抄録
High Intensity Focused Ultrasound (HIFU) has been becoming a major therapy which is used representing for uterine fibroid treatment. We have been developed HIFU system as well and its feature is that the position of focusing probe can be hand-operated by an operator flexibly so that a focus can be burned effectively. However, accuracy is not stable because of operator's hand control and their tiredness. To solve this problem, we developed HIFU probe manipurator which is able to control focusing probe automatically. The degree of freedom is 5 and is controlled by position and image feedback from navigation system. In this paper, we designed the manipurator and evaluated the basic motion of its specifications. As the suture works, the algorithm of the navigation feedback would be constructed and verify its effectiveness through the animal experiment.
