HIFU Positioning Robot for Less-Invasive Fetal Treatment

Masamune, Ken; Kurima, Ichiro; Kuwana, Kazunori; Yamashita, Hiromasa; Chiba, Tadatoshi; Dohi, Takeyoshi

doi:10.1016/j.procir.2013.01.056

Cited by 6 publications

(3 citation statements)

References 6 publications

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“…Masamune et al developed another HIFU positioning robot treatment system which integrated the HIFU transducer, ultrasound probe, and a robotic arm (which has 4 degrees of freedom) for fetal sacrococcygeal teratoma treatment. The positioning errors of their robotic arm in X, Y, and Z directions were −0.2 ± 0.3 mm, −0.1 ± 0.1 mm, and −0.0 ± 0.1 mm, respectively [ 18 ]. As shown above, most of the studies combined their system with a robotic arm (with different DOF or mechanism) to facilitate the stability and the accuracy of HIFU treatment system.…”

Section: Introductionmentioning

confidence: 99%

An Ultrasound Imaging-Guided Robotic HIFU Ablation Experimental System and Accuracy Evaluations

Syu

Tseng

et al. 2017

Applied Bionics and Biomechanics

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In recent years, noninvasive thermal treatment by using high-intensity focused ultrasound (HIFU) has high potential in tumor treatment. The goal of this research is to develop an ultrasound imaging-guided robotic HIFU ablation system for tumor treatment. The system integrates the technologies of ultrasound image-assisted guidance, robotic positioning control, and HIFU treatment planning. With the assistance of ultrasound image guidance technology, the tumor size and location can be determined from ultrasound images as well as the robotic arm can be controlled to position the HIFU transducer to focus on the target tumor. After the development of the system, several experiments were conducted to measure the positioning accuracy of this system. The results show that the average positioning error is 1.01 mm with a standard deviation 0.34, and HIFU ablation accuracy is 1.32 mm with a standard deviation 0.58, which means this system is confirmed with its possibility and accuracy.

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Section: Introductionmentioning

confidence: 99%

An Ultrasound Imaging-Guided Robotic HIFU Ablation Experimental System and Accuracy Evaluations

Syu

Tseng

et al. 2017

Applied Bionics and Biomechanics

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“…Therefore, many ultrasound laboratories would benefit from an inexpensive, USI-gHIFU ablative device with high stability and positioning accuracy to support the planning, monitoring and treatment of solid tumors in small animals during preclinical studies (Chauhan, 2008;Masamune et al, 2013). This motivated us to develop, design and build a low-cost compact US-gHIFU ablation system to destroy solid tumors implanted in small animals and to test new anti-cancer drugs.…”

Section: Introductionmentioning

confidence: 99%

Archives of Acoustics

Fura

Dera

Dziekoński

et al. 2021

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We have designed and built ultrasound imaging-guided HIFU ablative device for preclinical studies on small animals. Before this device is used to treat animals, ex vivo tissue studies were necessary to determine the location and extent of necrotic lesions created inside tissue samples by HIFU beams depending on their acoustic properties. This will allow to plan the beam movement trajectory and the distance and time intervals between exposures leading to necrosis covering the entire treated volume without damaging the surrounding tissues. This is crucial for therapy safety. The objective of this study was to assess the impact of sonication parameters on the size of necrotic lesions formed by HIFU beams generated by 64-mm bowl-shaped transducer used, operating at 1.08 MHz or 3.21 MHz. Multiple necrotic lesions were created in pork loin samples at 12.6-mm depth below tissue surface during 3-s exposure to HIFU beams with fixed duty-cycle and varied pulse-duration or fixed pulse-duration and varied duty-cycle, propagated in two-layer media: water-tissue. After exposures, the necrotic lesions were visualized using magnetic resonance imaging and optical imaging (photos) after sectioning the samples. Quantitative analysis of the obtained results allowed to select the optimal sonication and beam movement parameters to support planning of effective therapy.

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“…Since tumors are typically much larger than the size of HIFU focal point, treatment of the entire volume of tumor is not suitable for hand-held HIFU transducer. Most of the research is conducted with the assistance of robot arm (Masamune, et al, 2013. Eventually, it is quite difficult to assess the quality of this non-invasive therapy, there is a dire need for a high accuracy system supporting in planning, conduction, and monitoring of such treatments.…”

Section: Introductionmentioning

confidence: 99%

An Ultrasonography Assisted Robotic HIFU Ablation Experimental System

Tseng¹,

Syu²,

An³

et al. 2015

Proceedings of the International Conference on Biomedical Electronics and Devices

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In recent years, noninvasive thermal treatment by using High Intensity Focused Ultrasound (HIFU) has high potential in tumor treatment. The goal of this research is to develop an ultrasonography assisted robotic HIFU ablation system for tumor treatment. The system integrates the technologies of ultrasound image assisted guidance, robotic positioning control, and HIFU treatment planning. With the assistance of ultrasound image guidance technology, the tumor size and location can be determined from ultrasound images and the robot can be controlled to position the HIFU probe to focus on the target tumor. An experiment of using mountain-typed template to verify the positioning accuracy of the ultrasonography assisted robotic HIFU ablation system has been done. The results show that the average positioning error is 1.06mm with a standard deviation 0.25, which is feasible for tumor therapy.

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HIFU Positioning Robot for Less-Invasive Fetal Treatment

Cited by 6 publications

References 6 publications

An Ultrasound Imaging-Guided Robotic HIFU Ablation Experimental System and Accuracy Evaluations

An Ultrasound Imaging-Guided Robotic HIFU Ablation Experimental System and Accuracy Evaluations

Archives of Acoustics

An Ultrasonography Assisted Robotic HIFU Ablation Experimental System

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