2P1-A05 非侵襲超音波治療・診断システムのための凝固領域追従技術を用いた呼吸の運動補償(医療ロボティクス・メカトロニクス)

Abstract

In the present paper, we introduce the hybrid tracking method using preoperative and intraoperative patient data for non-invasive robotic HIFU system. For the initial target recognition for the unclear target area, we register the preoperative 3-D model to the 2.5-D biplane US images. Moreover, we create an intraoperative tracking landmark in the target area by HIFU thermal ablation. During the target motion, we detect the US speckle image change by the HIFU treatment. Specifically, the CONDENSATION algorithm was applied to a robust and real-time speckle pattern tracking in the sequence of US images. Moreover, biplane US imaging was used to locate the three-dimensional position of the US speckle change, and a three-actuator system drives the end-effector to compensate the motion. Experiment for the motion compensation was conducted with robotic US-guided HIFU system. In the experiment, kidney motion of the phantom model was simulated by the captured human kidney motion data. As a result, the accuracy of the motion compensation was approximately 1.5 mm.