A novel redundant motion control mechanism in accordance with medical diagnostic and therapeutic task functions for a NIUTS

Koizumi, Norihiro; Lee, Dongjung; Seo, Joonho; Tsukihara, Hiroyuki; Nomiya, Akira; Azuma, Takashi; Yoshinaka, Kiyoshi; Sugita, Naohiko; Homma, Yukio; Matsumoto, Yoichiro; Mitsuishi, Mamoru

doi:10.1109/iros.2014.6942830

Cited by 3 publications

References 22 publications

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Robotized High Intensity Focused Ultrasound (HIFU) system for treatment of mobile organs using motion tracking by ultrasound imaging: An in vitro study

Chanel

Nageotte

Vappou

et al. 2015

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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High Intensity Focused Ultrasound (HIFU) therapy is a very promising method for ablation of solid tumors. However, intra-abdominal organ motion, principally due to breathing, is a substantial limitation that results in incorrect tumor targeting. The objective of this work is to develop an all-in-one robotized HIFU system that can compensate motion in real-time during HIFU treatment. To this end, an ultrasound visual servoing scheme working at 20 Hz was designed. It relies on the motion estimation by using a fast ultrasonic speckle tracking algorithm and on the use of an interleaved imaging/HIFU sonication sequence for avoiding ultrasonic wave interferences. The robotized HIFU system was tested on a sample of chicken breast undergoing a vertical sinusoidal motion at 0.25 Hz. Sonications with and without motion compensation were performed in order to assess the effect of motion compensation on thermal lesions induced by HIFU. Motion was reduced by more than 80% thanks to this ultrasonic visual servoing system.

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Robotized High Intensity Focused Ultrasound (HIFU) system for treatment of mobile organs using motion tracking by ultrasound imaging: An in vitro study

Chanel

Nageotte

Vappou

et al. 2015

2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC)

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An extremely robust US based focal lesion servo system incorporating a servo recovery algorithm for a NIUTS

Koizumi

Funamoto

Seo

et al. 2015

2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)

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Servoing Performance Enhancement via a Respiratory Organ Motion Prediction Model for a Non-Invasive Ultrasound Theragnostic System

Fujii¹,

Koizumi²,

Kayasuga³

et al. 2017

J. Robot. Mechatron.

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[abstFig src='/00290002/15.jpg' width='300' text='Proposed method for tracking and following respiratory organ motion' ] High intensity focused ultrasound (HIFU) is potentially useful for treating stones and/or tumors. With respect to HIFU therapy, it is difficult to focus HIFU on the focal lesion due to respiratory organ motion, and this increases the risk of damaging the surrounding healthy tissues around the target focal lesion. Thus, this study proposes a method to cope with the fore-mentioned problem involving tracking and following the respiratory organ motion via a visual feedback and a prediction model for respiratory organ motion to realize highly accurate servoing performance for focal lesions. The prediction model is continuously updated based on the latest organ motion data. The results indicate that respiratory kidney motion of two healthy subjects is successfully tracked and followed with an accuracy of 0.88 mm by the proposed method and the constructed system.

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A novel redundant motion control mechanism in accordance with medical diagnostic and therapeutic task functions for a NIUTS

Cited by 3 publications

References 22 publications

Robotized High Intensity Focused Ultrasound (HIFU) system for treatment of mobile organs using motion tracking by ultrasound imaging: An in vitro study

Robotized High Intensity Focused Ultrasound (HIFU) system for treatment of mobile organs using motion tracking by ultrasound imaging: An in vitro study

An extremely robust US based focal lesion servo system incorporating a servo recovery algorithm for a NIUTS

Servoing Performance Enhancement via a Respiratory Organ Motion Prediction Model for a Non-Invasive Ultrasound Theragnostic System

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