ロボティクス・メカトロニクス講演会講演概要集
Online ISSN : 2424-3124
セッションID: 2P1-A04
会議情報
2P1-A04 非侵襲超音波診断・治療統合システムにおける運動補償機能のロバスト性向上に関する研究(医療ロボティクス・メカトロニクス)
舟本 貴一小泉 憲裕徐 俊浩杉田 直彦野宮 明光石 衛
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会議録・要旨集 フリー

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抄録
We propose a robustness enhancement methodology of motion compensation for non-invasive HIFU theragnostic system. The methodology is a combination of US-based visual tracking and skin-motion tracking by optical sensor. In this paper, we report the kidney motion model, which estimates kidney position from the measured skin position moving during respirations. Before the treatment, skin position and kidney position are measured simultaneously. To measure skin position, external markers are attached on patient's abdomen, and tracked by camera. To measure motion of kidney, we apply template-matching scheme for the stream of US images. Therefore, the correlation between measured skin position and kidney position is computed. During treatment, kidney position is estimated from the measured skin position using the correlation.
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© 2011 一般社団法人 日本機械学会
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