • DOI

      10.1007/s11548-021-02525-8

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Evaluation of Ultrasonic Fibrosis Diagnostic System Using Convolutional Network for Ordinal Regression2021

    • Author(s)
      Ryosuke Saito, Norihiro Koizumi, Yu Nishiyama, Tsubasa Imaizumi, Kenta Kusahara, Shiho Yagasaki, Naoki Matsumoto, Ryota Masuzaki, Toshimi Takahashi, Masahiro Ogawa
    • Journal Title

      International Journal of Computer Assisted Radiology and Surgery (IJCARS)

      Volume: 16 Issue: 11 Pages: 1969-1975

    • DOI

      10.1007/s11548-021-02491-1

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Parametric identification of prostate shape using the superellipses and its correlation with pathology2021

    • Author(s)
      Yusuke Onodera, Norihiro Koizumi, Yuka Shigenari, Riki Igarashi
    • Journal Title

      International Journal of Computer Assisted Radiology and Surgery (IJCARS)

      Volume: 16 Issue: S1 Pages: 1-119

    • DOI

      10.1007/s11548-021-02375-4

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Correlation between alterations in blood flow of malignant lymphomas after induction chemotherapies and clinical outcomes: a pilot study utilising contrast-enhanced ultrasonography for early interim evaluation of lymphoma treatment2021

    • Author(s)
      Mariko Kumagawa, Naoki Matsumoto, Katsuhiko Miura, Masahiro Ogawa, Hiromichi Takahashi, Yoshihiro Hatta, Ryosuke Kondo, Norihiro Koizumi, Masami Takei, Mitsuhiko Moriyama
    • Journal Title

      Clinical Radiology

      Volume: 2021 Issue: 7 Pages: 1-9

    • DOI

      10.1016/j.crad.2021.02.007

    • Related Report
      2020 Research-status Report
    • Peer Reviewed
  • [Journal Article] The value of hepatobiliary phase in EOB-MRI in predicting hypervascularization outcome of non-hypervascular hypointense lesions in high-risk patients for hepatocellular carcinoma2021

    • Author(s)
      Feiqian Wang, Kazushi Numata, Makoto Chuma, Hiromi Nihonmatsu, Satoshi Moriya, Akito Nozaki, Katsuaki Ogushi, Hiroyuki Fukuda, Masahiro Okada, Litao Ruan, Wen Luo, Norihiro Koizumi, Masayuki Nakano, Masako Otani, Yoshiaki Inayama, Shin Maeda
    • Journal Title

      Abdom Radiology

      Volume: 2021 Issue: 6 Pages: 1-13

    • DOI

      10.1007/s00261-020-02881-0

    • Related Report
      2020 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Estimating 3-dimensional liver motion using deep learning and 2-dimensional ultrasound images2020

    • Author(s)
      Shiho Yagasaki, Norihiro Koizumi, Yu Nishiyama, Ryosuke Kondo, Tsubasa Imaizumi, Naoki Matsumoto, Masahiro Ogawa, Kazushi Numata
    • Journal Title

      International Journal of Computer Assisted Radiology and Surgery

      Volume: 5 Issue: 12 Pages: 1989-1995

    • DOI

      10.1007/s11548-020-02265-1

    • Related Report
      2020 Research-status Report
    • Peer Reviewed
  • [Journal Article] CNNを用いた高速な超音波画像上の臓器検出手法の比較・検証2020

    • Author(s)
      五十嵐 立樹, 冨田 恭平, 西山 悠, 小泉 憲裕
    • Journal Title

      計測自動制御学会論文集

      Volume: 56 Issue: 12 Pages: 560-569

    • DOI

      10.9746/sicetr.56.560

    • NAID

      130007958053

    • Related Report
      2020 Research-status Report
    • Peer Reviewed
  • [Journal Article] Sagittal alignment in an MR-TRUS fusion biopsy using only the prostate contour in the axial image2020

    • Author(s)
      Riki Igarashi, Norihiro Koizumi, Yu Nishiyama, Kyohei Tomita, Yuka Shigenari, Sunao Shoji
    • Journal Title

      ROBOMECH Journal

      Volume: 7 Issue: 1 Pages: 1-7

    • DOI

      10.1186/s40648-020-0155-9

    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Use of intra-procedural fusion imaging combining contrast-enhanced ultrasound using a perflubutane-based contrast agent and auto sweep three-dimensional ultrasound for guiding radiofrequency ablation and evaluating its efficacy in patients with hepatocellular carcinomaInternational2020

    • Author(s)
      Katsuyuki Sanga, Kazushi Numata, Hiromi Nihonmatsu, Katsuaki Ogushi, Hiroyuki Fukuda, Makoto Chuma, Hiroshi Hashimoto, Norihiro Koizumi, Shin Maeda
    • Journal Title

      Journal of Hyperthermia (IJH)

      Volume: 37 Issue: 1 Pages: 202-211

    • DOI

      10.1080/02656736.2020.1729422

    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Usefulness of computer-aided diagnosis system in evaluating severity of benign prostatic hyperplasia, using a super-ellipse model to characterize changes in prostate contours2020

    • Author(s)
      Sunao Shoji, Yuka Shigenari, Izumi Hanada, Tatsuya Otaki, Takahiro Ogawa, Masayoshi Kawakami, Hakushi Kim, Masanori Hasegawa,Yoshiaki Kawamura, Norihiro Koizumi, Akira Miyajima
    • Journal Title

      The Journal of Urology

      Volume: 203 Issue: Supplement 4 Pages: 605-606

    • DOI

      10.1097/ju.0000000000000891.07

    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Open Access
  • [Journal Article] Method of Medical DigITalization (Me-DigIT) and Its Effects and Social Impacts2019

    • Author(s)
      小泉憲裕, 西山 悠, 江浦史生,今泉飛翔, 大塚研秀, 佐々木雄大, 重成佑香, 五十嵐立樹, 草原健太, 小林賢人, 月原弘之, 松本直樹, 小川眞広
    • Journal Title

      Journal of the Japan Society for Precision Engineering

      Volume: 85 Issue: 9 Pages: 749-752

    • DOI

      10.2493/jjspe.85.749

    • NAID

      130007703006

    • ISSN
      0912-0289, 1882-675X
    • Year and Date
      2019-09-05
    • Related Report
      2019 Research-status Report
    • Open Access
  • [Journal Article] Automatic Diagnosis by Compact Portable Ultrasound Robot : State Estimation of Internal Organs with Steady-State Kalman Filter2019

    • Author(s)
      Yudai Sasaki, Fumio Eura, Kento Kobayashi, Ryosuke Kondo, Kyohei Tomita, Yu Nishiyama, Hiroyuki Tsukihara, Naoki Matsumoto, and Norihiro Koizumi
    • Journal Title

      Proc. of 2019 IEEE Healthcare Innovations and Point of Care Technologies Conference (HI-POCT)

      Volume: 2019 Pages: 29-32

    • DOI

      10.1109/hi-poct45284.2019.8962758

    • Related Report
      2019 Research-status Report
    • Peer Reviewed / Open Access
  • [Presentation] A robotic ultrasound diagnostic system for tracking kidney motion and adjusting contact posture using an organ tracking robot2022

    • Author(s)
      J. Zhou, K. Kobayashi, R. Igarashi, Y. Watanabe, T. Fujibayashi, M. Yamada, M. Matsuyama, H. Tsukihara, K. Yoshinaka, N. Matsumoto, M. Ogawa, H. Miyazaki, K. Numata, H. Nagaoka, T. Iwai, H. Iijima, Y. Nishiyama, N. Koizumi
    • Organizer
      CARS 2021 Computer Assisted Radiology and Surgery
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Ultrasound Fibrosis Diagnostic System Utilizing U-Net and CORALNet2022

    • Author(s)
      R. Saito, N. Koizumi, Y. Nishiyama, T. Imaizumi, K. Kusahara, S. Yagasaki, N. Matsumoto, R. Masuzaki, T. Takahashi, M. Ogawa
    • Organizer
      CARS 2021 Computer Assisted Radiology and Surgery
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] A novel complementation method of an acoustic shadow region utilizing a convolutional neural network for ultrasound-guided therapy2022

    • Author(s)
      M. Matsuyama, N. Koizumi, A. Otsuka, K. Kobayashi, S. Yagasaki, Y. Watanabe, J. Zhou, Y. Nishiyama, N. Matsumoto, H. Tsukihara, K. Numata
    • Organizer
      CARS 2021 Computer Assisted Radiology and Surgery
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Parametric identification of prostate shape using the superellipses and its correlation with pathology2022

    • Author(s)
      Y. Onodera, N. Koizumi, Y. Shigenari, R. Igarashi, Y. Nishiyama, S. Shoji
    • Organizer
      CARS 2021 Computer Assisted Radiology and Surgery
    • Related Report
      2021 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Estimating 3-dimensional liver motion using deep learning and 2-dimensional ultrasound images2020

    • Author(s)
      S. Yagasaki, N. Koizumi, Y. Nishiyama, R. Kondo, T. Imaizumi, N. Matsumoto, M. Ogawa, K. Numata
    • Organizer
      34th International Congress and Exhibition on computer assisted radiology and surgery (CARS 2020)
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Presentation] Contact state adjustment method to enhance organ motion compensation performance for a bed-type ultrasound diagnostic and therapeutic robot2020

    • Author(s)
      K. Kobayashi, N. Koizumi, Y. Sasaki, T. Kobayashi, Y. Watanabe, J. Zhou, A. Otsuka, Y. Nishiyama, H.Tsukihara, N. Matsumoto, H. Miyazaki, K. Numata, H. Nagaoka, T. Iwai, H. Iijima
    • Organizer
      34th International Congress and Exhibition on computer assisted radiology and surgery (CARS 2020)
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Presentation] Classification of hepatic hemangiomas and blood vessels from ultrasonography by deep learning2020

    • Author(s)
      K. Kusahara, N. Koizumi, Y. Nishiyama, T. Imaizumi, R. Saito, S. Yagasaki, N. Matsumoto, M. Ogawa
    • Organizer
      34th International Congress and Exhibition on computer assisted radiology and surgery (CARS 2020)
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Presentation] Development of Ultrasound Robot for Automatic Acquisition of Ultrasound Images2020

    • Author(s)
      Jiayi Zhou, Kento Kobayashi, Yusuke Watanabe, Takumi Fujibayashi, Momoko Matsuyama, Miyu Yamada, Hiroyuki Tsukihara, Yu Nishiyama, Norihiro Koizumi
    • Organizer
      16th Annual Asian Conference on Computer Aided Surgery (ACCAS2020)
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Presentation] Study on automatic aquisition of diagnostic images by ultrasound diagnostic robot2020

    • Author(s)
      Yusuke Watanabe, Norihiro Koizumi, Yudai Sasaki, Kento Kobayashi, Takahiro Kobayashi, Zhou Jiayi, Yu Nishiyama, Hiroyuki Tsukihara, Kazushi Numata, Hideyuki Iijima, Toshiyuki Iwai, Hidetoshi Nagaoka
    • Organizer
      16th Annual Asian Conference on Computer Aided Surgery (ACCAS2020)
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Presentation] Development of Ultrasound Robot for Automatic Acquisition of Ultrasound Images2020

    • Author(s)
      Ryosuke Saito, Norihiro Koizumi, Yu Nishiyama, Tsubasa Imaizumi, Kenta Kusahara, Shiho Yagasaki, Masahiro Ogawa, Naoki Matsumoto, Development of Ultrasound Robot for Automatic Acquisition of Ultrasound Images
    • Organizer
      16th Annual Asian Conference on Computer Aided Surgery (ACCAS2020)
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Presentation] A contact state adjustment method to enhance organ motion compensation performance for a bed-type ultrasound diagnostic and therapeutic robot2020

    • Author(s)
      Kento Kobayashi, Yusuke Watanabe, Jiayi Zhou, Takumi Fujibayashi, Momoko Matsuyama, Miyu Yamada, Hiroyuki Tsukihara Hideyuki Iijima, Norihiro Koizumi
    • Organizer
      16th Annual Asian Conference on Computer Aided Surgery (ACCAS2020)
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Presentation] Deep Learning Based 3-Dimensional Liver Motion Estimation Using 2-Dimensional Ultrasound Images2019

    • Author(s)
      Tsubasa Imaizumi, Ryosuke Kondo, Kenta Kusahara, Yu Nishiyama, Hiroyuki Tsukihara, Naoki Matsumoto, Kazushi Numata, Norihiro Koizumi
    • Organizer
      2019 IEEE International Conference on Cyborg and Bionic Systems (CBS 2019)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Lesion Tracking Method Using CNN in Non-Invasive Ultrasound Diagnostic Treatment Integrated System2019

    • Author(s)
      Riki Igarashi, Kyohei Tomita, Yu Nishiyama, Yuka Shigenari, Norihiro Koizumi
    • Organizer
      2019 IEEE International Conference on Cyborg and Bionic Systems (CBS 2019)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Development of Bed-Type Ultrasound Diagnosis and Therapeutic Robot2019

    • Author(s)
      Kento Kobayashi, Yudai Sasaki, Fumio Eura, Ryosuke Kondo, Kyohei Tomita, Takahiro Kobayashi, Yusuke Watanabe, Akihide Otsuka, Hiroyuki Tsukihara, Naoki Matsumoto, Kazushi Numata, Hidetoshi Nagaoka, Toshiyuki Iwai, Hideyuki Iijima, Yu Nishiyama, Norihiro Koizumi
    • Organizer
      2019 IEEE International Conference on Cyborg and Bionic Systems (CBS 2019)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Matching axial images of magnetic resonance imaging and transrectal ultrasound based on deep learning2019

    • Author(s)
      Riki Igarashi, Norihiro Koizumi, Yu Nishiyama, Kyohei Tomita, Yuka Shigenari, Sunao Shoji
    • Organizer
      33rd International Congress and Exhibition on computer assisted radiology and surgery (CARS 2019)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Segmentation of liver parenchyma in ultrasound images for automatic diagnosis of liver cirrhosis2019

    • Author(s)
      Tsubasa Imaizumi, Norihiro Koizumi, Yu Nishiyama, Naoki Matsumoto, Masahiro Ogawa
    • Organizer
      33rd International Congress and Exhibition on computer assisted radiology and surgery (CARS 2019)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Remarks] 小泉 憲裕の研究ブログ

    • URL

      http://blog2009nkoizumi.japanprize.jp/

    • Related Report
      2021 Annual Research Report 2020 Research-status Report
  • [Remarks] 電気通信大学 小泉憲裕研究室

    • URL

      http://www.medigit.mi.uec.ac.jp/

    • Related Report
      2021 Annual Research Report
  • [Remarks] 電気通信大学 小泉憲裕研究室

    • URL

      http://www.medigit.mi.uec.ac.jp/

    • Related Report
      2020 Research-status Report
  • [Remarks] 電気通信大学 小泉憲裕研究室

    • URL

      http://www.medigit.mi.uec.ac.jp

    • Related Report
      2019 Research-status Report
  • [Remarks] 小泉憲裕の研究ブログ

    • URL

      http://blog2009nkoizumi.japanprize.jp

    • Related Report
      2019 Research-status Report
  • [Patent(Industrial Property Rights)] 画像評価装置及びプログラム2022

    • Inventor(s)
      小泉憲裕, 西山 悠, 小林賢人, Zhoh Jiayi, 他
    • Industrial Property Rights Holder
      小泉憲裕, 西山 悠, 小林賢人, Zhoh Jiayi, 他
    • Industrial Property Rights Type
      特許
    • Filing Date
      2022
    • Related Report
      2021 Annual Research Report
  • [Patent(Industrial Property Rights)] 超音波治療診断方法、プログラムおよび患部追従評価方法2021

    • Inventor(s)
      小泉憲裕, 大塚研秀, 西山 悠, 月原弘之, ほか3名
    • Industrial Property Rights Holder
      小泉憲裕, 大塚研秀, 西山 悠, 月原弘之, ほか3名
    • Industrial Property Rights Type
      特許
    • Filing Date
      2021
    • Related Report
      2020 Research-status Report

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Published: 2019-07-04   Modified: 2023-01-30  

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