2A1-A17 The development of the integrated system for non invasive ultrasound diagnosis and treatment (2nd report) : The controller and experiment for servoing stone model in the bladder

Abstract

We have developed the integrated system for non invasive ultrasound diagnosis and treatment aiming atlessenning the load of patients. In this paper, we propose the controller to enhance the servoing performance of the system against the stone model and report the experimental results to confirm the effectiveness of the proposed controller.