Non-invasive ultrasound pain evaluation and therapeutic system

• Project/Area Number: 24656163
• Research Category: Grant-in-Aid for Challenging Exploratory Research
• Allocation Type: Multi-year Fund
• Research Field: Intelligent mechanics/Mechanical systems
• Research Institution: The University of Tokyo
• Principal Investigator: KOIZUMI Norihiro 東京大学, 工学(系)研究科(研究院), 講師 (10396765)
• Co-Investigator(Kenkyū-buntansha): KAWASAKI Motohiro 高知大学, 医学部, 講師 (50398054) ; YOSHINAKA Kiyoshi 産業技術総合研究所, 健康工学研究部門, 研究員 (90358341)
• Project Period (FY): 2012-04-01 – 2015-03-31
• Project Status: Completed (Fiscal Year 2014)
• Budget Amount: ¥4,030,000 (Direct Cost: ¥3,100,000、Indirect Cost: ¥930,000); Fiscal Year 2014: ¥1,170,000 (Direct Cost: ¥900,000、Indirect Cost: ¥270,000); Fiscal Year 2013: ¥1,560,000 (Direct Cost: ¥1,200,000、Indirect Cost: ¥360,000); Fiscal Year 2012: ¥1,300,000 (Direct Cost: ¥1,000,000、Indirect Cost: ¥300,000)
• Keywords: 非侵襲超音波診断・治療統合システム / 医デジ化 / 医療技能の技術化・デジタル化 / 超音波診断・治療ロボット / 超音波診断ロボット / 超音波治療ロボット / 強力集束超音波 / 非侵襲痛み評価・治療統合システム / 医療ロボット / 超音波診断・治療統合システム / 非侵襲超音波医療診断・治療統合システム / 体動補償 / HIFU / 技能の技術化 / 技能のデジタル化 / 非侵襲 / 痛み治療・評価システム

Outline of Final Research Achievements

We reported the results of HIFU clinical treatments. Pains are alleviated by HIFU therapy in many cases in our clinical trials. Some patients, who couldn't walk, could walk instantly after their treatments. This fact strongly shows the possibility of the HIFU treatments as a main fruit of this research project.
Considering those results, we developed the prototype system of the non-invasive ultrasound pain evaluation and therapeutic system, conducted HIFU irradiation animal experiments, and confirmed the effectiveness of the constructed prototype system. The purpose of this prototype system is to evaluate the HIFU irradiation conditions, such as frequency and amplitude, and the temperature of the tissue, injury of nerves, changes on distribution of the surrounding inflammatory neuropeptide, changes on bone joints.

Research Products

• [Journal Article] Evaluation of the Pain and Local Tenderness in Bone Metastasis treated with Magnetic Resonance-guided Focused Ultrasound Surgery（MRgFUS） (2015)
  • Author(s): Hirofumi Namba, Motohiro Kawasaki, Tomonari Kato, Toshikazu Tani, Takahiro Ushida, and Norihiro Koizumi
  • Journal Title: Amer Inst of Physics Volume: -
  • Peer Reviewed
• [Journal Article] Construction of kidney phantom model with acoustic shadow by rib bones and respiratory organ motion (2015)
  • Author(s): Dongjun Lee, Norihiro Koizumi, Hiroyuki Tsukihara, Akira Nomiya, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Journal Title: Amer Inst of Physics Volume: -
  • NAID: 10031194187
  • Peer Reviewed
• [Journal Article] System Identification Method for Non-Invasive Ultrasound Theragnostic System Incorporating Mechanical Oscillation Part (2014)
  • Author(s): Norihiro Koizumi, Kouhei Oota, Dongjun Lee, Hiroyuki Tsukihara, Akira Nomiya, Kiyoshi Yoshinaka, Takashi Azuma, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Journal Title: International Journal of Automation Technology (IJAT) Volume: 8 Pages: 110-119
  • NAID: 130007673917
  • Peer Reviewed
• [Journal Article] Remote Ultrasound Diagnostic System(RUDS) (2014)
  • Author(s): Norihiro Koizumi, Takehiko Tsurumi, Takahiro Kato, Shin'ichi Warisawa, Mitsuru Nagoshi, Hiroyuki Hashizume, and Mamoru Mitsuishi
  • Journal Title: Journal of Robotics and Mechatronics (JRM) Volume: 26 Pages: 396-397
  • NAID: 130007671100
  • Peer Reviewed
• [Journal Article] 医デジ化にもとづく超音波医療診断・治療統合システムの構築法 (2014)
  • Author(s): 小泉憲裕, 月原弘之, 光石 衛
  • Journal Title: 設計工学会誌 Volume: 49 Pages: 6-13
  • Peer Reviewed
• [Journal Article] 有痛性骨転移に対するhigh-intensity focused ultrasound治療 (2014)
  • Author(s): 川崎元敬, 加藤友也, 南場寛文, 谷 俊一, 牛田享宏
  • Journal Title: 超音波医学 Volume: 41 Pages: 735-747
  • NAID: 130004691239
• [Journal Article] A novel redundant motion control mechanism in accordance with medical diagnostic and therapeutic task functions for a NIUTS (2014)
  • Author(s): Norihiro Koizumi, Dongjun Lee, Joonho Seo, Hiroyuki Tsukihara, Akira Nomiya, Takashi Azuma, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Journal Title: Proc. of 2014 IEEE/RSJ Int. Conf. Intelligent Robotics and Systems (IROS 2014) Volume: 1 Pages: 2009-2016
  • DOI: 10.1109/iros.2014.6942830
  • Peer Reviewed
• [Journal Article] A novel robust template matching method to track and follow body targets for NIUTS (2014)
  • Author(s): Norihiro Koizumi, Takakazu Funamoto, Joonho Seo, Dongjun Lee, Hiroyuki Tsukihara, Akira Nomiya, Takashi Azuma, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Journal Title: Proc. of 2014 IEEE Int. Conf. Robotics and Automation (ICRA 2014) Volume: 1 Pages: 1929-1936
  • DOI: 10.1109/icra.2014.6907114
  • Peer Reviewed
• [Journal Article] Remote Ultrasound Diagnostic System (2014)
  • Author(s): Norihiro Koizumi, Takehiko Tsurumi, Takahiro Kato, Shin'ichi Warisawa, Mitsuru Nagoshi, Hiroyuki Hashizume, and Mamoru Mitsuishi
  • Journal Title: Journal of Robotics and Mechatronics (JRM) Volume: 26
  • Peer Reviewed
• [Journal Article] 医デジ化にもとづく超音波医療診断・治療統合システムの構築法 (2014)
  • Author(s): 小泉憲裕, 月原弘之, 光石 衛
  • Journal Title: 設計工学 Volume: 49
  • Peer Reviewed
• [Journal Article] A novel robust template matching method to track and follow body targets for NIUTS (2014)
  • Author(s): Norihiro Koizumi, Takakazu Funamoto, Joonho Seo, Dongjung Lee, Hiroyuki Tsukihara, Akira Nomiya, Takashi Azuma, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Journal Title: Proc. of 2014 IEEE Int. Conf. Robotics and Automation (ICRA 2014) Volume: -
  • Peer Reviewed
• [Journal Article] Construction Methodology for NIUTS - Bed Servoing System for Body Targets - (2013)
  • Author(s): Norihiro Koizumi, Joonho Seo, Takakazu Funamoto, Yutaro Itagaki, Akira Nomiya, Akira Ishikawa, Hiroyuki Tsukihara, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Journal Title: Journal of Robotics and Mechatronics (JRM) Volume: 25 Pages: 1088-1096
  • Peer Reviewed
• [Journal Article] MR-guided focused ultrasound for the novel and innovative management of osteoarthritic knee pain (2013)
  • Author(s): Masashi Izumi, Masahiko Ikeuchi, Motohiro Kawasaki, Takahiro Ushida, Kazuo Morio, Hirofumi Namba, Thomas Graven-Nielsen, Yasuhiro Ogawa, and Toshikazu Tani
  • Journal Title: BMC Musculoskeletal Disorders Volume: 14 Issue: 1 Pages: 267-274
  • DOI: 10.1186/1471-2474-14-267
  • Peer Reviewed
• [Journal Article] Automatic Distance Measurement of Abdominal Aorta for Ultrasonography-based Visceral Fat Estimation (2013)
  • Author(s): Junchen Wang, You Zhou, Norihiro Koizumi, Naoto Kubota, Takeharu Asano, Kuzuhito Yuhashi, Tsuyoshi Mitake, Kazunori Itani, Toshiaki Tkahashi, Shigemi Takeishi, Shiro Sasaki, Takashi Kadowaki, Ichiro Sakuma, and Hongen Liao
  • Journal Title: Proc. of 35th Annual International Conference of IEEE Engineering in Medicine and Biology Society (EMBC 2013) Volume: - Pages: 6486-6489
  • DOI: 10.1109/embc.2013.6611040
  • Peer Reviewed
• [Journal Article] A Mechanical System Identification Method for Non-Invasive Ultrasound Theragnostic System (2013)
  • Author(s): Norihiro Koizumi
  • Journal Title: Procedia CIRP Volume: 5 Pages: 315-320
  • DOI: 10.1016/j.procir.2013.01.062
• [Journal Article] Construction Methodology for the Non-Invasive Ultrasound Theragnostic System - Bed-Type Servoing System for Body Targets - (2013)
  • Author(s): Norihiro Koizumi
  • Journal Title: Procedia CIRP Volume: 5 Pages: 294-299
  • DOI: 10.1016/j.procir.2013.01.058
  • Peer Reviewed
• [Journal Article] Technologizing and Digitalizing Medical Professional Skills for a Non-Invasive Ultrasound (2012)
  • Author(s): Norihiro Koizumi
  • Journal Title: Journal of Robotics and Mechatronics Volume: 24 Pages: 379-388
• [Presentation] Problems and solution approaches to compensate physiological motions for HIFU systems (2015)
  • Author(s): Norihiro Koizumi
  • Organizer: a half day EMBC Workshop on "Focused ultrasound therapy and robotic technology: from the concept to the bedside"
  • Place of Presentation: Milan, Italy
  • Year and Date: 2015-08-24
  • Invited
• [Presentation] Position and orientation input device for non-invasive ultrasound theragnostic system (NIUTS) (2015)
  • Author(s): Norihiro Koizumi, Dongjun Lee, Tatsuya Fujii, Hiroyuki Tsukihara, Hiroyuki Fukuda, Kiyoshi Yoshinaka, Takashi Azuma, Hideyo Miyazaki, Naohiko Sugita, Kazushi Numata, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Organizer: 12th International Symposium on Therapeutic Ultrasound (ISTU 2015)
  • Place of Presentation: Utrecht, Netherlands
  • Year and Date: 2015-04-15 – 2015-04-18
• [Presentation] A robust tracking method of focal lesions for US guided RFA treatments (2015)
  • Author(s): Dongjun Lee, Norihiro Koizumi, Tatsuya Fujii, Hiroyuki Fukuda, Hiroyuki Tsukihara, Takashi Azuma, Kiyoshi Yoshinaka , Nobutaka Doba, Katsuaki Tanaka, Ayako Takeda, Kazushi Numata, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Organizer: 12th International Symposium on Therapeutic Ultrasound (ISTU 2015)
  • Place of Presentation: Utrecht, Netherlands
  • Year and Date: 2015-04-15 – 2015-04-18
• [Presentation] HIFU treatment for hepatocellular carcinoma using respiratory motion tracking system and 3D slicer navigation system (2015)
  • Author(s): Hiroyuki Fukuda, Nobutaka Doba, Kazushi Numata, Ayako Takeda, Yoshiharu Hao, Akito Nozaki, Masaaki Kondo, Makoto Chuma, Shin Maeda, Katsuaki Tanaka, Tatsuya Fujii, Dongjun Lee, Norihiro Koizumi, Hiroyuki Tsukihara, Mamoru Mitsuishi, Yoichiro Matsumoto, Kiyoshi Yoshinaka, Akira Kobayashi, and Jun Tokuda
  • Organizer: 12th International Symposium on Therapeutic Ultrasound (ISTU 2015)
  • Place of Presentation: Utrecht, Netherlands
  • Year and Date: 2015-04-15 – 2015-04-18
• [Presentation] 肝癌のHIFU治療における3D Slicerと呼吸トラッキングの有用性 (2014)
  • Author(s): 福田浩之, 沼田和司, 道端信貴, 竹田彩子, 羽尾義輝, 野崎昭人, 中馬誠 近藤正晃, 前田 慎, 田中克明, 伊藤龍, 貝沼 修, 山口武人, 竜 崇正, 小林 暁, 徳田淳一, 李 東俊, 小泉憲裕, 光石 衛, 松本洋一郎, 葭仲 潔
  • Organizer: 第13回日本超音波治療研究会
  • Place of Presentation: 仙台情報・産業プラザ, 宮城
  • Year and Date: 2014-11-15
• [Presentation] 非侵襲超音波医療診断・治療システムのための位置・姿勢入力デバイス (2014)
  • Author(s): 小泉憲裕, 李 東俊, 藤井達也，月原弘之, 福田浩之, 葭仲 潔, 東 隆, 宮嵜英世, 杉田直彦, 本間之夫, 松本洋一郎, 光石 衛
  • Organizer: 日本コンピュータ外科学会
  • Place of Presentation: 大阪大学コンベンションセンター, 大阪
  • Year and Date: 2014-11-08 – 2014-11-09
• [Presentation] 超音波ガイド下RFA治療のためのロバストな患部追跡手法 (2014)
  • Author(s): 李 東俊, 小泉憲裕, 藤井達也，福田浩之，月原弘之, 東 隆, 葭仲 潔, 道端信貴, 田中克明, 竹田彩子, 沼田和司, 杉田直彦, 本間之夫, 松本洋一郎, 光石 衛
  • Organizer: 日本コンピュータ外科学会
  • Place of Presentation: 大阪大学コンベンションセンター, 大阪
  • Year and Date: 2014-11-08 – 2014-11-09
• [Presentation] Respiratory Tracking System of Hepatocellular Carcinoma Treatment Using FUS (2014)
  • Author(s): Hiroyuki Fukuda, Nobutaka Doba, Kazushi Numata, Ayako Takeda, Yoshiharu Hao, Akito Nozaki, Masaaki Kondo, Makoto Chuma, Shin Maeda, Tatsuya Fujii, Dongjun Lee, Norihiro Koizumi, Hiroyuki Tsukihara, Mamoru Mitsuishi, Yoichiro Matsumoto, and Katsuaki Tanaka
  • Organizer: Focused Ultrasound 2014 - 4th International Symposium
  • Place of Presentation: Washington D.C., USA
  • Year and Date: 2014-10-12 – 2014-10-14
• [Presentation] A novel redundant motion control mechanism in accordance with medical diagnostic and therapeutic task functions for a NIUTS (2014)
  • Author(s): Norihiro Koizumi, Dongjun Lee, Joonho Seo, Hiroyuki Tsukihara, Akira Nomiya, Takashi Azuma, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Organizer: 2014 IEEE/RSJ Int. Conf. Intelligent Robotics and Systems (IROS 2014)
  • Place of Presentation: Chicago, USA
  • Year and Date: 2014-09-14 – 2014-09-18
• [Presentation] 非侵襲超音波診断・治療統合システムにおけるロバスト性向上のための追従状態自動復帰法 (2014)
  • Author(s): 小泉憲裕, 舟本貴一，李 東俊, 月原弘之, 福田浩之，東 隆, 野宮 明, 葭仲 潔, 杉田直彦, 本間之夫, 松本洋一郎, 光石 衛
  • Organizer: 第32回日本ロボット学会学術講演会
  • Place of Presentation: 九州産業大学, 福岡
  • Year and Date: 2014-09-04 – 2014-09-06
• [Presentation] 非侵襲超音波診断治療統合システムにおける臓器変形に対するロバスト性向上に関する研究 (2014)
  • Author(s): 李 東俊, 小泉憲裕, 月原弘之, 福田浩之，東 隆, 野宮 明, 葭仲 潔, 杉田直彦, 本間之夫, 松本洋一郎, 光石 衛
  • Organizer: 第32回日本ロボット学会学術講演会
  • Place of Presentation: 九州産業大学, 福岡
  • Year and Date: 2014-09-04 – 2014-09-06
• [Presentation] Problems in motion tracking for body targets by PD control and their solutions (2014)
  • Author(s): Norihiro Koizumi, Dongjun Lee, Hiroyuki Tsukihara, Akira Nomiya, Takashi Azuma, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Organizer: CARS 2014 Computer Assisted Radiology and Surgery
  • Place of Presentation: Fukuoka, Japan
  • Year and Date: 2014-06-25 – 2014-06-28
• [Presentation] A novel robust template matching method to track and follow body targets for NIUTS (2014)
  • Author(s): Norihiro Koizumi, Takakazu Funamoto, Joonho Seo, Dongjun Lee, Hiroyuki Tsukihara, Akira Nomiya, Takashi Azuma, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Organizer: 2014 IEEE Int. Conf. Robotics and Automation (ICRA 2014)
  • Place of Presentation: Hongkong, China
  • Year and Date: 2014-05-31 – 2014-06-05
• [Presentation] 医療技能の技術化・デジタル化に関する研究－肋骨を避けて超音波撮像するために必要なプローブ操作機構－ (2014)
  • Author(s): 小泉憲裕, 板垣雄太郎, 李 東俊, 月原弘之, 東 隆, 野宮 明, 葭仲 潔, 杉田直彦, 本間之夫, 松本洋一郎, 光石 衛
  • Organizer: 日本機械学会ロボティクス・メカトロニクス'14講演会
  • Place of Presentation: 富山市総合体育館, 富山
  • Year and Date: 2014-05-25 – 2014-05-28
• [Presentation] Construction of kidney phantom model with acoustic shadow by rib bones and respiratory organ motion (2014)
  • Author(s): Dongjun Lee, Norihiro Koizumi, Hiroyuki Tsukihara, Akira Nomiya, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Organizer: 11th International Symposium on Therapeutic Ultrasound (ISTU 2014)
  • Place of Presentation: Las Vegas, USA
  • Year and Date: 2014-04-02 – 2014-04-05
• [Presentation] Servoing performance enhancement for body targets for NIUTS (2014)
  • Author(s): Norihiro Koizumi, Dongjun Lee, Hiroyuki Tsukihara, Akira Nomiya, Kiyoshi Yoshinaka, Motohiro Kawasaki, Naohiko Sugita, Takahiro Ushida, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Organizer: 11th International Symposium on Therapeutic Ultrasound (ISTU 2014)
  • Place of Presentation: Las Vegas, USA
  • Year and Date: 2014-04-02 – 2014-04-05
• [Presentation] Servoing performance enhancement for body targets for NIUTS," in Proc. of 11th International Symposium on Therapeutic Ultrasound (ISTU 2014) (2014)
  • Author(s): Norihiro Koizumi, Dongjung Lee, Hiroyuki Tsukihara, Akira Nomiya, Kiyoshi Yoshinaka, Motohiro Kawasaki, Naohiko Sugita, Takahiro Ushida, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Organizer: 11th International Symposium on Therapeutic Ultrasound (ISTU 2014)
  • Place of Presentation: Caesars Palace, Las Vegas, USA
• [Presentation] Construction of kidney phantom model with acoustic shadow by rib bones and respiratory organ motion (2014)
  • Author(s): Dongjung Lee, Norihiro Koizumi, Hiroyuki Tsukihara, Akira Nomiya, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Organizer: 11th International Symposium on Therapeutic Ultrasound (ISTU 2014)
  • Place of Presentation: Caesars Palace, Las Vegas, USA
• [Presentation] A novel robust template matching method to track and follow body targets for NIUTS (2014)
  • Author(s): Norihiro Koizumi, Takakazu Funamoto, Joonho Seo, Dongjung Lee, Hiroyuki Tsukihara, Akira Nomiya, Takashi Azuma, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Organizer: 2014 IEEE Int. Conf. Robotics and Automation (ICRA 2014)
  • Place of Presentation: Hong Kong Convention and Exhibition Center, Hongkong, China
• [Presentation] Problems in motion tracking for body targets by PD control and their solutions (2014)
  • Author(s): Norihiro Koizumi, Dongjung Lee, Hiroyuki Tsukihara, Akira Nomiya, Takashi Azuma, Kiyoshi Yoshinaka, Naohiko Sugita, Yukio Homma, Yoichiro Matsumoto, and Mamoru Mitsuishi
  • Organizer: CARS 2014 Computer Assisted Radiology and Surgery
  • Place of Presentation: Fukuoka Convention Center, Fukuoka, Japan
• [Presentation] Multielement compact amplifier module for therapeutic ultrasound transducer (2014)
  • Author(s): Kiyoshi Yoshinaka, Hideki Takeuchi, Takashi Azuma, Akira Sasaki, Syu Takagi, Yoichiro Matsumoto
  • Organizer: 11th International Symposium on Therapeutic Ultrasound (ISTU 2014)
  • Place of Presentation: Hong Kong Convention and Exhibition Center, Hongkong, China
• [Presentation] Evaluation of the pain and local tenderness in bone metastasis treated with magnetic resonance-guided focused ultrasound surgery (MTGFUS) (2014)
  • Author(s): Hirofumi Namba, Motohiro Kawasaki, Tomonari Kato, Toshikazu Tani, Takahiro Ushida
  • Organizer: 11th International Symposium on Therapeutic Ultrasound (ISTU 2014)
  • Place of Presentation: Caesars Palace, Las Vegas, USA
• [Presentation] Automatic Distance Measurement of Abdominal Aorta for Ultrasonography-based Visceral Fat Estimation (2013)
  • Author(s): Junchen Wang, You Zhou, Norihiro Koizumi, Naoto Kubota, Takeharu Asano, Kuzuhito Yuhashi, Tsuyoshi Mitake, Kazunori Itani, Toshiaki Tkahashi, Shigemi Takeishi, Shiro Sasaki, Takashi Kadowaki, Ichiro Sakuma, and Hongen Liao
  • Organizer: 35th Annual International Conference of IEEE Engineering in Medicine and Biology Society (EMBC 2013)
  • Place of Presentation: Osaka International Convention Center, Osaka, Japan
• [Presentation] 生体を対象とする非侵襲超音波診断・治療統合システムの構築 (2013)
  • Author(s): 小泉憲裕, 李 東俊, 月原弘之, 葭仲 潔, 東 隆, 野宮 明, 南場寛文, 川﨑元敬, 牛田享宏, 杉田直彦, 本間之夫, 松本洋一郎, 光石 衛
  • Organizer: 第12回日本超音波治療研究会
  • Place of Presentation: 帝京大学板橋キャンパス, 東京
• [Presentation] A Mechanical System Identification Method for Non-Invasive Ultrasound Theragnostic System (2013)
  • Author(s): Norihiro Koizumi
  • Organizer: First CIRP Conference on BioManufacturing (BioM2013)
  • Place of Presentation: Tokyo, Japan
• [Presentation] Construction Methodology for the Non-Invasive Ultrasound Theragnostic System (4th report) - Bed-Type Servoing System for Body Targets - (2013)
  • Author(s): Norihiro Koizumi
  • Organizer: First CIRP Conference on BioManufacturing (BioM2013)
  • Place of Presentation: Tokyo, Japan
• [Presentation] Robustness enhancement of motion compensation for a non-invasive ultrasound theragnostic system (2012)
  • Author(s): Norihiro Koizumi
  • Organizer: CARS 2012 Computer Assisted Radiology and Surgery
  • Place of Presentation: Pisa, Italy
• [Presentation] Technologizing and Digitalizing of Medical Professional Skills for a Non-Invasive Ultrasound (2012)
  • Author(s): Norihiro Koizumi
  • Organizer: 2012 International Symposium on Flexible Automation (ISFA2012)
  • Place of Presentation: St. Louis, MO, USA
• [Presentation] Problems and solutions associated with visual motion tracking using ultrasound images (2012)
  • Author(s): Norihiro Koizumi
  • Organizer: 11th International Symposium on Therapeutic Ultrasound (ISTU2012)
  • Place of Presentation: Heidelberg, Germany
• [Remarks] 小泉 憲裕の研究ブログ
  • URL: http://blog2009nkoizumi.japanprize.jp/
• [Remarks] 小泉憲裕，博士（工学）の研究業績リスト
  • URL: http://www.niuts.sakura.ne.jp/nkoizumi/
• [Remarks] Norihiro Koizumi's Citations (Google scholar)
  • URL: https://scholar.google.co.jp/citations?user=twToQOwAAAAJ&hl=en
• [Remarks] Norihiro Koizumi's Research Gate page
  • URL: https://www.researchgate.net/profile/Norihiro_Koizumi
• [Remarks] 小泉 憲裕（教員紹介）
  • URL: http://www.t.u-tokyo.ac.jp/faculty/t_meibo/en/80077915.html
• [Remarks] 小泉憲裕，博士（工学）の研究業績リスト
  • URL: http://www.nml.t.u-tokyo.ac.jp/~nkoizumi/paperList.html
• [Remarks] 医デジ化に基づく医療支援システムの構築法
  • URL: http://blog2009nkoizumi.japanprize.jp/2014/04/istu2014.html
• [Remarks] NPO法人いたみ医学研究情報センター
  • URL: http://www.pain-medres.info/
• [Remarks] 小泉憲裕の研究ブログ
  • URL: http://blog2009nkoizumi.japanprize.jp/
• [Remarks] 小泉憲裕のホームページ
  • URL: http://www.nml.t.u-tokyo.ac.jp/̃nkoizumi/
• [Patent(Industrial Property Rights)] 生体内運動追跡装置 (2015)
  • Inventor(s): 小泉憲裕, 李 東俊, 藤井達也, ほか
  • Industrial Property Rights Holder: 小泉憲裕, 李 東俊, 藤井達也, ほか
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 2015-040453
  • Filing Date: 2015-03-02
• [Patent(Industrial Property Rights)] 超音波診断システム (2015)
  • Inventor(s): 窪田直人, 小泉憲裕, 浅野岳晴, ほか
  • Industrial Property Rights Holder: 窪田直人, 小泉憲裕, 浅野岳晴, ほか
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 2015-083067
  • Filing Date: 2015-04-15
• [Patent(Industrial Property Rights)] 超音波診断システム (2013)
  • Inventor(s): 窪田直人, 小泉憲裕ほか
  • Industrial Property Rights Holder: 窪田直人, 小泉憲裕ほか
  • Industrial Property Rights Type: 特許
  • Filing Date: 2013-07-23
  • Overseas
• [Patent(Industrial Property Rights)] 超音波診断システム (2012)
  • Inventor(s): 窪田直人, 小泉憲裕, ほか
  • Industrial Property Rights Holder: 窪田直人, 小泉憲裕, ほか
  • Industrial Property Rights Type: 特許
  • Filing Date: 2012-08-09
  • Acquisition Date: 2013-09-20
• [Patent(Industrial Property Rights)] 超音波診断システム (2012)
  • Inventor(s): 窪田直人, 浅野岳晴, 小泉憲裕, et,al.
  • Industrial Property Rights Holder: 窪田直人, 浅野岳晴, 小泉憲裕, et,al.
  • Industrial Property Rights Type: 特許
  • Industrial Property Number: 2012-176613
  • Filing Date: 2012-08-09