Ultrasound-based visual servoing system for lithotripsy

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

研究成果: Conference contribution

13 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトルProceedings of the 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007
ページ877-882
ページ数6
DOI
出版ステータスPublished - 2007 12 1
外部発表はい
イベント2007 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2007 - San Diego, CA, United States
継続期間: 2007 10 292007 11 2

出版物シリーズ

名前IEEE International Conference on Intelligent Robots and Systems

Other

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

ASJC Scopus subject areas

  • 制御およびシステム工学
  • ソフトウェア
  • コンピュータ ビジョンおよびパターン認識
  • コンピュータ サイエンスの応用

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