1A1-B12 Construction Methodology for the Non-Invasive Ultrasound Theragnostic System (5^<th> report) : Enhancement of servoing performance for human kidney by controlling position and orientation of ultrasound probes(Medical Robotics and Mechatronics (1))

Abstract

We have developed a bed-type non-invasive ultrasound theragnostic system (NIUTS) that tracks and follows the movement of an affected area (kidney stone/tumor, in this study) by irradiating it with high-intensity focused ultrasound (HIFU). In this paper, we propose a mechanism to control the position and orientation of the ultrasound probes aiming at enhancing the servoing performance of the affected area. Proper positions and orientations are required to acquire the proper ultrasound diagnostic images.