TY - GEN
T1 - A control framework for the non-invasive ultrasound theragnostic system
AU - Koizumi, Norihiro
AU - Seo, Joonho
AU - Suzuki, Yugo
AU - Lee, Deukhee
AU - Ota, Kohei
AU - Nomiya, Akira
AU - Yoshizawa, Shin
AU - Yoshinaka, Kiyoshi
AU - Sugita, Naohiko
AU - Matsumoto, Yoichiro
AU - Homma, Yukio
AU - Mitsuishi, Mamoru
PY - 2009/12/11
Y1 - 2009/12/11
N2 - The non-invasive ultrasound theragnostic system, we propose, tracks and follows movement in an affected area -kidney stones here-, while High-Intensity Focused Ultrasound (HIFU) is irradiated onto the area. In this paper, the concept of the novel medical support system, which integrates the therapy and diagnostics, is illustrated at first. Secondly, structuring the required functions for the proposed system is discussed. Third, the overview of the constructed system configuration is illustrated. Fourth, the problem of the stone motion tracking by ultrasonography is clarified. To cope with this problem, the respiratory motion of a human kidney is analyzed and a controller, by utilizing the quasi-periodical motion of the respiratory kidney motion, is proposed. Finally, the result of the servoing and HIFU irradiation experiments of the model stone, which moves based on the real human kidney motion data, is reported to confirm the effectiveness of the proposed controller and the constructed system.
AB - The non-invasive ultrasound theragnostic system, we propose, tracks and follows movement in an affected area -kidney stones here-, while High-Intensity Focused Ultrasound (HIFU) is irradiated onto the area. In this paper, the concept of the novel medical support system, which integrates the therapy and diagnostics, is illustrated at first. Secondly, structuring the required functions for the proposed system is discussed. Third, the overview of the constructed system configuration is illustrated. Fourth, the problem of the stone motion tracking by ultrasonography is clarified. To cope with this problem, the respiratory motion of a human kidney is analyzed and a controller, by utilizing the quasi-periodical motion of the respiratory kidney motion, is proposed. Finally, the result of the servoing and HIFU irradiation experiments of the model stone, which moves based on the real human kidney motion data, is reported to confirm the effectiveness of the proposed controller and the constructed system.
UR - http://www.scopus.com/inward/record.url?scp=76249112895&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=76249112895&partnerID=8YFLogxK
U2 - 10.1109/IROS.2009.5354839
DO - 10.1109/IROS.2009.5354839
M3 - Conference contribution
AN - SCOPUS:76249112895
SN - 9781424438044
T3 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
SP - 4511
EP - 4516
BT - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
T2 - 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Y2 - 11 October 2009 through 15 October 2009
ER -