| 研究課題/領域番号 |
19K23479
|
|---|
| 研究機関 | 東京大学 |
|---|
研究代表者 |
ファラガッソ アンジェラ 東京大学, 大学院工学系研究科(工学部), 特任助教 (80847070)
|
|---|
| 研究期間 (年度) |
2019-08-30 – 2021-03-31
|
| キーワード | Medical Robotics / Extended-View / Modular sensor / Cable driven device / Visual System |
|---|
| 研究実績の概要 |
In this year simulations have been performed and challenging problems analyzed in details. Further consultations with medical practitioners brought some changes in the initial design. In fact, the incorporation of cameras on the surgical instruments will may increase the size of the device itself. To cope with this problem a novel modular system composed of multiple fish-eye cameras, which configuration is cable-driven, has been realised. The system can be inserted in the trocar port before the operation and is externally controlled to assume different configurations which allow to have an enlarged visualization the anatomical areas of interest. First prototypes have been already 3D printed and the image processing algorithm, which automatically combine the images, is being implemented.
|
| 現在までの達成度 (区分) |
現在までの達成度 (区分)
2: おおむね順調に進展している
理由
Challenging design points related to the requirements of the surgical operations raised during the realization of the systems. In the first plan, the idea was to embed multiple cameras on surgical instruments, but this will may increase the size of the devices itself, and hence require a big diameter of the hole to be made on the patient body, which should instead be reduced as much as possible.To cope with this problem a novel design of the trocar has also been proposed. However, this presented further limitation related to the reachable field of view. Those problem have been addressed by the current design. Besides, the change in the design also effected also the implementation of image processing algorithm which is related to the configuration of the cameras.
|
| 今後の研究の推進方策 |
Currently, the optimization of the design is being performed, and, at the same time, the image processing algorithm implemented. In the future, the modularity and degree of freedom of the device, which allow to easily stack more fish-eye cameras, will be enhanced. Additionally, machine learning technique will be used on the image processing algorithm to automatically recognise the specific configuration of system and combine the images to create optimal extended view. Miniaturization process of the final design, which will lead to the adaptation of the mechanism in Minimally Invasive Surgery, will also be performed. Experimental tests with a phantom that mimics the human body will be conducted to assess the performance of the proposed solution.
|
| 次年度使用額が生じた理由 |
The grant for the next fiscal year will be used to 3D print the sensors, buy the anatomical human phantom, organise international workshop and publish research funding in open access journals. Additionally, due to the current situation in the world related to the coronavirus outbreak, some of the expenses planned for this fiscal year will be reflected in the next one. This is mainly due to postponed conferences, delay in the delivery of purchased materials and remote work imposed in many countries.
|
