肝臓モデリング Heads: 平井 慎一 Contact: 王 忠奎 Date: 2005 - 2014 Mailing address: 立命館大学ロボティクス学科 〒525-8577 滋賀県草津市野路東1-1-1 Supported by: 科学研究費補助金 (No.17206024) 2005 - 2007 (平井 慎一) 内部センシングに基づく柔軟物のリアリティベースモデリングに関する研究 Associated lab/group: 田中研究室(情報学部 知能情報学科) 登尾研究室(大阪電気通信大学 情報工学科) Virtual Rheology Project

研究内容

本研究の目的は，生体組織の内部の変形計測を基にして，非一様な特性を示す生体組織の力学モデルを構築する手法を確立することである．CTやMRIによる内部変形計測から変形場を求め，力学パラメータを推定する．

2012/9/28	立命館大学「拠点形成型R-GIRO 研究プログラム」に「ITと医療の融合による次世代e-Health の研究」（代表 陳 延偉　グループリーダー 陳 延偉，田中 弘美，李 周浩，平井 慎一）が採択されました．
2011/12/10	張先生が TPS-SURF-SAC Matching Approach of Feature Point Applied to Deformation Measurement of Nonrigid Tissues from MR Images で， T. J. Tarn Best Paper in Robotics にノミネートされました．

担当

	名前	学年	学位
	王　忠奎	立命館大学	工学博士
	門馬　功祐	Graduated	工学修士
	﨑口　佳紀	Graduated	工学修士
	木下　正稔	Graduated	工学修士
	阿部　慶之	Graduated	工学修士
	浪間　一希	Graduated	工学修士
	遠藤　和美	Graduated	工学修士
	村松　潤治	Graduated	工学修士
	高橋　凌司	Graduated
	髙木　宏晃	Graduated

研究発表

• Xubing Zhang, Penglin Zhang, and Shinichi Hirai, Matching of Feature Points Based on TSSC Method from MR Images of Nonrigid Deformed Tissues, Bio-Medical Materials and Engineering, Vol.24, No.1, pp.1227-1237, 10.3233/BME-130924, Jan., 2014
• Zhongkui Wang, Kazuki Namima, and Shinichi Hirai, Physical Parameter Identification of Uniform Rheological Deformation Based on FE Simulation, Transactions of Japanese Society for Medical and Biological Engineering, Vol.47, No.1, pp.1-6, 10.11239/jsmbe.47.1, Sept., 2009
• Penglin Zhang, Shinichi Hirai, and Kazumi Endo, A Feature Matching-based Approach to Deformation Fields Measurement from MR Images of Non-rigid Object, Int. J. of Innovative Computing, Information and Control, Vol.4, No.7, pp.1607-1615, July, 2008

• Zhongkui Wang, Kosuke Kadoma, and Shinichi Hirai, An Indentation-type Instrument for Measuring Soft Tissue Elasticity, Int. Conf. on Innovation in Medicine and Healthcare (KES-InMed-17), 10.1007/978-3-319-59397-5_13, Anantara Vilamoura Algarve Resort, Vilamoura, Portugal, June 21-23, 2017
• Xubing Zhang and Shinichi Hirai, TPS-SURF-SAC Matching Approach of Feature Point Applied to Deformation Measurement of Nonrigid Tissues from MR Images, IEEE Int. Conf. on Robotics and Biomimetics (ROBIO 2011), pp.551-556, 10.1109/ROBIO.2011.6181344, Phuket Island, Thailand, Dec. 7-11, 2011   Finalists of T. J. Tarn Best Paper in Robotics
• Zhongkui Wang and Shinichi Hirai, Modeling and Parameter Estimation of Rheological Objects for Simultaneous Reproduction of Force and Deformation, 1st Int. Conf. on Applied Bionics and Biomechanics (ICABB-2010), Venice, Italy, Oct. 14-16, 2010
• Penglin Zhang and Shinichi Hirai, A Local Geometric Preserving Approach For Interior Deformation Fields Measurement From MR Volumetric Images of Human Tissues, IEEE Int. Conf. on Robotics and Biomimetics (Robio 2010), pp.437-441, 10.1109/ROBIO.2010.5723366, Tianjin, China, Dec. 14-18, 2010
• Xubing Zhang, Shinichi Hirai and Penglin Zhang, SURF and Spatial Association Correspondence Applied in Extraction and Matching of Feature Points from MR Images of Deformed Tissues, IEEE Int. Conf. on Robotics and Biomimetics (Robio 2010), pp.448-453, 10.1109/ROBIO.2010.5723368, Tianjin, China, Dec. 14-18, 2010
• Zhongkui Wang and Shinichi Hirai, Contact Modeling and Parameter Switching for Simultaneous Reproduction of Rheological Force and Deformation, IEEE Int. Conf. on Robotics and Biomimetics (Robio 2010), pp.726-731, 10.1109/ROBIO.2010.5723416, Tianjin, China, Dec. 14-18, 2010
• Zhongkui Wang, Kazuki Namima, and Shinichi Hirai, Physical Parameter Identification of Rheological Object Based on Measurement of Deformation and Force, Proc. IEEE Int. Conf. on Robotics and Automation, pp.1238-1243, 10.1109/ROBOT.2009.5152345, Kobe, Japan, May 12-17, 2009
• Zhongkui Wang and Shinichi Hirai, Modeling and Parameter Identification of Rheological Object Based on FE Method and Nonlinear Optimization, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS 2009), pp.1968-1973, 10.1109/IROS.2009.5354630, St. Louis, MO, U.S.A., Oct. 11-15, 2009
• Penglin Zhang, Shinichi Hirai, Kazumi Endo, and Shigerhiro Morikawa, Local Deformation Measurement of Biological Tissues Based on Feature Tracking of 3D MR Volumetric Images, 2007 IEEE/ICME Int. Conf. on Complex Medical Engineering (CME2007), pp.707-712, 10.1109/ICCME.2007.4381829, Beijing, China, May 23-27, 2007
• Penglin Zhang, Shinichi Hirai, and Kazumi Endo, A Method for Non-rigid 3D Deformation Fields Measurement: Application to Human Calf MR Volumetric Images, Workshop on Modeling, Identification, and Control of Deformable Soft Objects, IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, San Diego, CA, U.S.A., Oct. 29 - Nov. 2, 2007
• Junji Muramatsu, Takashi Ikuta, Shinichi Hirai, and Shigehiro Morikawa, Validation of FE Deformation Models using Ultrasonic and MR Images, Proc. 9th Int. Conf. on Control, Automation, Robotics and Vision, pp.1091-1096, 10.1109/ICARCV.2006.345449, Singapore, Dec. 5-8, 2006

• 崎口 佳紀, 平井 慎一, 生体組織の力学特性の計測装置の試作, 第31回日本ロボット学会学術講演会, 首都大学東京 南大沢キャンパス, Sept. 4-6, 2013
• 木下 正稔, 平井 慎一, GPGPUによるレオロジー物体変形シミュレーションの高速化, ロボティクス・メカトロニクス'12講演会予稿集CD-ROM, 浜松, May 28-29, 2012
• Zhongkui Wang and Shinichi Hirai, Modeling of Rheological Object with Square or Cubic Finite Element, 7th Joint Workshop on Machine Perception and Robotics (MPR2011), Beijing, China, Oct. 13-14, 2011
• Xubing Zhang and Shinichi Hirai, TPS-SURF-SAC Based Matching of Feature Points in Nonrigid Deformed Tissues: Applied to Abdomen MR Images, 7th Joint Workshop on Machine Perception and Robotics (MPR2011), Beijing, China, Oct. 13-14, 2011
• Zhongkui Wang and Shinichi Hirai, Finite Element Modeling of Rheological Objects for Simultaneously Reproducing their Deformation and Force Behaviors, 6th Joint Workshop on Machine Perception and Robotics (MPR2010), Fukuoka, Japan, Oct. 8-9, 2010
• Xubing Zhang, Shinichi Hirai, and Penglin Zhang, The Feature Points Matching of Non-rigid Tissues Based on SURF, Spatial Association Correspondence and Clustering: Application to MR 2-D Slice Deformation Measurement, 6th Joint Workshop on Machine Perception and Robotics (MPR2010), Fukuoka, Japan, Oct. 8-9, 2010
• Zhongkui Wang and Shinichi Hirai, Parameter Estimation of Rheological Object Based on FE Simulation and Nonlinear Optimization, 5th Joint Workshop on Machine Perception and Robotics (MPR2009), Kyoto, Japan, Oct. 4-5, 2009
• Zhongkui Wang and Shinichi Hirai, Physical Parameter Identification of Uniform Rheological Deformation through FE Model Simulation, Robotics and Mechatronics Conference 2008, Nagano, Japan, June 5-7, 2008
• Zhongkui Wang, Kazuki Namima, Shinichi Hirai, Physical Parameter Identification of Isotropic Uniform Deformation Based on FE Simulation, 生体医工学シンポジウム2008 (BMES2008), 豊中, Sept. 19-20, 2008
• 浪間 一希, 王 忠奎, 平井 慎一, アクティブ虚血ダイナミクスのシミュレーション, 生体医工学シンポジウム2008 (BMES2008), 豊中, Sept. 19-20, 2008
• Zhongkui Wang and Shinichi Hirai, Physical Parameter Identification of Rheological Object Based on FE Dynamic Model, 4th Joint Workshop on Machine Perception and Robotics (MPR2008), Beijing, China, Nov. 6-7, 2008
• 遠藤 和美, 村松 潤治, 平井 慎一, 柔軟物の内部変形計測によるFEモデルの力学パラメータ同定, ロボティクス・メカトロニクス'07講演会予稿集CD-ROM, 秋田, May 10-12, 2007
• Penglin Zhang, Shinichi Hirai, and Kazumi Endo, A Feature Tracking-based Approach for Local Deformation Fields Measurement of Biological Tissue from MR Volumes, 3rd Joint Workshop on Machine Perception and Robotics (MPR2007), Kusatsu, Nov. 16-17, 2007
• Kazumi Endo, Penglin Zhang, Shinichi Hirai, and Shinichi Tokumoto, Identification of Nonuniform Physical Parameters through Measurement of Inner Deformation, 3rd Joint Workshop on Machine Perception and Robotics (MPR2007), Kusatsu, Nov. 16-17, 2007
• 遠藤 和美, 張 鵬林, 平井 慎一, 徳本 真一, 柔軟物の内部変形計測による非一様FEモデルのパラメータ同定法の検証, 計測自動制御学会システムインテグレーション部門学術講演会, pp.1170-1171, 広島国際大学 国際教育センター, Dec. 20-22, 2007
• 活田 崇至, 村松 潤治, 早見 信一郎, 森川 茂廣, 平井 慎一, 田中 弘美, 超音波画像とMRIを用いた内部計測による柔軟物のFEモデルの検証, ロボティクスシンポジア予稿集, pp.544-549, 嬉野温泉, Mar. 16-17, 2006
• 遠藤 和美, 張 鵬林, 村松 潤治, 平井 慎一, 森川 茂廣, MRIボリュームデータにおける3次元ブロックマッチングを用いたFEモデルパラメータの同定, 計測自動制御学会システムインテグレーション部門学術講演会, pp.1036-1037, 2006

参考資料

関連サイト

• Virtual Rheology Project
• 日本バーチャルリアリティ学会