Construction of Non-Invasive Ultrasound Theragnostic System based on technologizing and digitalizing medical skills

• Project/Area Number: 21760187
• Research Category: Grant-in-Aid for Young Scientists (B)
• Allocation Type: Single-year Grants
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: The University of Tokyo
• Principal Investigator: KOIZUMI Norihiro 東京大学, 大学院・工学系研究科, 特任講師 (10396765)
• Project Period (FY): 2009 – 2010
• Project Status: Completed (Fiscal Year 2010)
• Budget Amount: ¥3,900,000 (Direct Cost: ¥3,000,000、Indirect Cost: ¥900,000); Fiscal Year 2010: ¥1,690,000 (Direct Cost: ¥1,300,000、Indirect Cost: ¥390,000); Fiscal Year 2009: ¥2,210,000 (Direct Cost: ¥1,700,000、Indirect Cost: ¥510,000)
• Keywords: 医療ロボット / 医療支援システム / 強力集束超音波 / 医療技能の技術化・デジタル化 / 技能の技術化 / 技能のデジタル化 / 診断・治療統合 / 非侵襲超音波医療診断・治療統合システム / 超音波診断・治療統合

Research Abstract

We constructed the Non-Invasive Ultrasound Theragnostic System, which tracks and follows the target kidney stones / tumours, while irradiating High Intensity Focused Ultrasound (HIFU). We constructed the phantom / ex-vivo experiments and 2.5 mm precision could be achieved.

Research Products

• [Journal Article] Technologizing and Digitalizing Medical Professional Skills for a Non-Invasive Ultrasound Theragnostic System (2012)
  • Author(s): Norihiro Koizumi, Joonho Seo, Takakazu Funamoto, Akira Nomiya, Akira Ishikawa, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, Mamoru Mitsuishi
  • Journal Title: Journal of Robotics and Mechatronics Volume: 7 Pages: 379-388
  • Peer Reviewed
• [Journal Article] Biplane US guided real-time volumetric target pose estimation method for theragnostic HIFU system (2011)
  • Author(s): Joonho Seo, Norihiro Koizumi, Takakazu Funamoto, Naohiko Sugita, Kiyoshi Yoshinaka, Akira Nomiya, Akira Ishikawa, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Journal Title: Journal of Robotics and Mechatronics Volume: Vol,23, No.3 Pages: 400-407
• [Journal Article] Visual Servoing for a US-guided therapeutic HIFU system by coagulated lesion tracking: a phantom study (2011)
  • Author(s): Joonho Seo, Norihiro Koizumi, Takakazu Funamoto, Sugita Naohiko, Kiyoshi Yoshinaka, Akira Nomiya, Akira Ishikawa, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Journal Title: International Journal of Medical Robotics and Computer Assisted Surgery Volume: Vol.7, No.2 Pages: 237-247
• [Journal Article] Visual Servoing for a US-guided therapeutic HIFU system by coagulated lesion tracking : a phantom study (2011)
  • Author(s): Joonho Seo, Norihiro Koizumi, Takakazu Funamoto, Sugita Naohiko, Kiyoshi Yoshinaka, Akira Nomiya, Akira Ishikawa, Yukio Homma, Yoichiro Matsumoto, Mamoru Mitsuishi
  • Journal Title: The International Journal of Medical Robotics and Computer Assisted Surgery Volume: 7 Pages: 237-247
  • Peer Reviewed
• [Journal Article] Three-dimensional computer controlled acoustic pressure scanning and quantification of focused ultrasound (2010)
  • Author(s): Joonho Seo, Norihiro Koizumi, Kiyoshi Yoshinaka, Naohiko Sugita, Akira Nomiya, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Journal Title: IEEE Trans. on Ultrasonics, Ferroelectrics, and Frequency Control Volume: Vol.57, No.4 Pages: 883-891
• [Journal Article] Three-dimensional computer controlled acoustic pressure scanning and quantification of focused ultrasound (2010)
  • Author(s): Joonho Seo, Norihiro Koizumi, Kiyoshi Yoshinaka, Naohiko Sugita, Akira Nomiya, Yukio Homma, Yoichiro Matsumoto, Mamoru Mitsuishi
  • Journal Title: IEEE Trans.on Ultrasonics, Ferroelectrics, and Frequency Control Volume: 57 Pages: 883-891
  • Peer Reviewed
• [Journal Article] Robot vision technology for technologizing and digitalization of medical diagnostic and therapeutic skills (2009)
  • Author(s): Norihiro Koizumi, Hiroyuki Tsukihara, Shinichi Takamoto, Hiroyuki Hashizume, and Mamoru Mitsuishi
  • Journal Title: International Journal of Automation Technology Volume: Vol.3, No.5 Pages: 541-550
• [Journal Article] Construction methodology for a remote ultrasound diagnostic system (2009)
  • Author(s): Norihiro Koizumi, Shin'ichi Warisawa, Mitsuru Nagoshi, Hiroyuki Hashizume, and Mamoru Mitsuishi
  • Journal Title: IEEE Trans. on Robotics Volume: Nol.25, No.3 Pages: 522-538
• [Journal Article] Construction methodology for a remote ultrasound diagnostic system (2009)
  • Author(s): Norihiro Koizumi, Shin'ichi Warisawa, Mitsuru Nagoshi, Hiroyuki Hashizume, Mamoru Mitsuishi
  • Journal Title: IEEE Trans.on Robotics 25 Pages: 522-538
  • Peer Reviewed
• [Journal Article] Robot vision technology for technologizing and digitalization of medical diagnostic and therapeutic skills (2009)
  • Author(s): Norihiro Koizumi, Hiroyuki Tsukihara, Shinichi Takamoto, Hiroyuki Hashizume, Mamoru Mitsuishi
  • Journal Title: International Journal of Automation Technology 3 Pages: 541-550
  • Peer Reviewed
• [Journal Article] Technologizing and Digitalizing Medical Professional Skills for a Non-Invasive Ultrasound Theragnostic System
  • Author(s): Norihiro Koizumi, Joonho Seo, Takakazu Funamoto, Akira Nomiya, Akira Ishikawa, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Journal Title: Journal of Robotics and Mechatronics Volume: (Accept)
• [Presentation] 非侵襲超音波診断・治療統合システムにおける追従性および安全性向上 (2011)
  • Author(s): 小泉憲裕
  • Organizer: 精密工学会
  • Place of Presentation: 東京工業大学
  • Year and Date: 2011-01-21
• [Presentation] Robust Kidney Stone Tracking for a Non-Invasive Ultrasound Theragnostic System (2011)
  • Author(s): Norihiro Koizumi, Joonho Seo, Deukhee Lee, Akira Nomiya, Shin Yoshizawa, Kiyoshi Yoshinaka, Naohiko Sugita, Yoichiro Matsumoto, Yukio Homma, and Mamoru Mitsuishi
  • Organizer: Proc. of 2011 IEEE Int. Conf. Robotics and Automation (ICRA2011)
  • Place of Presentation: Shanghai International Conference Center, Shanghai, China
• [Presentation] Ultrasound imaging-guided volumetric target recognition for non-invasive high intensity focused ultrasound therapy of renal tumors (2010)
  • Author(s): Joonho Seo, Norihiro Koizumi, Naohiko Sugita, Kiyoshi Yoshinaka, Akira Nomiya, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Organizer: Proc. of CARS 2010 Computer Assisted Radiology and Surgery
  • Place of Presentation: Geneva, Switzerland
• [Presentation] A Control Framework for the Non-Invasive Ultrasound Theragnostic System (2009)
  • Author(s): Norihiro Koizumi, Joonho Seo, Yugo Suzuki, Deukhee Lee, Kohei Ota, Akira Nomiya, Shin Yoshizawa, Kiyoshi Yoshinaka, Naohiko Sugita, Yoichiro Matsumoto, Yukio Homma, Mamoru Mitsuishi
  • Organizer: Proc.of 2009 IEEE/RSJ Int.Conf.Intelligent Robotics and Systems
  • Place of Presentation: St.Louis, MO, USA
  • Year and Date: 2009-10-14
• [Presentation] Ex vivo experiments by a non-invasive ultrasound theragonstic system (2009)
  • Author(s): Norihiro Koizumi, Joonho Seo, Yugo Suzuki, Akira Nomiya, Kiyoshi Yoshinaka, Naohiko Sugita, Yoichiro Matsumoto, Mamoru Mitsuishi
  • Organizer: 9th International Symposium on Therapeutic Ultrasound
  • Place of Presentation: Aix en Provence, France
  • Year and Date: 2009-09-24
• [Presentation] Development of computer controlled three dimensional HIFU focus model scanning system (2009)
  • Author(s): Joonho Seo, Norihiro Koizumi, Yugo Suzuki, Akira Nomiya, Kiyoshi Yoshinaka, Naohiko Sugita, Yoichiro Matsumoto, Mamoru Mitsuishi
  • Organizer: 9th International Symposium on Therapeutic Ultrasound
  • Place of Presentation: Aix en Provence, France
  • Year and Date: 2009-09-24
• [Presentation] A Control Framework for the Non-Invasive Ultrasound Theragnostic System (2009)
  • Author(s): Norihiro Koizumi, Joonho Seo, Yugo Suzuki, Deukhee Lee, Kohei Ota, Akira Nomiya, Shin Yoshizawa, Kiyoshi Yoshinaka, Naohiko Sugita, Yoichiro Matsumoto, Yukio Homma, and Mamoru Mitsuishi
  • Organizer: Proc. of 2009 IEEE/RSJ Int. Conf. Intelligent Robotics and Systems
  • Place of Presentation: St. Louis, MO, USA
• [Book] Fast and Accurate Ultrasonography for Visceral Fat Measurement, in Lecture Notes in Computer Science, LNCS 6262 (2010)
  • Author(s): You Zhou, Norihiro Koizumi, Naoto Kubota, Takaharu Asano, Kazuhito Yuhashi, Takashi Mochizuki, Takashi Kadowaki, and Ichiro Sakuma
• [Book] Development of computer controlled three dimensional HIFU focus model scanning system, in 9th International Symposium on Therapeutic Ultrasound, Kullervo Hynynen, Jacques Souquet (Eds.), Amer Inst of Physics (2010)
  • Author(s): Joonho Seo, Norihiro Koizumi, Yugo Suzuki, Akira Nomiya, Kiyoshi Yoshinaka, Naohiko Sugita, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Publisher: Springer-Verlag
• [Remarks]
• [Remarks]
  • URL: http://www.nml.t.u-tokyo.ac.jp/~nkoizumi/
• [Patent(Industrial Property Rights)] 超音波治療システム (2012)
  • Inventor(s): 佐久間一郎, 小泉憲裕, 廖洪恩, 小林英津子, 冨田誠, 藤原圭祐, 射谷和徳
  • Industrial Property Rights Holder: 佐久間一郎, 小泉憲裕, 廖洪恩, 小林英津子, 冨田誠, 藤原圭祐, 射谷和徳
  • Industrial Property Number: 2012-017499
  • Acquisition Date: 2012-01-31
• [Patent(Industrial Property Rights)] 超音波癒着測定装置 (2011)
  • Inventor(s): 月原弘之, 小泉憲裕, 光石 衛, 小野稔
  • Industrial Property Rights Holder: 月原弘之, 小泉憲裕, 光石 衛, 小野稔
  • Industrial Property Number: 2011-027806
  • Acquisition Date: 2011-01-26
• [Patent(Industrial Property Rights)] 超音波診断システム (2011)
  • Inventor(s): 窪田直人, 小泉憲裕, 廖洪恩, 浅野岳晴, 湯橋一仁, 光石衛, 大西真, 望月剛, 佐久間一郎, 門脇孝
  • Industrial Property Rights Holder: 窪田直人, 小泉憲裕, 廖洪恩, 浅野岳晴, 湯橋一仁, 光石衛, 大西真, 望月剛, 佐久間一郎, 門脇孝
  • Acquisition Date: 2011-11-10
  • Overseas
• [Patent(Industrial Property Rights)] 超音波癒着測定装置 (2011)
  • Inventor(s): 月原弘之, 小泉憲裕, 光石衛, 小野稔
  • Industrial Property Rights Holder: 月原弘之, 小泉憲裕, 光石衛, 小野稔
  • Industrial Property Number: 2011-027806
  • Filing Date: 2011-01-26
• [Patent(Industrial Property Rights)] 生体内結石検出装置 (2010)
  • Inventor(s): 光石衛, 小泉憲裕, 李得熙, 松本洋一郎, 葭仲潔, 杉田直彦, 野宮明
  • Industrial Property Rights Holder: 光石衛, 小泉憲裕, 李得熙, 松本洋一郎, 葭仲潔, 杉田直彦, 野宮明
  • Industrial Property Number: 2010-207427
  • Acquisition Date: 2010-09-24
• [Patent(Industrial Property Rights)] 超音波診断システム用プローブ保持器具 (2009)
  • Inventor(s): 窪田直人, 小泉憲裕, 廖洪恩, 浅野岳晴, 湯橋一仁, 光石衛, 大西真, 望月剛, 佐久間一郎, 門脇孝
  • Industrial Property Rights Holder: 窪田直人, 小泉憲裕, 廖洪恩, 浅野岳晴, 湯橋一仁, 光石衛, 大西真, 望月剛, 佐久間一郎, 門脇孝
  • Industrial Property Number: 2009-256887
  • Acquisition Date: 2009-11-10
• [Patent(Industrial Property Rights)] 超音波診断システム (2009)
  • Inventor(s): 窪田直人, 小泉憲裕, 廖洪恩, 浅野岳晴, 湯橋一仁, 光石衛, 大西真, 望月剛, 佐久間一郎, 門脇孝
  • Industrial Property Rights Holder: 窪田直人, 小泉憲裕, 廖洪恩, 浅野岳晴, 湯橋一仁, 光石衛, 大西真, 望月剛, 佐久間一郎, 門脇孝
  • Industrial Property Number: 2009-256886
  • Acquisition Date: 2009-11-10