1A1-C11 非侵襲超音波診断・治療統合システムの構築法(映像,手術支援ロボティクス・メカトロニクス)

Abstract

The authors have developed a non-invasive ultrasound theragnostic system to decrease the strain of patients and medical doctors. The system we propose tracks and follows movement in an affected area -kidney stones here- while High-Intensity Focused Ultrasound (HIFU) is irradiated onto the area. In this paper, a framework of the non-invasive ultrasound theragnostic system is proposed and illustrated. Specifically, the concept of the system is proposed at first. Secondly, decomposing and reconstructing (structuring) of the functional requirements are discussed. Third, the constructed system, which is based on those structured functional requirements, is illustrated. Fourth, the result of the servoing experiments of the model stone is reported to confirm the effectiveness of the proposed construction methodology and constructed system.