2A1-R06 非侵襲超音波診断・治療統合システムの追従ロバスト性向上(医療ロボティクス・メカトロニクス(2))

Abstract

We propose a non-invasive ultrasound theragnostic system that tracks and follows movement in an affected area (kidney, in this study) while irradiating it with high-intensity focused ultrasound (HIFU). In this paper, a kidney motion model is proposed to estimate the kidney position for robust tracking and following of the target kidney. The experimental results show the effectiveness of the proposed kidney motion model and the proposed algorithm for robust servoing of the target kidney.