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2023 年度 実績報告書

Automatic Optimal Design of a Visual-based Stiffness Sensor and real-time Colour-coded Stiffness Map for Minimally Invasive Procedures.

研究課題

研究課題/領域番号 20K14691
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) 2020-04-01 – 2024-03-31
キーワードVisual based sensing / MIS / Optimal design / Medical Robotics / Remote Palpation / Topological Optimization
研究実績の概要

This research has made substantial progress in the development of a visual-based stiffness sensor for minimally invasive procedures. By employing generative design in Fusion 360, the sensor was optimized for integration with a lightweight UFactory Lite6 robot. This setup was interfaced with the Robot Operating System (ROS), enabling remote manipulation and path replanning through a semi-autonomous navigation algorithm. The project established a remote system with the robot on one side and the Meta Quest on the other, enhancing the operator's control and visualization capabilities. The information gathered could be used for generating a real-time colour-coded stiffness map, promising to enhance the precision and safety of minimally invasive surgeries.

  • 研究成果

    (7件)

すべて 2023

すべて 雑誌論文 (4件) 学会発表 (3件) (うち国際学会 1件、 招待講演 2件)

  • [雑誌論文] The IEEE Robotics and Automation Society Automation Technical Committee Cluster Holds Its Inaugural Forum at the 2023 International Conference on Robotics and Automation on Pioneering Visions for a Sustainable Society [TC Spotlight]2023

    • 著者名/発表者名
      Faragasso Angela
    • 雑誌名

      IEEE Robotics & Automation Magazine

      巻: 30 ページ: 113~116

    • DOI

      10.1109/MRA.2023.3322919

  • [雑誌論文] Reproducibility challenges in robotic surgery2023

    • 著者名/発表者名
      Faragasso Angela、Bonsignorio Fabio
    • 雑誌名

      Frontiers in Robotics and AI

      巻: 10 ページ: 389

    • DOI

      10.3389/frobt.2023.1127972

  • [雑誌論文] Toward Multicamera Systems for Minimally Invasive Surgery2023

    • 著者名/発表者名
      Faragasso Angela、Mitchel Scean、Cosentino Sarah、Asama Hajime
    • 雑誌名

      IEEE Sensors Letters

      巻: 7 ページ: 1~4

    • DOI

      10.1109/LSENS.2023.3240745

  • [雑誌論文] All Aware Robot Navigation in Human Environments Using Deep Reinforcement Learning2023

    • 著者名/発表者名
      Lu Xiaojun、Faragasso Angela、Yamashita Atsushi、Asama Hajime
    • 雑誌名

      IEEE/RSJ International Conference on Intelligent Robots and Systems

      巻: IROS) ページ: 5989-5996

    • DOI

      10.1109/IROS55552.2023.10341477

  • [学会発表] Lessons Learned from International Collaboration2023

    • 著者名/発表者名
      Angela Faragasso
    • 学会等名
      TUM-UTokyo Excellence, Diversity, and Mobility Workshop 2024
    • 国際学会
  • [学会発表] Medical and Nuclear Decommissioning robotics research2023

    • 著者名/発表者名
      Angela Faragasso
    • 学会等名
      Seminar at the Istituto di Istruzione Superiore Giorgi Woolf
    • 招待講演
  • [学会発表] Engineering the Future: The Art of Design in Medical and Nuclear Decommissioning Robotics2023

    • 著者名/発表者名
      Angela Faragasso
    • 学会等名
      Talk at the Creative Computing Institute, University of the Arts London
    • 招待講演

URL: 

公開日: 2024-12-25  

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