Int J Med Robot - Visual servoing for a US-guided therapeutic HIFU system by coagulated lesion tracking: a phantom study.

Tópicos

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Resumo

CKGROUND: Applying ultrasound (US)-guided high-intensity focused ultrasound (HIFU) therapy for kidney tumours is currently very difficult, due to the unclearly observed tumour area and renal motion induced by human respiration. In this research, we propose new methods by which to track the indistinct tumour area and to compensate the respiratory tumour motion for US-guided HIFU treatment.METHODS: For tracking indistinct tumour areas, we detect the US speckle change created by HIFU irradiation. In other words, HIFU thermal ablation can coagulate tissue in the tumour area and an intraoperatively created coagulated lesion (CL) is used as a spatial landmark for US visual tracking. Specifically, the condensation algorithm was applied to robust and real-time CL speckle pattern tracking in the sequence of US images. Moreover, biplanar US imaging was used to locate the three-dimensional position of the CL, and a three-actuator system drives the end-effector to compensate for the motion. Finally, we tested the proposed method by using a newly devised phantom model that enables both visual tracking and a thermal response by HIFU irradiation.RESULTS: In the experiment, after generation of the CL in the phantom kidney, the end-effector successfully synchronized with the phantom motion, which was modelled by the captured motion data for the human kidney. The accuracy of the motion compensation was evaluated by the error between the end-effector and the respiratory motion, the RMS error of which was approximately 2 mm.CONCLUSION: This research shows that a HIFU-induced CL provides a very good landmark for target motion tracking. By using the CL tracking method, target motion compensation can be realized in the US-guided robotic HIFU system.

Resumo Limpo

ckground appli ultrasound usguid highintens focus ultrasound hifu therapi kidney tumour current difficult due unclear observ tumour area renal motion induc human respir research propos new method track indistinct tumour area compens respiratori tumour motion usguid hifu treatmentmethod track indistinct tumour area detect us speckl chang creat hifu irradi word hifu thermal ablat can coagul tissu tumour area intraop creat coagul lesion cl use spatial landmark us visual track specif condens algorithm appli robust realtim cl speckl pattern track sequenc us imag moreov biplanar us imag use locat threedimension posit cl threeactuat system drive endeffector compens motion final test propos method use newli devis phantom model enabl visual track thermal respons hifu irradiationresult experi generat cl phantom kidney endeffector success synchron phantom motion model captur motion data human kidney accuraci motion compens evalu error endeffector respiratori motion rms error approxim mmconclus research show hifuinduc cl provid good landmark target motion track use cl track method target motion compens can realiz usguid robot hifu system

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