ICRA 2011 Paper Abstract


Paper TuP213.6

Koizumi, Norihiro (Engineering Synthesis), Mitsuishi, Mamoru (The University of Tokyo), Sugita, Naohiko (The University of Tokyo), Matsumoto, Yoichiro (University of Tokyo), Lee, Deukhee (Korea Institued of Science and Technology), Seo, Joonho (The Univ. of Tokyo)

Robust Kidney Stone Tracking for a Non-Invasive Ultrasound Theragnostic System

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems IV" (TuP213), Tuesday, May 10, 2011, 16:40−16:55, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on April 2, 2020

Keywords Medical Robots and Systems, Visual Servoing, Visual Tracking


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 high-intensity focused ultrasound (HIFU). In the present paper, 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.



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