1P1-H05 超音波RF信号を用いた腎臓結石追跡のフレームワーク(手術支援ロボティクス・メカトロニクス)

概要

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The authors are developing an ultrasound-based integrated system for non-invasive diagnosis and treatment of kidney stones. The major goals of the system are to aid to detect kidney stones with ultrasound images and to eliminate them by cloud-cavitaion controlled lithotripsy using high intensity focused ultrasound (HIFU). The target kidney stone of lithotripsy moves during the treatment by breathing. Therefore, real-time motion tracking and servoing of the target kidney stone are necessary in order to improve the accuracy of the treatment and reduce treatment time. This paper describes the feasibility study of real-time 3D tracking and servoing with two ultrasound diagnostic probes and a 3D stage machine using ultrasonic radio frequency (RF) echo signal with regard to the therapeutic goal of the integrated system.
一般社団法人日本機械学会の論文
2007-05-11