2016 Fiscal Year Final Research Report
Robust visual servoing for medical ultrasound for HIFU therapy
| Project/Area Number |
25350568
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| Research Category |
Grant-in-Aid for Scientific Research (C)
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| Allocation Type | Multi-year Fund |
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| Section | 一般 |
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| Research Field |
Medical systems
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| Research Institution | Kyushu University |
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Principal Investigator |
Nakadate Ryu 九州大学, 先端医療イノベーションセンター, 助教 (40584470)
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| Project Period (FY) |
2013-04-01 – 2017-03-31
|
| Keywords | 超音波診断ロボット |
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| Outline of Final Research Achievements |
The study aim was to develop a robotic system which holds a medical ultrasound probe and automatically keeps tracking the target cross section of the human organ even if it is moving by respiratory motion. We have developed a new probe holding robot and algorithms for improving the tracking performance. By using sensor fusion of the patient respiratory volume and ultrasound image, we have successfully achieved a significant reduction of the tracking error compared with the traditional image feedback control.
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| Free Research Field |
工学
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