1A1-B12 非侵襲超音波診断・治療統合システムの構築法(第5報) : 超音波プローブの位置と姿勢の制御による生体追従精度の向上(医療ロボティクス・メカトロニクス(1))

Abstract

We have developed a bed-type non-invasive ultrasound theragnostic system (NIUTS) that tracks and follows the movement of an affected area (kidney stone/tumor, in this study) by irradiating it with high-intensity focused ultrasound (HIFU). In this paper, we propose a mechanism to control the position and orientation of the ultrasound probes aiming at enhancing the servoing performance of the affected area. Proper positions and orientations are required to acquire the proper ultrasound diagnostic images.