| 研究課題/領域番号 |
20K14691
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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) |
2020-04-01 – 2022-03-31
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| キーワード | Visual-based sensing / Optimal design / MIS / Medical Robotics / Remote palpation / Stiffness sensing / Topological optimization / Stiffness map |
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| 研究実績の概要 |
Study on the topological structure of 3D printed materials have been carried out. Large scale prototypes have been designed and fabricated. Additionally, this research brought some novel work related to the coronavirus outbreak. The topological and material properties studies have been used for realizing customized 3D printed masks from 2D image..
Deep neural network have been implemented for retrieve 3D features from 2D information. This work will be tailored for implementing deep 3D neural network for realizing topological optimal design and stiffness mapping.
The implementation of a remote palpation system which can give mechanical properties of soft tissue by using our stiffness sensor, is under development. Such system would be particularly beneficial for remote diagnostic procedures.
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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
The corona virus outbreak and health issue of the PI have slightly delayed this research.
The PI was supposed to visit the Micro Technology and Medical Device Technology laboratory at the University of Munich to conduct joint research on the topological optimization of the stiffness sensor. Unfortunately, due to the outbreak, this travel plan has been postponed. However, virtual meeting have been carried out and hopefully one student from Munich will join our lab at the University of Tokyo in the next few months.
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| 今後の研究の推進方策 |
The PI is studying novel methods for topological optimization and looking also into deep neural network.
When the design will be finalized, different prototypes will be fabricated by using novel soft materials.Preliminary prototypes have been already fabricated with a bio-compatible material.
The sensor will be integrate in surgical manipulator and used for creating real-time stiffness map of anatomical surfaces.
A remote palpation system composed by a mobile manipulator robot equipped with a large scale stiffness sensor will be implemented and used for remote external palpation. This realization of this system will be particular useful for implementing diagnostic system. Application of a remote palpation system span from rescue medical device to at-home care for elderly.
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| 次年度使用額が生じた理由 |
A mobile manipulator platform will be purchased and used for testing the efficiency of the proposed remote stiffness sensing system. The palpation site will be connected to a remote one equipped with display and haptic feedback where it will be possible to visualize the real-time stiffness map. This can be used for external palpation and minimally invasive surgery.
The PI is planning to visit the University of Munich in the next year to conduct joint research on optimal design of visual-based stiffness mechanisms. Additionally, hybrid-virtual workshop will be organized to promote this research and exchange opinion with other groups working in the same field.
The PI also hope to join in person conferences and events in the next year. Publication costs are also planned for the next year.
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