Ultrasound-based visual servoing system for lithotripsy

Deukhee Lee, Norihiro Koizumi, Kohei Ota, Shin Yoshizawa, Akira Ito, Yukio Kaneko, Yoichiro Matsumoto, Mamoru Mitsuishi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

Recently, lithotripsy (kidney stone treatment) using HIFU (High Intensity Focused Ultrasound) was developed by researchers in therapeutic ultrasound field. The lithotripsy crushes kidney stones powder, therefore, do not harm to the surrounding tissues of the kidney stones. However, it is necessary to continuously emit high intensity ultrasound waves on a target kidney stone during treatment. Therefore, HIFU transducers should follow a target kidney stone which moves due to respiration and heartbeat. In this paper, ultrasound-based visual servoing system is described. Two ultrasound probes and a HIFU transducer are mounted on the end effector of a xyz stage machine. The two ultrasound probes visually keep track of the target kidney stone within the body, and servo the xyz stage machine. The required techniques, such as conversion of a frame of radio frequency (RF) echo signals into an ultrasound bright mode image, visual tracking, pose estimation and control, are explained.

Original languageEnglish
Title of host publicationProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
Pages877-882
Number of pages6
DOIs
Publication statusPublished - 2007 Dec 1
Externally publishedYes
Event2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
Duration: 2007 Oct 292007 Nov 2

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
CountryUnited States
CitySan Diego, CA
Period07/10/2907/11/2

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Lee, D., Koizumi, N., Ota, K., Yoshizawa, S., Ito, A., Kaneko, Y., Matsumoto, Y., & Mitsuishi, M. (2007). Ultrasound-based visual servoing system for lithotripsy. In Proceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 (pp. 877-882). [4399363] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2007.4399363