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2020 年度 実施状況報告書

Real-time adaptive control of robots for microsurgery: towards submillimeter accuracy without added sensors

研究課題

研究課題/領域番号 19K14935
研究機関東京大学

研究代表者

MarquesMarinho Murilo  東京大学, 大学院工学系研究科(工学部), 助教 (70837468)

研究期間 (年度) 2019-04-01 – 2022-03-31
キーワード手術ロボット / 適応制御 / 画像処理 / ロボティクス / センサ融合
研究実績の概要

The online calibration of surgical instruments using endoscopic images is being investigated.
(1) The method for recognizing and tracking the shaft of surgical instruments on endoscopic images using deep learning was improved. The method was extended to rigid instruments. A preliminary evaluation using real data was performed.
(2) Several versions of the adaptive controller were derived, and a version with proper stability proof has been developed. Preliminary experiments show promise.
(3) A methodology was developed for the generation of realistic CG data based on photorealistic rendering. That development is being used to improve the deep learning algorithms.
(4) The robot programming library DQRobotics has been updated with improved control algorithms and a draft version of the adaptive controller.

現在までの達成度 (区分)
現在までの達成度 (区分)

1: 当初の計画以上に進展している

理由

From April 2020, the adaptive control algorithm has been studied in depth and experimental results have been obtained around September 2020. The algorithm has been further improved and state-of-the-art results have been obtained in March 2021.
Around May 2020, a framework for the generation of synthetic images using a virtual reality simulator was developed. The development of this framework was not initially planned and is a great addition to the project.
During fiscal year 2020, the instrument tracking algorithm has been improved and extended to the estimation of the pose of rigid instruments. It has also been preliminarily validated using real data our February-March 2021.
The DQ Robotics library has been updated, improved, and a draft of the adaptive controller code has been added during fiscal year 2020.

今後の研究の推進方策

The research will continue as originally planned.
- Further improve the instrument tracking algorithm for better accuracy.
- Integrate the instrument tracking algorithm with the adaptive controller.
- Validate the proposed algorithm in experiments using the SmartArm surgical system.

次年度使用額が生じた理由

With the limitation of transit given the ongoing pandemic, the participation in conferences which were originally planned were not feasible in 2020 and might not be feasible in 2021.
Nonetheless, the research itself has progressed in ways not initially planned, and the research will benefit from better computational systems, cameras, and devices in general that can be purchased with this funding.
Moreover, the funding will be used to pay for the publication costs of the currently unpublished results.

  • 研究成果

    (7件)

すべて 2020 その他

すべて 雑誌論文 (2件) (うち国際共著 2件、 査読あり 2件) 学会発表 (4件) (うち国際学会 2件) 備考 (1件)

  • [雑誌論文] DQ Robotics: A Library for Robot Modeling and Control2020

    • 著者名/発表者名
      Adorno Bruno Vilhena、Marques Marinho Murilo
    • 雑誌名

      IEEE Robotics & Automation Magazine

      巻: In press ページ: 0~0

    • DOI

      10.1109/MRA.2020.2997920

    • 査読あり / 国際共著
  • [雑誌論文] The effects of different levels of realism on the training of CNNs with only synthetic images for the semantic segmentation of robotic instruments in a head phantom2020

    • 著者名/発表者名
      Heredia Perez Saul Alexis、Marques Marinho Murilo、Harada Kanako、Mitsuishi Mamoru
    • 雑誌名

      International Journal of Computer Assisted Radiology and Surgery

      巻: 15 ページ: 1257~1265

    • DOI

      10.1007/s11548-020-02185-0

    • 査読あり / 国際共著
  • [学会発表] Single Shot Pose Estimation of Surgical Robot Instruments' Shafts from Monocular Endoscopic Images2020

    • 著者名/発表者名
      Masakazu Yoshimura, Murilo M. Marinho, Kanako Harada, Mamoru Mitsuishi
    • 学会等名
      2020 IEEE International Conference on Robotics and Automation (ICRA)
    • 国際学会
  • [学会発表] Towards the Pose Estimation of Surgical Instruments' Shafts from Synthetic Endonasal Images of a Head Phantom2020

    • 著者名/発表者名
      Shimon Takechi, Murilo M. Marinho, Saul A. H. Perez, Kanako Harada, Mamoru Mitsuishi
    • 学会等名
      16th Asian Conference on Computer Aided Surgery (ACCAS)
    • 国際学会
  • [学会発表] Single-Shotベースの画像処理を用いた物体の3次元位置姿勢推定2020

    • 著者名/発表者名
      吉村仁和, マルケスマリニョ・ムリロ, 原田香奈子, 光石衛
    • 学会等名
      第29回日本コンピュータ外科学会大会
  • [学会発表] Segmentation of Endonasal Robotic Instruments in a Head Phantom using Deep Learning and Virtual-Reality Simulation2020

    • 著者名/発表者名
      Saul Alexis Heredia Perez, Murilo Marques Marinho, Kanako Harada, Mamoru Mitsuishi
    • 学会等名
      ロボティクス・メカトロニクス 講演会2020 (Robomec)
  • [備考] DQ Robotics Website

    • URL

      https://dqrobotics.github.io

URL: 

公開日: 2021-12-27  

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