Motion Tracking of Kidney Stones for the Non-Invasive Ultrasound Diagnosis and Treatment System

Abstract

The authors are developing an ultrasound-based integrated system for non-invasive diagnosis and treatment of renal stones. The major goals of the system are to aid to detect renal stones with ultrasound images and to eliminate them by cloud-cavitaion controlled lithotripsy using high intensity focused ultrasound. Follows are the motivations of this research. Stones which are smaller than 5 mm in diameter are difficult to detect in ultrasound diagnostic images with the naked eye. The target stones of lithotripsy move during the treatment by breathing. Therefore, object motion tracking is necessary to improve the accuracy of the treatment and reduce treatment time. This paper describes the feasibility study of real-time 3D servoing using two ultrasound diagnostic probes and a xyz stage.