| 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 – 2023-03-31
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| キーワード | Multi-camera system / MIS / Modular Mechanism / Expanded View / Narrow Space Exploration / Medical Robotics / Extended-View / Modular sensor |
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| 研究実績の概要 |
Multi-camera systems were recently introduced into laparoscopy to increase the narrow field of view of the
surgeon. The video streams are stitched together to create a panorama that is easier for the surgeon to comprehend. Most of the developed approaches try to combine images from cameras placed on the tip of
the instruments itself. The proposed system instead benefit from a novel design in which the cameras are placed around the device and can also change the relative position within them.
The first prototype has now been realized and 3D printer with metal. It employs two camera holders attached to a rigid base containing an inner road. The inner road allows the rotations of the cameras to a specific angle as well as their translation. The system is modular, i.e. it is possible to add more cameras as well as change the type of cameras by only changing the cameras' holders. The minimum distance between the two camera's center is 10 mm and the maximum is 20 mm. In this first prototype the rotation and translation of the mechanism is done manually but it can be easily automatized by adding motors in the device.
The camera used for the realization of this prototype is the Mini Micro Security Camera by AutoGuard Guard that is a small size light weight camera with a Field of View (FoV) of 170 snd 30 frame per seconds (fps). A non-supervised deep learning approach is being implemented to provide a panoramic view of the anatomical areas as well as the of the instruments itself.
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| 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
The project is now progressing smoothly and it should be finalized within a couple of months.
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| 今後の研究の推進方策 |
In the next few months the image processing algorithm will be optimized for the designed prototype. Experimental tests with a phantom mimicking the internal anatomical areas of the human's body will be performed. Additionally, the system will be implemented and tested in narrow space explorations scenario.
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| 次年度使用額が生じた理由 |
In this fiscal year the money left will be used to pay the metal print and join the International Conference on Intelligent Robots and Systems (IROS 2022) which will be held in Kyoto in October and for publications fees.
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