| 研究課題/領域番号 |
19K23479
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| 研究機関 | 東京大学 |
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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)
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| 研究期間 (年度) |
2019-08-30 – 2022-03-31
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| キーワード | Multi-camera system / MIS / Modula mechanism / Expanded view / Narrow space exploration / Fish-eye camera / Smart design / Medical Robotics |
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| 研究実績の概要 |
The initial prototype had some limitation in modularity and applicability in minimally invasive surgery. Hence, a new modular system has been designed. In particular the system is composed by one or more modules encompassing a camera holder attached to a rigid base.
The rigid base allows the camera to rotate of a specific and predefined angle and can also elongate and shrink bringing the cameras close and far. The cameras utilized for the system are small fish eye of 1.5x1.2x1 cm, hence the overall mechanism is very small and suitable for minimally invasive application.
The system can be easily customized and tailored for different applications that need to create an expanded view. Currently, automation of the rotation of the mechanism and image processing algorithm are under development.
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| 現在までの達成度 (区分) |
現在までの達成度 (区分)
3: やや遅れている
理由
There were some problem with the initial prototype, hence the design of the system took more time of what was planned. The research has also been delayed due to the outbreak and health issue of the PI.
However, in the last few months there have been significant progress and the model of the mechanism has now been completed. Fabrication and Automatization are also under construction. Additionally, different image processing algorithms have been tested and the applicability of machine learning method is now under study.
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| 今後の研究の推進方策 |
The mechanism is now under development and the PI contacted external company for the fabrication of the prototypes, as her 3D printers have limitation in the resolutions.
The first prototype will be realized by the end of June and a novel image processing algorithm is under development. A first working system should be ready by the summer. The PI is also planning to submit a reproducible paper on this research to the Robotics and Automation Magazine aiming to have a draft of the manuscript by September. After this step the system will be adopted and tested in narrow space (pipe exploration) and in a realistic minimally invasive surgery scenario.
For the medical setup, anatomical parts of the human body have been fabricated and will be used to realize a phantom mimicking human anatomy.
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| 次年度使用額が生じた理由 |
The money will be used to develop the prototypes: first a large scale mechanism will be realized and after miniaturization will be performed. Additionally, a snake-like robot will be purchased and equipped with the mechanism to perform large scale test in narrow space.
The experimental setup for minimally invasive surgery requires the realization of smart phantom which mimic the human anatomy and internal system.
The PI is also planning to organize international workshop on the design of smart and adaptive mechanisms, and hopefully join international events in the next year. If the outbreak will not allow traveling the events will be done virtually.
Some of the money will also be used for publication costs.
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