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

Chanel, Laure-Anais; Nageotte, Florent; Vappou, Jonathan; Luo, Jianwen; Cuvillon, Loïc; Mathelin, Michel de

doi:10.1109/embc.2015.7318917

Cited by 13 publications

(9 citation statements)

References 22 publications

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“…Chanel et al developed a 6-DoF HIFU system with active motion compensation intended for the treatment of tumors in the abdomen. The active motion compensation is based on real-time ultrasound imaging feedback and motion estimation [ 23 ]. The system features a 2.9 MHz HIFU transducer and a confocally mounted phased array ultrasound probe.…”

Section: Ultrasound-guided Hifu Systemsmentioning

confidence: 99%

“…These transducers are positioned by the 6-DoF robotic arm (Sinters, France), which positions the treatment focus using reconstructed B-mode images that enable motion estimation utilizing speckle tracking ( Figure 9 ). Following the motion estimation, the system follows a position-based visual surveying scheme using a trajectory generator and PID controller to regulate the joint input velocity [ 23 ].…”

Section: Ultrasound-guided Hifu Systemsmentioning

confidence: 99%

“…In recent years, the incorporation of image guidance using interventional ultrasound and MRI has allowed HIFU systems to expand to a variety of clinical applications, enabling proper focal placement and control [ 21 , 22 ]. Leveraging the real-time monitoring capabilities of these systems permits adjustments during the procedure, allowing motion compensation during respiration [ 23 , 24 ]. However, even with motion feedback of the target, manual adjustments are challenging for well-trained physicians; consequently, apnea induced during general anesthesia is often performed to prevent organ motion [ 25 , 26 ].…”

Section: Introductionmentioning

confidence: 99%

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Review of Robot-Assisted HIFU Therapy

Gunderman

Montayre

Ranjan

et al. 2023

Sensors

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This paper provides an overview of current robot-assisted high-intensity focused ultrasound (HIFU) systems for image-guided therapies. HIFU is a minimally invasive technique that relies on the thermo-mechanical effects of focused ultrasound waves to perform clinical treatments, such as tumor ablation, mild hyperthermia adjuvant to radiation or chemotherapy, vein occlusion, and many others. HIFU is typically performed under ultrasound (USgHIFU) or magnetic resonance imaging guidance (MRgHIFU), which provide intra-operative monitoring of treatment outcomes. Robot-assisted HIFU probe manipulation provides precise HIFU focal control to avoid damage to surrounding sensitive anatomy, such as blood vessels, nerve bundles, or adjacent organs. These clinical and technical benefits have promoted the rapid adoption of robot-assisted HIFU in the past several decades. This paper aims to present the recent developments of robot-assisted HIFU by summarizing the key features and clinical applications of each system. The paper concludes with a comparison and discussion of future perspectives on robot-assisted HIFU.

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Section: Ultrasound-guided Hifu Systemsmentioning

confidence: 99%

Section: Ultrasound-guided Hifu Systemsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Review of Robot-Assisted HIFU Therapy

Gunderman

Montayre

Ranjan

et al. 2023

Sensors

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“…Xiao et al used developed active tracking for the application of focussed ultrasound using a robotic arm and MR guidance [7]. Chanel et al developed a robotic HIFU system for the application of US-guided FUS while tracking the target [8].…”

Section: Introductionmentioning

confidence: 99%

Robot-assisted Ultrasound-guided Tracking of Anatomical Structures for the Application of Focused Ultrasound

Unger¹,

Berger²,

Gerold

et al. 2020

Current Directions in Biomedical Engineering

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High intensity focused ultrasound is used as a surgical tool to treat completely non-invasively several diseases. Examples of clinical applications are uterine fibroids, prostate cancer, thyroid nodules, and varicose veins. Precise targeting is key for improving the treatment outcome. A method for an automated, robot-assisted tracking system was developed and evaluated. A wireless ultrasound scanner was used to acquire images of the target, in this case, a blood vessel. The active contour approach by Chan and Vese was used to segment and track while moving the scanner along the target structure with a collaborative robotic arm. The performance was assessed using a custom made Agar phantom. The mean tracking error, which is defined as the remaining distance of the lesion to the images’ centre line, was 0.27 mm ± 0.18 mm.

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“…As a visual servoing technique for soft tissue motion, in our previous research, we made an artificial marker (visible in US imaging) in the protein phantom by initial HIFU irradiation and tracked the marker for motion compensation . Chanel et al presented a US‐guided robotic HIFU system in, which applied a speckle tracking method based on normalized 1D cross‐correlation to reduce computation time. The method is still difficult to apply for real organ motion due to the out‐of‐plane motion.…”

Section: Introductionmentioning

confidence: 99%

Ultrasound image based visual servoing for moving target ablation by high intensity focused ultrasound

Seo

Koizumi

Mitsuishi

et al. 2016

Robotics Computer Surgery

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BackgroundAlthough high intensity focused ultrasound (HIFU) is a promising technology for tumor treatment, a moving abdominal target is still a challenge in current HIFU systems. In particular, respiratory‐induced organ motion can reduce the treatment efficiency and negatively influence the treatment result. In this research, we present: (1) a methodology for integration of ultrasound (US) image based visual servoing in a HIFU system; and (2) the experimental results obtained using the developed system.Materials and methodsIn the visual servoing system, target motion is monitored by biplane US imaging and tracked in real time (40 Hz) by registration with a preoperative 3D model. The distance between the target and the current HIFU focal position is calculated in every US frame and a three‐axis robot physically compensates for differences. Because simultaneous HIFU irradiation disturbs US target imaging, a sophisticated interlacing strategy was constructed.ResultsIn the experiments, respiratory‐induced organ motion was simulated in a water tank with a linear actuator and kidney‐shaped phantom model. Motion compensation with HIFU irradiation was applied to the moving phantom model. Based on the experimental results, visual servoing exhibited a motion compensation accuracy of 1.7 mm (RMS) on average. Moreover, the integrated system could make a spherical HIFU‐ablated lesion in the desired position of the respiratory‐moving phantom model.ConclusionsWe have demonstrated the feasibility of our US image based visual servoing technique in a HIFU system for moving target treatment.

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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

Cited by 13 publications

References 22 publications

Review of Robot-Assisted HIFU Therapy

Review of Robot-Assisted HIFU Therapy

Robot-assisted Ultrasound-guided Tracking of Anatomical Structures for the Application of Focused Ultrasound

Ultrasound image based visual servoing for moving target ablation by high intensity focused ultrasound

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