Artificial Life and Robotics

, Volume 24, Issue 4, pp 480–486 | Cite as

Technology for visualizing the local change in shape of edema using a depth camera

  • Kenta Masui
  • Kaoru Kiyomitsu
  • Keiko Ogawa-Ochiai
  • Takashi Komuro
  • Norimichi TsumuraEmail author
Original Article


The change in the edema condition is visualized considering the three-dimensional shape. Continuous treatment and observation are indispensable for patients with edema. The measurement and evaluation of the three-dimensional shape of the leg are thus important in evaluating edema of the leg. Such an evaluation can confirm the therapeutic effect and assist in the planning of treatment by confirming the change in local capacity. Additionally, the depth camera of Structure Sensor used this study is feasible for use in home care systems due to its very low cost compared with other depth cameras. We obtain a point cloud of the leg and register shape models. We conducted an experiment to measure legs swathed and not swathed in bandages, with the former representing a leg with edema. In addition, for visualization of the edema condition, the change in shape was color coded according to the change obtained in the proposed analysis of the three-dimensional shape. Our experimental results show that our proposed visualization technique is effective in conveying the change in shape visually and clearly.


Edema Health monitoring Structure Sensor Point cloud Visualization 



We thank Glenn Pennycook, MSc, from Edanz Group ( for editing a draft of this manuscript.


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Copyright information

© International Society of Artificial Life and Robotics (ISAROB) 2019

Authors and Affiliations

  • Kenta Masui
    • 1
  • Kaoru Kiyomitsu
    • 2
  • Keiko Ogawa-Ochiai
    • 3
  • Takashi Komuro
    • 4
  • Norimichi Tsumura
    • 1
    Email author
  1. 1.Graduate School of Science and EngineeringChiba UniversityChibaJapan
  2. 2.Graduate School of Advanced Integration ScienceChiba UniversityChibaJapan
  3. 3.Department of Japanese-Traditional (Kampo) MedicineKanazawa University HospitalIshikawaJapan
  4. 4.Graduate School of Science and EngineeringSaitama UniversitySaitamaJapan

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