| Project/Area Number |
19K23479
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| Research Category |
Grant-in-Aid for Research Activity Start-up
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| Allocation Type | Multi-year Fund |
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| Review Section |
0301:Mechanics of materials, production engineering, design engineering, fluid engineering, thermal engineering, mechanical dynamics, robotics, aerospace engineering, marine and maritime engineering, and related fields
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| Research Institution | The University of Tokyo |
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Principal Investigator |
Faragasso Angela 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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| Project Status |
Completed (Fiscal Year 2022)
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| Budget Amount *help |
¥2,860,000 (Direct Cost: ¥2,200,000、Indirect Cost: ¥660,000)
Fiscal Year 2020: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
Fiscal Year 2019: ¥1,430,000 (Direct Cost: ¥1,100,000、Indirect Cost: ¥330,000)
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| Keywords | Medical robotics / Multi-camera system / Visual system / Fish-eye cameras / Extended view / Modular mechanism / MIS / Image stitching / Modular Mechanism / Expanded View / Visual-system / Medical Robotics / Fish-eye camera / Extended-View / Narrow Space Exploration / Modular sensor / Modula mechanism / Expanded view / Narrow space exploration / Smart design / Cable driven device / Visual System / Visual sensor / Laparoscopic surgery / Bird's-eye view |
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| Outline of Research at the Start |
The aim of this research is to fulfil bird’s-eye view in MIS by designing a novel surgical endoscopic system. This will allow surgeons to have a broad 3D view alongside the instrument itself, and hence prevent injuries caused by the contact between the instrument’s body and the anatomical area.
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| Outline of Final Research Achievements |
To cope with problem related to the narrow field of view in Minimally Invasive Surgery (MIS), this research proposed a novel surgical instrument, which embeds multiple fisheye cameras, accompanied by an image processing algorithm to visualize the adjacent area from different angles.
Each camera module is composed by a couple of fish-eye cameras that can rotate and translate to fixed known positions changing the relative distance and angle between them. The image processing algorithm, implemented using OpevCV, stitches the camera images together creating an extended view shown to the clinician in real-time. When there aren't enough overlapping features between the images the stitching algorithm fails and the images are shown separately providing a view of the area around the instrument.
The proposed system is versatile: it can be used for different surgical operations, and it can also be adapted for other applications dealing with narrow space exploration requiring a broad view.
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| Academic Significance and Societal Importance of the Research Achievements |
The main features of the proposed system are its modularity and versatility. It is possible to change the type of cameras, employ more module together and adapt the designed device and image processing algorithm to different surgical operations and applications dealing with narrow space exploration.
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