ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 1P1-L04
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超音波診断ロボットによる腎臓の三次元モデル構築Visual SLAMおよび深層学習を援用した
*石川 智大小泉 憲裕西山 悠Jiayi Zhou渡部 祐介藤林 巧松山 桃子山田 望結月原 弘之沼田 和司葭仲 潔津村 遼介
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Ultrasonography is less invasive and safer than MRI or CT. However, image acquisition is dependent on the skill of the probe operator, and it is difficult for an untrained examiner to understand the three-dimensional structure of the organ. For the above reason, we use a robot to acquire ultrasound images and estimate the position of the probe using Visual SLAM. The obtained images are segmented and combined with position information to construct a three-dimensional model of the organ. In this study, the right kidney of the phantom was used as the target, and the results of position estimation and segmentation accuracy were high. The model of the right kidney was constructed based on these results.

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