1A1-C16 腎臓結石の高密度焦点式超音波治療法におけるリアルタイム・ロバスト追跡に関する研究(手術支援ロボティクス・メカトロニクス)

概要

論文の詳細を見る
This paper describes an ultrasound-based real-time target tracking method for a renal stone treatment system using high intensity focused ultrasound (HIFU), because the target stone moves due to respiration, heartbeat, and so on. Especially, target shape in ultrasound image is deteriorated by cavitation bubble and debris of the target stone during HIFU treatment. This makes difficult to track the target stone, and furthermore it may fail. Therefore, a blob tracking method using target dynamic model independent of shape information is proposed. Moreover, Hough transform method is modified with convex hull algorithm to enhance tracking accuracy. Consequently, robust and accurate target tracking is performed well uninfluenced by HIFU-induced noises.
2008-06-06