Production and evaluation of a smart navigation system for liver surgery by matching real and virtual depth images based on parallel processing of GPU

• Project/Area Number: 26289069
• Research Category: Grant-in-Aid for Scientific Research (B)
• Allocation Type: Partial Multi-year Fund
• Section: 一般
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: Osaka Electro-Communication University
• Principal Investigator: Noborio Hiroshi 大阪電気通信大学, 総合情報学部, 教授 (10198616)
• Co-Investigator(Kenkyū-buntansha): 小枝 正直 大阪電気通信大学, 総合情報学部, 准教授 (10411232) ; 大西 克彦 大阪電気通信大学, 総合情報学部, 准教授 (20359855) ; 海堀 昌樹 関西医科大学, 医学部, 准教授 (30333199) ; 陳 延偉 立命館大学, 情報理工学部, 教授 (60236841) ; 權 雅憲 関西医科大学, 医学部, 教授 (70225605)
• Project Period (FY): 2014-04-01 – 2018-03-31
• Project Status: Completed (Fiscal Year 2017)
• Budget Amount: ¥16,640,000 (Direct Cost: ¥12,800,000、Indirect Cost: ¥3,840,000); Fiscal Year 2016: ¥3,640,000 (Direct Cost: ¥2,800,000、Indirect Cost: ¥840,000); Fiscal Year 2015: ¥5,460,000 (Direct Cost: ¥4,200,000、Indirect Cost: ¥1,260,000); Fiscal Year 2014: ¥7,540,000 (Direct Cost: ¥5,800,000、Indirect Cost: ¥1,740,000)
• Keywords: 手術ナビゲーション / GPGPU / 並列処理 / 深度画像 / Zバッファリング / デプスカメラ / Z-buffering / Zバッファ

Outline of Final Research Achievements

The liver surgery navigator was produced and evaluated in some operating room. First, based on matching the depth image with z-buffer, the position and posture of the virtual liver and real liver were matched. Then, in the operating room where the surgical area is irradiated with two non-shadow lamps with or without several light-shielding filters, we change the search algorithm to minimize the aforementioned matching error from the steepest descent method to the simulated annealing method. The error that the virtual liver follows the real liver was to be within 1 ㎝. Furthermore, we changeed the shape of the virtual liver to reduce the matching error described above. Finally, when the tip of CUSA (cavitron ultrasonic surgical aspirator) scalpel is excessively close to three types of blood vessels and tumor tissue, the function of arousing the doctor's attention by color, voice, and vibration, and also presenting the next operation of CUSA scalpel to the doctor was added.

Research Products

• [Journal Article] Omni-directional Shortest Distance Algorithm by Complete Parallel-processing based on GPU Cores (2018)
  • Author(s): Hiroshi Noborio, Takahiro Kunii, Kiminori Mizushino
  • Journal Title: International Journal of Bioscience, Biochemistry and Bioinformatics Volume: 8 Pages: 79-88
  • DOI: 10.17706/ijbbb.2018.8.2.79-88
  • Peer Reviewed / Open Access
• [Journal Article] Accuracy verification of knife tip positioning with position and orientation estimation of the actual liver for liver surgery support system (2017)
  • Author(s): Daiki Yano, Masanao Koeda, Mayuko Doi, Kodai Okumoto, Shogo Yoshida, Katsuhiko Onishi, Hiroshi Noborio and Kaoru Watanabe
  • Journal Title: Journal of Bioinformatics and Neurosciences Volume: ３ Pages: 79-84
  • Peer Reviewed
• [Journal Article] Image Overlay Support with 3D CG Organ Model for Robot-Assisted Laparoscopic Partial Nephrectomy (2016)
  • Author(s): M. Koeda, K. Mizushino, K. Onishi, H. Noborio, T. Kunii, M. Kayaki, A. Sengiku, A. Sawada, T. Yoshikawa, Y. Matsui and O. Ogawa
  • Journal Title: HCI International 2016; Posters' Extended Abstracts, Volume 617 of the series Communications in Computer and Information Science, Springer International Publishing Switzerland Volume: 617 Pages: 508-513
  • DOI: 10.1007/978-3-319-40548-3_84
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Comparison of GPU-based and CPU-based Algorithms for Determining the Minimum Distance between a CUSA Scalper and Blood Vessels (2016)
  • Author(s): Noborio, H., Kunii, T. and Mizushino, K.
  • Journal Title: The SCITEPRESS Digital Library (Science and Technology Publications, Lda) Volume: 3 Pages: 128-136
  • DOI: 10.5220/0005634801280136
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Tracking a Real Liver using a Virtual Liver and an Experimental Evaluation with Kinect v2 (2016)
  • Author(s): Hiroshi Noborio, Kaoru Watanabe, Masahiro Yagi, Yasuhiro Ida, Shigeki Nankaku, Katsuhiko Onishi, Masanao Koeda, Masanori Kon, Kosuke Matsui, Masaki Kaibori
  • Journal Title: F.Ortuno and I.Rojas (Eds.), IWBBIO 2016, LNBI 9656, Springer International Publishing Switzerland Volume: 1 Pages: 149-162
  • DOI: 10.1007/978-3-319-31744-1_14
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Depth Image Matching Algorithm for Deforming and Cutting a Virtual Liver via its Real Liver Captured by Kinect v2 (2016)
  • Author(s): Hiroshi Noborio, Kaoru Watanabe, Masahiro Yagi, Kentaro Takamoto, Shigeki Nankaku, Katsuhiko Onishi, Masanao Koeda, Masanori Kon, Kosuke Matsui, Masaki Kaibori
  • Journal Title: F.Ortuno and I.Rojas (Eds.), IWBBIO 2016, LNBI 9656, Springer International Publishing Switzerland Volume: 1 Pages: 196-205
  • DOI: 10.1007/978-3-319-31744-1_18
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Fast Surgical Algorithm for Cutting with Liver Standard Triangulation Language Format Using Z-Buffers in Graphics Processing Unit (2016)
  • Author(s): Hiroshi Noborio, Katsuhiko Onishi, Masanao Koeda, Kiminori Mizushino, Takahiro Kunii, Masaki Kaibori, Masanori Kon, Yen-Wei Chen
  • Journal Title: Springer Japan Volume: 1巻 Pages: 127-140
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Experimental Results of 2D Depth-Depth Matching Algorithm Based on Depth Camera Kinect v1 (2015)
  • Author(s): Hiroshi Noborio, Kaoru Watanabe, Masahiro Yagi, Yasuhiro Ida, Shigeki Nankaku, Katsuhiko Onishi, Masanao Koeda, Masanori Kon, Kosuke Matsui, Masaki Kaibori
  • Journal Title: Journal of Bioinformatics and Neuroscience Volume: 1巻 Pages: 38-44
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Depth Camera Calibration and Knife Tip Position Estimation for Liver Surgery Support System (2015)
  • Author(s): Masanao Koeda, Akio Tsukushi, Hiroshi Noborio, Katsuhiko Onishi, Kiminori Mizushino, Takahiro Kunii, Kaoru Watanabe, Masaki Kaibori, Kosuke Matsui, Masanori Kon
  • Journal Title: Springer International Publishing Switzerland Volume: 1巻 Pages: 496-502
  • DOI: 10.1007/978-3-319-21380-4_84
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Virtual liver surgical simulator by using Z-buffer for object deformation (2015)
  • Author(s): Katsuhiko Onishi, Hiroshi Noborio, Masanao Koeda, Kaoru Watanabe, Kiminori Mizushino, Takahiro Kunii, Masaki Kaibori, Kosuke Matsui, Masanori Kon
  • Journal Title: Springer International Publishing Switzerland Volume: 1巻 Pages: 345-351
  • DOI: 10.1007/978-3-319-20684-4_34
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Parameter Identification of Depth-Depth-Matching Algorithm for Liver Following (2015)
  • Author(s): Kaoru Watanabe, Masahiro Yagi, Kento Ota, Katsuhiko Onishi, Masanao Koeda, Shigeki Nankaku, Hiroshi Noborio, Masanori Kon, Kousuke Matsui, Masaki Kaibori
  • Journal Title: Jurnal Teknologi, Medical Engineering Volume: 77巻 Pages: 35-39
  • DOI: 10.11113/jt.v77.6224
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Image-based Initial Position/Orientation Adjustment System between Real and Virtual Livers (2015)
  • Author(s): Hiroshi Noborio, Kaoru Watanabe, Masahiro Yagi, Yasuhiro Ida, Katsuhiko Onishi, Masanao Koeda, Shigeki Nankaku, Kousuke Matsui, Masanori Kon, Masaki Kaibori
  • Journal Title: Jurnal Teknologi, Medical Engineering Volume: 77巻 Pages: 41-45
  • DOI: 10.11113/jt.v77.6225
  • Peer Reviewed / Open Access / Acknowledgement Compliant
• [Journal Article] Virtual liver surgical simulator by using Z-buffer for object deformation (2015)
  • Author(s): K.Onishi, H.Noborio, M.Koeda, K.Watanabe, K.Mizushino, T.Kunii, M.Kaibori, K.Matsui, M.Kwon
  • Journal Title: In Proceedings of the 17th International Conference on Human-Computer Interaction (HCII2015) Volume: 印刷中
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Depth Camera Calibration and Knife Tip Position Estimation for Liver Surgery Support System (2015)
  • Author(s): M.Koeda, A.Tsukushi, H.Noborio, K.Onishi, K.Mizushino, T.Kunii, K.Watanabe, M.Kaibori, K.Matsui, M.Kwon
  • Journal Title: In Proceedings of the 17th International Conference on Human-Computer Interaction (HCII2015) Volume: 印刷中
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Comparison of GPU-based and CPU-based algorithms for determining the minimum distance between a CUSA scalpel and blood vessels (2014)
  • Author(s): 登尾 啓史，國居 貴浩，水篠 公範
  • Journal Title: JJSCAS Volume: Vol.16, No.1 Issue: 1 Pages: 13-21
  • DOI: 10.5759/jscas.16.13
  • NAID: 130004626991
  • ISSN: 1344-9486, 1884-5770
  • Peer Reviewed / Open Access
• [Journal Article] Haptic AR dental simulator using Z-buffer for object deformation (2014)
  • Author(s): K.Onishi, K.Mizushino, H.Noborio, M.Koeda
  • Journal Title: In Proceedings of the HCI International 2014 (the 16th International Conference on Human-Computer Interaction) Volume: Vol.1
  • DOI: 10.1007/978-3-319-07446-7_33
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] GPU-Based Shortest Distance Algorithm For Liver Surgery Navigation (2014)
  • Author(s): H.Noborio, T.Kunii, K.Mizushino
  • Journal Title: In Proceedings of the 10th Anniversary Asian Conference on Computer Aided Surgery Volume: Vol.1 Pages: 42-43
  • Peer Reviewed / Acknowledgement Compliant
• [Journal Article] Motion Transcription Algorithm By Matching Corresponding Depth Image and Z-buffer (2014)
  • Author(s): H.Noborio, K.Onishi, M.Koeda, K.Mizushino, M.Yagi, M.Kaibori, M.Kwon
  • Journal Title: In Proceedings of the 10th Anniversary Asian Conference on Computer Aided Surgery Volume: Vol.1 Pages: 60-61
  • Peer Reviewed / Acknowledgement Compliant
• [Presentation] Comparative Study of Depth-Image Matching with Steepest Descendent and Simulated Annealing Algorithms (2018)
  • Author(s): Hiroshi Noborio, Shogo Yoshida, Kaoru Watanabe, Daiki Yano, and Masanao Koeda
  • Organizer: the 11th International Joint Conference on Biomedical Engineering Systems and Technologies (BIOSTEC 2018) - Volume 1: BIODEVICES
  • Int'l Joint Research
• [Presentation] 腹腔鏡下手術ナビゲーションシステムにおけるカメラの位置姿勢制御手法の検討 (2018)
  • Author(s): 文山 誠友，三木 陽平，奥田 啓嗣，大西 克彦，小枝 正直，登尾 啓史
  • Organizer: 電子情報通信学会総合大会ISS特別企画 学生ポスターセッション予稿集
• [Presentation] 肝臓手術サポートシステムにおけるGPGPUによるDICOMからの深度画像生成と評価 (2018)
  • Author(s): 矢野 大貴，小枝 正直，大西 克彦，登尾 啓史
  • Organizer: 情報処理学会 第80回全国大会 (IPSJ80)
• [Presentation] 肝臓手術サポートシステムにおけるDICOMからの深度画像の取得と臓器位置姿勢推定の実装 (2017)
  • Author(s): 矢野 大貴，小枝 正直，大西 克彦，登尾 啓史
  • Organizer: 第18回計測自動制御学会システムインテグレーション部門講演会 (SI2017)
• [Presentation] 肝臓手術サポートシステムにおけるメス先端位置精度の検証 (2017)
  • Author(s): 矢野 大貴, 土井 万由子, 小枝 正直, 奥本 昂大, 吉田 将悟, 大西 克彦, 登尾 啓史, 渡邊 郁
  • Organizer: 2017年度情報処理学会関西支部大会講演論文集
• [Presentation] 腹腔鏡下手術ナビゲーションステムにおけるカメラ位置姿勢推定手法の精度評価 (2017)
  • Author(s): 奥田 啓嗣，三木 陽平，矢野 大貴，大西 克彦，小枝 正直，登尾 啓史
  • Organizer: 第17回日本VR医学会学術大会 (JSMVR2017)
• [Presentation] 肝臓位置姿勢推定，メス先端位置推定，肝臓手術シミュレータを統合した手術サポートシステム (2016)
  • Author(s): 矢野 大貴，吉田 将悟，土井 万由子，小枝 正直，登尾 啓史，大西 克彦，水篠 公範，海堀 昌樹
  • Organizer: 第25回日本コンピュータ外科学会大会 (JSCAS25)
  • Place of Presentation: 東京工科大学蒲田キャンパス（東京都・大田区）
  • Year and Date: 2016-11-26
• [Presentation] Evaluation of Depth-Depth Matching Algorithm for Following Human Liver whose Motion is Practical and also is Occluded by Human Body (2016)
  • Author(s): Kaoru Watanabe, Masahiro Yagi, Katsuhiko Onishi, Masanao Koeda, Hiroshi Noborio, Masaki Kaibori
  • Organizer: the 10th MedViz Conference and the 6th Eurographics Workshop on Visual Computing for Biology and Medicine (EG VCBM)
  • Place of Presentation: Bergen, Norway
  • Year and Date: 2016-09-07
  • Int'l Joint Research
• [Presentation] A Mechanical System Directly Attaching beside a Surgical Bed for Measuring Surgical Area Precisely by Depth Camera (2016)
  • Author(s): Kaoru Watanabe, Masatoshi Kayaki, Kiminori Mizushino, Masahiro Nonaka, Hiroshi Noborio
  • Organizer: the 10th MedViz Conference and the 6th Eurographics Workshop on Visual Computing for Biology and Medicine (EG VCBM)
  • Place of Presentation: Bergen, Norway
  • Year and Date: 2016-09-07
  • Int'l Joint Research
• [Presentation] GPU-based Omnidirectional Shortest Distance Algorithm And Its Evaluation By Changing GPU Cores (2016)
  • Author(s): Hiroshi Noborio, Takahiro Kunii and Kiminori Mizushino
  • Organizer: the 13th International Conferenc of Computational Intelligence methods for Bioinformatics and Biostatistics (CIBB'16)
  • Place of Presentation: the University of Stirling, Scotland UK
  • Year and Date: 2016-09-01
  • Int'l Joint Research
• [Presentation] Brain Shift Simulation Controlled by Directly Captured Surface Points (2016)
  • Author(s): Kaoru Watanabe, Masatoshi Kayaki, Kiminori Mizushino, Masahiro Nonaka, Hiroshi Noborio
  • Organizer: the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'16)
  • Place of Presentation: Orlando Florida USA
  • Year and Date: 2016-08-16
  • Int'l Joint Research
• [Presentation] Capturing a Brain Shift Directly by the Depth Camera Kinect v2 (2016)
  • Author(s): Kaoru Watanabe, Masatoshi Kayaki, Kiminori Mizushino, Masahiro Nonaka, Hiroshi Noborio
  • Organizer: the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'16)
  • Place of Presentation: Orlando Florida USA
  • Year and Date: 2016-08-16
  • Int'l Joint Research
• [Presentation] A Potential Function-Based Scalpel Navigation Method that Avoids Blood Vessel Groups during Excision of Cancerous Tissue (2016)
  • Author(s): Hiroshi Noborio, Kazuma Aoki, Takahiro Kunii, and Kiminori Mizushino
  • Organizer: the 38th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC'16)
  • Place of Presentation: Orlando Florida USA
  • Year and Date: 2016-08-16
  • Int'l Joint Research
• [Presentation] Image Overlay Support with 3D CG Organ Model for Robot-Assisted Laparoscopic Partial Nephrectomy (2016)
  • Author(s): M. Koeda, K. Mizushino, K. Onishi, H. Noborio, T. Kunii, M. Kayaki, A. Sengiku, A. Sawada, T. Yoshikawa, Y. Matsui and O. Ogawa
  • Organizer: the 18th International Conference, HCI International 2016
  • Place of Presentation: Toronto, Canada
  • Year and Date: 2016-07-17
  • Int'l Joint Research
• [Presentation] Capturing skull and brain surface by Kinect v2 for brain-shift simulated by GPU, (2016)
  • Author(s): Hiroshi Noborio, Masatoshi Kayaki, Kiminori Mizushino, Masahiro Nonaka, Kaoru Watanabe
  • Organizer: the 7th International Congress of the World Federation of Skull Base Societies
  • Place of Presentation: 大阪府立国際会議場（大阪府・大阪市）
  • Year and Date: 2016-06-14
  • Int'l Joint Research
• [Presentation] メス先端と対象物体との距離をLEDレベルメータで表示するインテリジェントメスの開発と術者ナビゲーションの検証 (2016)
  • Author(s): 矢野 大貴，土井 万由子，小枝 正直，大西 克彦，登尾 啓史
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2016 (ROBOMECH2016)
  • Place of Presentation: パシフィコ横浜（神奈川県・横浜市）
  • Year and Date: 2016-06-08
• [Presentation] Tracking a Real Liver using a Virtual Liver and an Experimental Evaluation with Kinect v2 (2016)
  • Author(s): Hiroshi Noborio, Kaoru Watanabe, Masahiro Yagi, Yasuhiro Ida, Shigeki Nankaku, Katsuhiko Onishi, Masanao Koeda, Masanori Kon, Kosuke Matsui, Masaki Kaibori
  • Organizer: the 4th International Work-Conference on Bioinformatics and Biomedical Engineering (IWBBIO 2016)
  • Place of Presentation: Granada Spain
  • Year and Date: 2016-04-20
  • Int'l Joint Research
• [Presentation] Depth Image Matching Algorithm for Deforming and Cutting a Virtual Liver via its Real Liver Captured by Kinect v2 (2016)
  • Author(s): Hiroshi Noborio, Kaoru Watanabe, Masahiro Yagi, Kentaro Takamoto, Shigeki Nankaku, Katsuhiko Onishi, Masanao Koeda, Masanori Kon, Kosuke Matsui, Masaki Kaibori
  • Organizer: the 4th International Work-Conference on Bioinformatics and Biomedical Engineering (IWBBIO 2016)
  • Place of Presentation: Granada Spain
  • Year and Date: 2016-04-20
  • Int'l Joint Research
• [Presentation] Comparison of GPU-based and CPU-based algorithms for determining the minimum distance between a CUSA scalper and blood vessels (2016)
  • Author(s): Hiroshi Noborio, Takahiro Kunii, Kiminori Mizushino
  • Organizer: 9th International Joint Conference on Biomedical Engineering Systems and Technologies - Volume 3: BIOINFORMATICS
  • Place of Presentation: Roma Italy
  • Year and Date: 2016-02-21
  • Int'l Joint Research
• [Presentation] 肝臓手術サポートシステムのためのメス先端位置推定 (2016)
  • Author(s): 土井 万由子，矢野 大貴，小枝 正直，登尾 啓史，大西 克彦，水篠 公範，榧木 方俊，松井 康輔，海堀 昌樹
  • Organizer: 第16回日本VR医学会学術大会 (JSMVR2016)
  • Place of Presentation: 横浜情報文化センター（神奈川県・横浜市）
• [Presentation] 肝臓手術サポートシステムのためのインテリジェントメス開発と術者ナビゲーションの検証 (2016)
  • Author(s): 矢野 大貴，吉田 将悟，土井 万由子，小枝 正直，登尾 啓史，大西 克彦，水篠 公範
  • Organizer: the 1st Robotics Ongoing Breakthroughs (ROOB2016)
  • Place of Presentation: 奈良先端科学技術大学院大学（奈良県・生駒市）
• [Presentation] Knife Tip Position Estimation Using Multiple Markers for Liver Surgery Support (2015)
  • Author(s): Mayuko Doi, Daiki Yano, Masanao Koeda, Hiroshi Noborio, Katsuhiko Onishi, Masatoshi Kayaki, Kiminori Mizushino, Kosuke Matsui, Masaki Kaibori
  • Organizer: 6th International Conference on Advanced Mechatronics (ICAM2015)
  • Place of Presentation: Nishiwaseda Campus of Waseda University （Tokyo・Shinjuku）
  • Year and Date: 2015-12-05
  • Int'l Joint Research
• [Presentation] A New 2D Depth-Depth Matching Algorithm whose Translation and Rotation Freedoms are Separated (2015)
  • Author(s): Kaoru Watanabe, Masahiro Yagi, Atsuhiro Shintani, Shigeki Nankaku, Katsuhiko Onishi, Masanao Koeda, Hiroshi Noborio, Masanori Kon, Kosuke Matsui, Masaki Kaibori
  • Organizer: International Conference on Intelligent Informatics and Biomedical Sciences (ICIIBMS2015), Track 3: Bioinformatics, Medical Imaging and Neuroscience
  • Place of Presentation: Okinawa Institute of Science and Technology Graduate University (Okinawa・Onna-son)
  • Year and Date: 2015-11-28
  • Int'l Joint Research
• [Presentation] Experimental Results of 2D Depth-Depth Matching Algorithm Based on Depth Camera Kinect v1 (2015)
  • Author(s): Hiroshi Noborio, Kaoru Watanabe, Masahiro Yagi, Yasuhiro Ida, Shigeki Nankaku Katsuhiko Onishi, Masanao Koeda, Masanori Kon, Kousuke Matsui, Masaki Kaibori
  • Organizer: nternational Conference on Intelligent Informatics and Biomedical Sciences (ICIIBMS2015), Track 3: Bioinformatics, Medical Imaging and Neuroscience
  • Place of Presentation: Okinawa Institute of Science and Technology Graduate University (Okinawa・Onna-son)
  • Year and Date: 2015-11-28
  • Int'l Joint Research
• [Presentation] 肝臓手術サポートシステムのための複数マーカを有するメス先端位置推定 (2015)
  • Author(s): 土井 万由子，矢野 大貴，小枝 正直，登尾 啓史，大西 克彦，榧木 方俊，水篠 公範，海堀 昌樹，松井 康輔，權 雅憲
  • Organizer: 第24回日本コンピュータ外科学会大会 (JSCAS24)
  • Place of Presentation: 東京大学本郷キャンパス
  • Year and Date: 2015-11-21
• [Presentation] 平行と回転の自由度を分離探索することにより仮想肝臓が実肝臓を高速追従できるアルゴリズムとその評価 (2015)
  • Author(s): 新谷 敦洋,八木 昌宏,小枝 正直,大西 克彦,登尾 啓史,南角 茂樹,渡辺 郁,松井 康輔,權 雅憲,海堀 昌樹
  • Organizer: 第15回日本VR医学会学術大会
  • Place of Presentation: 京都大学楽友会館
  • Year and Date: 2015-09-12
• [Presentation] Parameter Identification of Depth-Depth-Matching Algorithm for Liver Following (2015)
  • Author(s): Kaoru Watanabe, Masahiro Yagi, Kento Ota, Katsuhiko Onishi, Masanao Koeda, Shigeki Nankaku, Hiroshi Noborio, Masanori Kon, Kousuke Matsui, Masaki Kaibori
  • Organizer: Medical Engineering Conference 2015
  • Place of Presentation: Johor Bahru Malaysia
  • Year and Date: 2015-08-22
  • Int'l Joint Research
• [Presentation] Image-based Initial Position/Orientation Adjustment System between Real and Virtual Livers (2015)
  • Author(s): Hiroshi Noborio, Kaoru Watanabe, Masahiro Yagi, Yasuhiro Ida, Katsuhiko Onishi, Masanao Koeda, Shigeki Nankaku, Kousuke Matsui, Masanori Kon, Masaki Kaibori
  • Organizer: Medical Engineering Conference 2015
  • Place of Presentation: Johor Bahru Malaysia
  • Year and Date: 2015-08-22
  • Int'l Joint Research
• [Presentation] Virtual liver surgical simulator by using Z-buffer for object deformation (2015)
  • Author(s): K. Onishi, H. Noborio, M. Koeda, K. Watanabe, K. Mizushino, T. Kunii, M. Kaibori, K. Matsui and M. Kon
  • Organizer: 17th International Conference on Human-Computer Interaction (HCII2015)
  • Place of Presentation: Los Angeles, CA, USA
  • Year and Date: 2015-08-02
  • Int'l Joint Research
• [Presentation] Depth Camera Calibration and Knife Tip Position Estimation for Liver Surgery Support System (2015)
  • Author(s): M. Koeda, A. Tsukushi, H. Noborio, K. Onishi, K. Mizushino, T. Kunii, K. Watanabe, M. Kaibori, K. Matsui and M. Kon
  • Organizer: 17th International Conference on Human-Computer Interaction (HCII2015)
  • Place of Presentation: Los Angeles, CA, USA
  • Year and Date: 2015-08-02
  • Int'l Joint Research
• [Presentation] 仮想腫瘍を埋め込んだ柔軟な臓器モデルの製作 (2015)
  • Author(s): 小枝 正直，水篠 公範，千菊 敦士，澤田 篤郎，吉川 武志，松井 喜之，小川 修，國居 貴浩，岸本 直樹，大西 克彦，登尾 啓史
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2015
  • Place of Presentation: 京都市勧業館「みやこめっせ」（京都府・京都市）
  • Year and Date: 2015-05-17 – 2015-05-19
• [Presentation] 肝臓手術サポートのためのメス先端位置推定 (2015)
  • Author(s): 土井 万由子，小枝 正直，筑紫 啓雄，登尾 啓史，大西 克彦，榧木 方俊，水篠 公範，海堀 昌樹，松井 康輔，權 雅憲
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2015
  • Place of Presentation: 京都市勧業館「みやこめっせ」（京都府・京都市）
  • Year and Date: 2015-05-17 – 2015-05-19
• [Presentation] 肝臓手術サポートのためのメス先端位置推定 (2015)
  • Author(s): 土井 万由子，小枝 正直，筑紫 啓雄，登尾 啓史，大西 克彦，榧木 方俊，水篠 公範，海堀 昌樹，松井 康輔，權 雅憲
  • Organizer: 日本機械学会ロボティクス・メカトロニクス講演会2015(ROBOMEC2015)
  • Place of Presentation: 京都市勧業館「みやこめっせ」
  • Year and Date: 2015-05-17
• [Presentation] 肝臓切除手術における先進的シミュレーションおよびナビゲーションシステムの開発 (2015)
  • Author(s): 登尾 啓史
  • Organizer: 第１回関西医科大学画像支援研究会 兼 第３回病態分子イメージングセンター年次集会 ～分子イメージングの臨床応用へのアプローチ～
  • Place of Presentation: 関西医科大学（大阪府・枚方市）
  • Year and Date: 2015-02-27
  • Invited
• [Presentation] 肝臓切除手術におけるIT技術による補助システムの構築 (2014)
  • Author(s): 筑紫 啓雄，小枝 正直，登尾 啓史，大西 克彦，榧木 方俊，水篠 公範，海堀 昌樹，松井 康輔，權 雅憲
  • Organizer: 第41回日本臨床バイオメカニクス学会
  • Place of Presentation: 奈良県新公会堂（奈良県・奈良市）
  • Year and Date: 2014-11-21 – 2014-11-22
• [Presentation] 肝臓手術ナビゲーションシステムの開発 (2014)
  • Author(s): 登尾 啓史，小枝 正直，大西 克彦，陳 延偉，海堀 昌樹，權 雅憲
  • Organizer: 第9回肝癌治療シミュレーション研究会
  • Place of Presentation: 大阪国際会議場（大阪府・大阪市）
  • Year and Date: 2014-09-27
  • Invited
• [Book] Development of a Surgical Knife Attachment with Proximity Indicators (2017)
  • Author(s): Daiki Yano, Masanao Koeda, Katsuhiko Onishi, Hiroshi Noborio
  • Publisher: Lecture Notes in Computer Science book series (LNCS, volume 10289), Springer Cham
  • ISBN: 9783319586366
• [Book] A New Organ-Following Algorithm Based on Depth-Depth Matching and Simulated Annealing, and Its Experimental Evaluation (2017)
  • Author(s): Kaoru Watanabe, Shogo Yoshida, Daiki Yano, Masanao Koeda, Hiroshi Noborio
  • Publisher: Lecture Notes in Computer Science book series (LNCS, volume 10289), Springer Cham
  • ISBN: 9783319586366
• [Book] Augmented Reality Navigation System for Robot-Assisted Laparoscopic Partial Nephrectomy (2017)
  • Author(s): Atsushi Sengiku, Masanao Koeda, Atsuro Sawada, Jin Kono, Naoki Terada, Toshinari Yamasaki, Kiminori Mizushino, Takahiro Kunii, Katsuhiko Onishi, Hiroshi Noborio, Osamu Ogawa
  • Publisher: Lecture Notes in Computer Science book series (LNCS, volume 10289), Springer Cham
  • ISBN: 9783319586366
• [Book] A Study of Guidance Method for AR Laparoscopic Surgery Navigation System (2017)
  • Author(s): Katsuhiko Onishi, Yohei Miki, Keishi Okuda, Masanao Koeda, Hiroshi Noborio
  • Publisher: Lecture Notes in Computer Science book series (LNCS, volume 10289), Springer Cham
  • ISBN: 9783319586366
• [Book] Capturing a Surgical Area Using Multiple Depth Cameras Mounted on a Robotic Mechanical System (2017)
  • Author(s): Masahiro Nonaka, Kaoru Watanabe, Hiroshi Noborio, Masatoshi Kayaki, Kiminori Mizushino
  • Publisher: Lecture Notes in Computer Science book series (LNCS, volume 10289), Springer Cham
  • ISBN: 9783319586366
• [Book] Algorithm Experimental Evaluation for an Occluded Liver with/without Shadow-Less Lamps and Invisible Light Filter in a Surgical Room (2017)
  • Author(s): Hiroshi Noborio, Kaoru Watanabe, Masahiro Yagi, Shunsuke Ohira, Katsunori Tachibana
  • Publisher: Lecture Notes in Computer Science book series (LNCS, volume 10289), Springer Cham
  • ISBN: 9783319586366
• [Remarks] 登尾研究室 バーチャルリアリティ
  • URL: http://noblab.jp/
• [Remarks] 大阪電気通信大学 教員情報データベース
  • URL: https://research.osakac.ac.jp/index.php?%E7%99%BB%E5%B0%BE%E3%80%80%E5%95%93%E5%8F%B2
• [Remarks] 登尾研究室ホームページ
  • URL: http://noblab.jp/
• [Remarks] 登尾 啓史
  • URL: https://research.osakac.ac.jp/index.php?%E7%99%BB%E5%B0%BE%E3%80%80%E5%95%93%E5%8F%B2
• [Remarks] 大西 克彦
  • URL: https://research.osakac.ac.jp/index.php?%E5%A4%A7%E8%A5%BF%E3%80%80%E5%85%8B%E5%BD%A6
• [Remarks] 小枝 正直
  • URL: https://research.osakac.ac.jp/index.php?%E5%B0%8F%E6%9E%9D%E3%80%80%E6%AD%A3%E7%9B%B4
• [Remarks] 大阪電気通信大学 教員情報データベース 登尾啓史
  • URL: https://research.osakac.ac.jp/index.php?%E7%99%BB%E5%B0%BE%E3%80%80%E5%95%93%E5%8F%B2
• [Remarks] 大阪電気通信大学 教員情報データベース 大西克彦
  • URL: https://research.osakac.ac.jp/index.php?%E5%A4%A7%E8%A5%BF%E3%80%80%E5%85%8B%E5%BD%A6
• [Remarks] 大阪電気通信大学 教員情報データベース 小枝正直
  • URL: https://research.osakac.ac.jp/index.php?%E5%B0%8F%E6%9E%9D%E3%80%80%E6%AD%A3%E7%9B%B4