Feed-Forward Controller for the Integrated Non-Invasive Ultrasound Diagnosis and Treatment | Zendy

Norihiro Koizumi | Zendy; Kohei Ota | Zendy; Deukhee Lee | Zendy; Shin Yoshizawa | Zendy; Akira Itô | Zendy; Yukio Kaneko | Zendy; Kiyoshi Yoshinaka | Zendy; Yoichiro Matsumoto | Zendy; Mamoru Mitsuishi | Zendy

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Feed-Forward Controller for the Integrated Non-Invasive Ultrasound Diagnosis and Treatment

Author(s) -

Norihiro Koizumi,

Kohei Ota,

Deukhee Lee,

Shin Yoshizawa,

Akira Itô,

Yukio Kaneko,

Kiyoshi Yoshinaka,

Yoichiro Matsumoto,

Mamoru Mitsuishi

Publication year - 2008

Publication title -

journal of robotics and mechatronics

Language(s) - English

Resource type - Journals

eISSN - 1883-8049

pISSN - 0915-3942

DOI - 10.20965/jrm.2008.p0089

Subject(s) - ultrasound , visual servoing , computer vision , computer science , artificial intelligence , controller (irrigation) , ultrasound imaging , medicine , radiology , image (mathematics) , biology , agronomy

The integrated non-invasive ultrasound diagnosis andtreatment we propose tracks and follows movementin an affected area –kidney stones here– while High-Intensity Focused Ultrasound (HIFU) is irradiatedonto the area. High-speed CCD camera cannot beused in non-invasive diagnosis and treatment becausewe must avoid damaging healthy tissue. Servoing er-ror mainly due to ultrasound imaging and its deadtime become serious problems, unlike when a high-speed camera is used. We propose feed-forward con-trol using semi-regular kidney movement focusing onenhancing servoing performance.Keywords: non-invasive ultrasound diagnosis and treat-ment, motion tracking, feed-forward control, High Inten-sity Focused Ultrasound, medicalsupport system

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