抄録
The authors have developed an integrated system for the non-invasive ultrasound diagnosis and treatment to decrease the load of patients and medical doctors. In this paper, motion of a kidney and abdominal circumference information, which is acquired by a force sensor, are analyzsed at first. Secondly, the authors propose a feedforward controller to enhance the servoing performance of the system for model kidney stones by utilizing real-time information of abdominal circumference. Finally, experimental results show that the constructed system ia appropriate to presume the phase information of stone motion to generate the feedforward term of the controller.
