| 研究課題/領域番号 |
19K14935
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| 研究機関 | 東京大学 |
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研究代表者 |
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| 研究期間 (年度) |
2019-04-01 – 2023-03-31
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| 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 |
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| 研究実績の概要 |
The online calibration of surgical instruments with partial or complete task space measurements using external sensors was investigated.
(1) The proposed adaptive controller has been finalized. The adaptive controller can consider partial and complete task-space measurements and workspace constraints. Any type of sensor can be used.
(2) The proposed controller was validated in several experiments using the SmartArm system. First, using a high-cost high-accuracy image tracking sensor, online calibration using partial measurements was studied. It was shown that the adaptive controller can improve the accuracy of the model. In addition, in a novel, replicable experimental setup using a (comparatively) lower-cost camera system, the adaptive controller was evaluated in a scenario with nonlinear task-space constraints. It was shown that the model was able to adapt online for model inaccuracies and prevent task-space collisions.
(3) A method for pose tracking of rigid instruments has been developed using deep learning. Validation was done using real robotic rigid instrument images. An extension of this method was studied for instruments with multiple degrees of freedom.
(4) A framework for the generation of realistic CG images using VR simulation was developed. It has been of great use in the training of deep learning algorithms for instrument tracking.
The many contributions of this project have been submitted and/or published in top-level international conferences and peer-reviewed international journals.
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| 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
(1) Adaptive controller: The proposed adaptive controller has much higher applicability than initially planned. It can be used for any type of sensor that can provide reliable workspace measurements, including partial measurements. Workspace constraints can also be considered, being a considerable improvement on the state-of-the-art.
The validation of the proposed controller has been done in a more generic and replicable experimental setup.
(2) Instrument tracking: The instrument tracking algorithm has been tested on robotic instruments with multiple degrees of freedom. This part of the research needs further improvement but can be easily integrated with (1).
(3) Validation: The validation of the proposed strategies in the SmartArm system has been done in several ways, including a generic and replicable experimental setup. After further improvement of (2), the validation in a more complex scenario can be done.
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| 今後の研究の推進方策 |
Future research includes:
- Publication of the final form of the adaptive controller.
- Improvement of the instrument tracking algorithm, consideration of other tracking strategies.
- Further validation of the proposed strategy in more challenging scenarios.
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| 次年度使用額が生じた理由 |
The funds will be used to support the publication of the results obtained so far. If required by the review process, the funds will also be used to improve the experimental setup and validation of the proposed strategies.
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