An Ultrasonography Assisted Robotic HIFU Ablation Experimental System

Ching Shiow Tseng, Ja How Syu, Chi Yu An, Chih-Ju Chang

Abstract

In recent years, noninvasive thermal treatment by using High Intensity Focused Ultrasound (HIFU) has high potential in tumor treatment. The goal of this research is to develop an ultrasonography assisted robotic HIFU ablation system for tumor treatment. The system integrates the technologies of ultrasound image assisted guidance, robotic positioning control, and HIFU treatment planning. With the assistance of ultrasound image guidance technology, the tumor size and location can be determined from ultrasound images and the robot can be controlled to position the HIFU probe to focus on the target tumor. An experiment of using mountain-typed template to verify the positioning accuracy of the ultrasonography assisted robotic HIFU ablation system has been done. The results show that the average positioning error is 1.06mm with a standard deviation 0.25, which is feasible for tumor therapy.

References

  1. Masamune, K., Kurima, I., Kuwana, K., et al., 2013, HIFU Positioning Robot for Less-Invasive Fetal Treatment, Procedia CIRP, vol. 5, , pp. 286-289.
  2. Chauhan, S., 2008, FUSBOTs: Image-guided Robotic Systems for Focused Ultrasound Surgery, Medical Robotics, Vanja Bozovic, ISBN 978-3-902613-18-9, I-Tech Education and Publishing, Vienna, Austriap, pp.526.
  3. Chauhan, S. Tan, M.T., Seet, G., et al., 2009, Minimally invasive robotic HIFU neurosurgical applications, in 38th Annual Symposium of the Ultrasonic Industry Association (UIA), , Vancouver, BC, pp. 1-5.
  4. Qiu, Z. Gao, J., Cochran, S., et al., 2009, The development of therapeutic ultrasound with assistance of robotic manipulator,” Proc IEEE Eng Med Biol Soc, pp. 733-736.
  5. Seo, J., Koizumi, N., Yoshinaka, N., et al., 2010, Three-dimensional computer-controlled acoustic pressure scanning and quantification of focused ultrasound, IEEE Trans Ultrason Ferroelectr Freq Control, vol. 57, pp. 883-891.
  6. Martinez, R., Vera, A. and Leija, L., 2012, High-intensity focused ultrasound thermal mapping by using a thermocouple embedded in a tissue-mimicking material, Electrical Engineering, Computing Science and Automatic Control (CCE), 9th International Conference, pp. 1-4.
  7. Soneson, J.E., 2009, A User-Friendly Software Package for HIFU Simulation, AIP Conference Proceedings, Vol. 1113 Issue 1, p165.
  8. Chauhan, S., 2008, Image-guided Robotic Systems for FUS (Focused Ultrasound Surgery), Vanja Bozovic, ISBN 978-3-902613-18-9, I-Tech Education and Publishing, Vienna, Austriap, pp.526.
  9. Qiu, Z., Gao, J., Cochran, S., et al. 2009, The development of therapeutic ultrasound with assistance of robotic manipulator, Proc IEEE Eng Med Biol Soc, pp. 733-736.
  10. Hill, C.R., Rivens, L., Vaughan, M.G., et al., 1994, Lesion development in focused ultrasound surgery: A general model, Ultrasound in Medicine & Biology, vol. 20, pp. 259-269.
  11. Takegami, K., Kaneko, Y., Watanabe, T., et al., 2004, Polyacrylamide gel containing egg white as new model for irradiation experiments using focused ultrasound," Ultrasound Med Biol, vol. 30, pp. 1419-1422.
  12. Tung, Y.S., Liu, H.L., Wu, C.C., et al., 2006, Contrast-agent enhanced ultrasound thermal ablation," Ultrasound Med Biol, vol. 32, pp. 1103-1110.
  13. Luo, H., Shen, G., and Chen, Y., 2009, Treatment Planning of Scanning Time and Path for Phased High-Intensity Focused Ultrasound Surgery, in Biomedical Engineering and Informatics, BMEI 7809. , pp. 1-4.
  14. Vaezy, S., Shi, X., Martin, R.W., et al., 2001, Real-time visualization of high-intensity focused ultrasound treatment using ultrasound imaging, Ultrasound in Medicine & Biology, vol. 27, pp. 33-42.
  15. Sakuma, I., Takai, Y., Kobayashi, E., et al., 2002, Navigation of High Intensity Focused Ultrasound Applicator with an Integrated Three-Dimensional Ultrasound Imaging System, MICCAI, 5th International Conference, vol. 2489, pp. 133-139.
Download


Paper Citation


in Harvard Style

Tseng C., Syu J., An C. and Chang C. (2015). An Ultrasonography Assisted Robotic HIFU Ablation Experimental System . In Proceedings of the International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2015) ISBN 978-989-758-071-0, pages 109-114. DOI: 10.5220/0005207601090114


in Bibtex Style

@conference{biodevices15,
author={Ching Shiow Tseng and Ja How Syu and Chi Yu An and Chih-Ju Chang},
title={An Ultrasonography Assisted Robotic HIFU Ablation Experimental System},
booktitle={Proceedings of the International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2015)},
year={2015},
pages={109-114},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005207601090114},
isbn={978-989-758-071-0},
}


in EndNote Style

TY - CONF
JO - Proceedings of the International Conference on Biomedical Electronics and Devices - Volume 1: BIODEVICES, (BIOSTEC 2015)
TI - An Ultrasonography Assisted Robotic HIFU Ablation Experimental System
SN - 978-989-758-071-0
AU - Tseng C.
AU - Syu J.
AU - An C.
AU - Chang C.
PY - 2015
SP - 109
EP - 114
DO - 10.5220/0005207601090114