An extremely robust US based focal lesion servo system incorporating a servo recovery algorithm for a NIUTS
Norihiro Koizumi, Takakazu Funamoto, Joonho Seo, Hiroyuki Tsukihara, Hiroyuki Fukuda, Hideyo Miyazaki, Kiyoshi Yoshinaka, Takashi Azuma
Abstract
The authors have investigated a construction methodology for a non-invasive ultrasound theragnostic system, called NIUTS, to track and follow moving body targets, such as tumors / stones located in moving organs (kidneys, livers, etc.), robustly and precisely, so as to compensate for nearly 90 percent of target motions in ultrasound images, while irradiating therapeutic ultrasound to focal lesions. In the present report, we propose a novel servo recovery algorithm for NIUTS. We confirm the effectiveness of the implemented servo recovery algorithm for a real human kidney, which, as far as we know, is the first successful report of semi-autonomous servo recovery systems for lost body targets. This robust servo recovery method could provide an indispensable tool for precise, safe, and efficient treatments of tumors and stones.
BibTeX
@inproceedings{iros2015_anextremelyrobus,
title = {An extremely robust US based focal lesion servo system incorporating a servo recovery algorithm for a NIUTS},
author = {Norihiro Koizumi and Takakazu Funamoto and Joonho Seo and Hiroyuki Tsukihara and Hiroyuki Fukuda and Hideyo Miyazaki and Kiyoshi Yoshinaka and Takashi Azuma and Naohiko Sugita and Yukio Homma and Kazushi Numata and Yoichiro Matsumoto and Mamoru Mitsuishi},
booktitle = {IROS 2015},
year = {2015}
}