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Novel surgical endoscopic instrument: implementing bird's-eye view in minimally invasive surgery

Research Project

Project/Area Number 19K23479
Research Category

Grant-in-Aid for Research Activity Start-up

Allocation TypeMulti-year Fund
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
Research InstitutionThe University of Tokyo

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)

Project Period (FY) 2019-08-30 – 2023-03-31
Project Status Completed (Fiscal Year 2022)
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)
KeywordsMedical 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
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.

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.

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.

Report

(5 results)
  • 2022 Annual Research Report   Final Research Report ( PDF )
  • 2021 Research-status Report
  • 2020 Research-status Report
  • 2019 Research-status Report
  • Research Products

    (28 results)

All 2023 2022 2021 2020 2019 Other

All Int'l Joint Research (1 results) Journal Article (8 results) (of which Int'l Joint Research: 7 results,  Peer Reviewed: 1 results,  Open Access: 3 results) Presentation (17 results) (of which Int'l Joint Research: 13 results,  Invited: 11 results) Funded Workshop (2 results)

  • [Int'l Joint Research] Technical University of Munich/TUM Department of Mechanical Engineering/MIMED Institute(ドイツ)

    • Related Report
      2019 Research-status Report
  • [Journal Article] Toward Multicamera Systems for Minimally Invasive Surgery2023

    • Author(s)
      Faragasso Angela、Mitchel Scean、Cosentino Sarah、Asama Hajime
    • Journal Title

      IEEE Sensors Letters

      Volume: 7 Issue: 3 Pages: 1-4

    • DOI

      10.1109/lsens.2023.3240745

    • Related Report
      2022 Annual Research Report
  • [Journal Article] Reproducibility challenges in robotic surgery2023

    • Author(s)
      Faragasso Angela、Bonsignorio Fabio
    • Journal Title

      Frontiers in Robotics and AI

      Volume: 10 Pages: 1-10

    • DOI

      10.3389/frobt.2023.1127972

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Socially aware robot navigation in crowds via deep reinforcement learning with resilient reward functions2022

    • Author(s)
      Lu Xiaojun、Woo Hanwool、Faragasso Angela、Yamashita Atsushi、Asama Hajime
    • Journal Title

      Advanced Robotics

      Volume: 36 Issue: 8 Pages: 388-403

    • DOI

      10.1080/01691864.2022.2043184

    • Related Report
      2022 Annual Research Report 2021 Research-status Report
    • Open Access / Int'l Joint Research
  • [Journal Article] Women in STEM: Snapshots from a Few Asian Countries2022

    • Author(s)
      Chowdhury Fahmida N、Bhattacharya Basabdatta Sen、Cho Hye-Kung、Faragasso Angela、Gebeshuber Ille C.、Ciuperca Ella Magdalena、Marinova Galia、Doyle-Kent Mary
    • Journal Title

      IFAC-PapersOnLine

      Volume: 55 Issue: 39 Pages: 204-209

    • DOI

      10.1016/j.ifacol.2022.12.060

    • Related Report
      2022 Annual Research Report
    • Open Access / Int'l Joint Research
  • [Journal Article] Camera Orientation Estimation in Leaking Indoor Environment via Vanishing Point of Water Drops2020

    • Author(s)
      Hao Xu, Ren Komatsu, Hanwool Woo, Angela Faragasso, Atsushi Yamashita, Hajime Asama
    • Journal Title

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

      Volume: 0 Pages: 0-0

    • DOI

      10.1109/ssrr50563.2020.9292615

    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [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 Issue: 4 Pages: 964-969

    • DOI

      10.1109/lcsys.2020.2997741

    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Journal Article] Multistable Energy Shaping of Passive Linear Systems with Hybrid Mode Selector2020

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

      IFAC-PapersOnLine

      Volume: 53 Issue: 2 Pages: 9118-9124

    • DOI

      10.1016/j.ifacol.2020.12.2151

    • Related Report
      2020 Research-status Report
    • Int'l Joint Research
  • [Journal Article] Automatic Design of Compliant Surgical Forceps With Adaptive Grasping Functions2020

    • Author(s)
      Y. Sun, Y. Liu, L. Xu, Y. Zou, A. Faragasso and T. C. Lueth
    • Journal Title

      IEEE Robotics and Automation Letters

      Volume: 5 Issue: 2 Pages: 1094-1101

    • DOI

      10.1109/lra.2020.2967715

    • Related Report
      2019 Research-status Report
    • Int'l Joint Research
  • [Presentation] Towards Multi-camera systems for MIS2022

    • Author(s)
      Angela Faragasso
    • Organizer
      Technical University of Munich & University of Tokyo TUM-UTokyo Excellence, Diversity, and Mobility Workshop 2023
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Novel Mechanical Manipulator for Efficient Fuel Debris Retrieval2022

    • Author(s)
      Angela Faragasso
    • Organizer
      Technical University of Munich & University of Tokyo TUM-UTokyo Excellence, Diversity, and Mobility Workshop 2022
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Robotics Research and Education: Present and Future2022

    • Author(s)
      Angela Faragasso
    • Organizer
      Seminar at the University of New South Wales
    • Related Report
      2022 Annual Research Report
    • Invited
  • [Presentation] Smart design of effective robot mechanisms and devices2022

    • Author(s)
      Angela Faragasso
    • Organizer
      International Workshop on Embodied Intelligence
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Reproducibility and Benchmarking in Robotics for Healthcare and Nuclear Decommissioning2022

    • Author(s)
      Angela Faragasso
    • Organizer
      Joint Workshop on AI Driving Olympics and Steps Towards Widespread Reproducibility of Research and Objective Performance Evaluation of Intelligent Robotic Systems
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Novel Mechanical Manipulator for Efficient Fuel Debris Retrieval2022

    • Author(s)
      Angela Faragasso
    • Organizer
      TUM-UTokyo On-line Workshop 2022 "Excellence, Diversity, and Mobility "
    • Related Report
      2021 Research-status Report
    • Invited
  • [Presentation] Reproducibility and Benchmarking in the field: from Healthcare to Nuclear Decommissioning2021

    • Author(s)
      Angela Faragasso
    • Organizer
      International Conference on Intelligent Robots and Systems
    • Related Report
      2021 Research-status Report
    • Int'l Joint Research
  • [Presentation] Reproducibility and Benchmarking in Robotics and Healthcare2021

    • Author(s)
      Angela Faragasso
    • Organizer
      The International Conference on Robotics and Automation
    • Related Report
      2021 Research-status Report
    • Int'l Joint Research
  • [Presentation] Smart design of effective robot mechanisms and devices2021

    • Author(s)
      Angela Faragasso
    • Organizer
      2021 Workshop on Embodied Intelligence
    • Related Report
      2020 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] Robotics Research and Education: Present and Future2021

    • Author(s)
      Angela Faragasso
    • Organizer
      The University of New South Wales (UNSW)
    • Related Report
      2020 Research-status Report
    • Invited
  • [Presentation] Reproducibility and benchmarking in Robotics and Healthcare2020

    • Author(s)
      Angela Faragasso
    • Organizer
      Lecture at Worcester Polytechnic Institute (WPI)
    • Related Report
      2020 Research-status Report
    • 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
      RoPat 2020 - IEEE/RSJ IROS 2020 Workshop on "Robot-assisted Medical Examination Training"
    • Related Report
      2020 Research-status Report
    • Invited
  • [Presentation] Toward Reproducible Research: Benchmarking and Verification in Medical and Remote-Controlled Rescue Robotics2019

    • Author(s)
      Angela Faragasso
    • Organizer
      Seminar at La Sapienza, University of Rome
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] Remote Technology for Decommissioning and Its Expansion to Other Application2019

    • Author(s)
      Angela Faragasso
    • Organizer
      Seminar at Nankai University
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] Reproducibility of Research, Benchmarking and Verification in Medical Robotic2019

    • Author(s)
      Angela Faragasso
    • Organizer
      Search Results Web result with site links IROS 2019 -The 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2019)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] Port-Hamiltonian Approach to Neural Network Training2019

    • Author(s)
      Stefano Massaroli
    • Organizer
      58th Conference on Decision and Control (CDC) - Nice, France - December 11th-13th
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research / Invited
  • [Presentation] A Novel Recursive Linear Estimator Based on the Frisch Scheme2019

    • Author(s)
      Stefano Massaroli
    • Organizer
      2th Asian Control Conference (ASCC)
    • Related Report
      2019 Research-status Report
    • Int'l Joint Research / Invited
  • [Funded Workshop] Steps Towards Widespread Reproducibility of Research and Objective Performance Evaluation of Intelligent Robotic Systems2021

    • Related Report
      2020 Research-status Report
  • [Funded Workshop] Autonomous System in Medicine Workshop2020

    • Related Report
      2020 Research-status Report

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Published: 2019-09-03   Modified: 2024-01-30  

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