Feed-Forward Controller for the Integrated Non-Invasive Ultrasound Diagnosis and Treatment
Norihiro Koizumi*, Kohei Ota**, Deukhee Lee*,
Shin Yoshizawa***, Akira Ito****, Yukio Kaneko****,
Kiyoshi Yoshinaka**, Yoichiro Matsumoto****,
and Mamoru Mitsuishi*
*Department of Engineering Synthesis, School of Engineering, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan
**Department of Bioengineering, School of Engineering, The University of Tokyo
***Department of Electrical and Communication Engineering, School of Engineering, Tohoku University, 6-6-05 Aoba, Aramaki, Aoba-ku, Sendai 980-8579, Japan
****Department of Mechanical Engineering, School of Engineering, The University of Tokyo
The integrated non-invasive ultrasound diagnosis and treatment we propose tracks and follows movement in an affected area – kidney stones here ” while High-Intensity Focused Ultrasound (HIFU) is irradiated onto the area. High-speed CCD camera cannot be used in non-invasive diagnosis and treatment because we must avoid damaging healthy tissue. Servoing error mainly due to ultrasound imaging and its dead time become serious problems, unlike when a high-speed camera is used. We propose feed-forward control using semi-regular kidney movement focusing on enhancing servoing performance.
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