Robust kidney stone tracking for a non-invasive ultrasound theragnostic system-Servoing performance and safety enhancement-

Abstract

We propose a non-invasive ultrasound theragnostic system that tracks movement in an affected area (kidney stones, in the present study) by irradiating the area with highintensity focused ultrasound (HIFU). In the present paper, the concept behind a novel medical support system that integrates therapy and diagnostics (theragnostics) is illustrated. The required functions for the proposed system are discussed and an overview of the constructed system configuration is illustrated. The problems associated with kidney stone motion tracking by ultrasonography are described. In order to overcome these problems, we consider two approaches. The first approach is to minimize the servoing error so as to enhance both the efficiency of the therapy and the safety of the patient. The second approach is to reduce the effect of the servoing error. With respect to the first approach, we propose a robust detection method of the stone position based on shape information. With respect to the second approach, we propose a solution for controlling the HIFU irradiation power in accordance with the servoing error, primarily in order to enhance the safety of the patient.

Surface‐based registration between CT and US for image‐guided percutaneous renal access – A feasibility study

“…20 The proposed method showed high accuracy and robustness, being tested in different applications. [21][22][23] Overall, the previous works demonstrated that surface-based registration achieves good results. However, most of them acquired 2D US images from arbitrary and sparse longitudinal and transverse views, using different strategies to maintain continuous and feasible registration, as respiratory gating, a simultaneous acquisition using two US probes, and robot motion compensation, which are not always accurate and practical to perform within the operating room.…”

“…used two orthogonal 2D US probes to create a biplane US imaging of the kidney and, then, estimate the pose of a preoperative 3D model . The proposed method showed high accuracy and robustness, being tested in different applications . Overall, the previous works demonstrated that surface‐based registration achieves good results.…”

Technologizing and DigitalizingMedical Professional Skills for a Non-Invasive Ultrasound Theragnostic System – Technologizing and Digitalizing Kidney Stone Extraction Skills –

“…With respect to the first approach, we developed two solutions, not only to enhance the servoing performance in order to realize efficient therapy but also to enhance the safety of the patient [15,17]. The first solution is robust detection of the target kidney stone position based on information in the ultrasound image [17]. The second solution is a controller that compensates for periodic respiratory motion of the affected area [15].…”

An ergonomic handheld ultrasound probe providing contact forces and pose information

“…Another hybrid approach combining a passive and an active arm to achieve small and accurate probe motions for better diagnostic images employs advanced image processing and force control using a 6-axis force sensor [6]. Recently, a tele-operated robot-assisted ultrasound diagnostic system has been proposed [7][8][9]. In [9], a system is introduced that can manipulate a remote ultrasound probe mounted on a multi-degree of freedom (DOF) robotic arm, facilitating a sonographer to conduct an ultrasound exam, compensating for the patient's motion (i.e., breathing and other motion artefacts) to improve diagnostic image quality.…”

“…Another disadvantage is that it is difficult for sonographers to repeat a diagnostic procedure under exactly the same conditions (i.e., same pose and applied pressure); hence, studies comparing a patient's development over time are difficult, since exactly the same examination conditions cannot be reproduced at a later date [4][5]. For these reasons, a number of different robot-assisted ultrasound diagnostic systems have been proposed, with the aim to improve diagnostic images [5][6][7][8][9][10][11]. Researchers have proposed solutions involving passive and active arms involving spring mechanisms to compensate for gravitational forces, assisting sonographers to keep the ultrasound probe steady at a certain position [5].…”