ultrasound(hifu)
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Non-Invasive Ultrasound Diagnosis and Non-Invasive Ultrasound Diagnosis and Treatment System Utilizing Robot Technology Treatment System Utilizing Robot Technology
Department of Engineering Synthesis,Department of Engineering Synthesis,School of Engineering, The Univ. of TokyoSchool of Engineering, The Univ. of Tokyo
(Nano Bioengineering Education Program) (Nano Bioengineering Education Program) Norihiro KOIZUMINorihiro KOIZUMI
ContentsContents
1.1. Stone Motion Tracking for Non-Invasive Stone Motion Tracking for Non-Invasive Ultrasound Diagnosis and Treatment SystemUltrasound Diagnosis and Treatment System
2. Probe Positioning Support Utilizing Shoulder 2. Probe Positioning Support Utilizing Shoulder Model for Ultrasound DiagnosisModel for Ultrasound Diagnosis
Stone Motion Tracking for Non-Stone Motion Tracking for Non-Invasive Ultrasound Diagnosis and Invasive Ultrasound Diagnosis and
Treatment SystemTreatment System
IntroductionIntroduction
Transducer
Affected Part
Body
Water
High Intensity Focused Ultrasound
Destruction of Stone
Clinical Use
JC HIFU System (in China)
High Intensity Focused Ultrasound( HIFU)High Intensity Focused Ultrasound( HIFU)
1997-1038 clinical trials
Ultrasound
Y. Matsumoto, et. al.
IntroductionIntroduction
Motion of the affected part by respiration
Establishment of the control method to compensate the motion of the
affected part by respiration
Compensation of the motion of the affected part should be required
ObjectiveObjective
Problem of HIFUProblem of HIFU
SolutionSolution
Transducer
Affected Part
UltrasoundBody
Water
High Intensity Focused Ultrasound
Non-Invasive Ultrasound Non-Invasive Ultrasound Diagnosis and TreatmentDiagnosis and Treatment
destroy the cancer region or the stone utilizing the focused ultrasound in the body directly not injuring the tissue (skin, muscle, etc.) of the patient by tracking and following the affected part which moves by respiration, etc.
FeatureUltrasound image is adopted for not injuring the tissue (skin, muscle, etc.) of patients.High speed CCD camera isn’t available.Propose the feed-forward control utilizing the periodical motion of the respiration.
[1] Y.Nakamura, H.Kishi, and H.Kawakami, “Heartbeat Synchronization for Robotic Cardiac Surgery,” Proc. of the 2001 IEEE International Conference on Robotics & Automation, pp.2014 - 2019, 2001.
Concept
Related work
Constructed System ConfigurationConstructed System Configuration
Aquarium
Rubber Membrane
Transducer
Water
BodyStone
Aquarium
Rubber Membrane
Transducer
Water
BodyStone
(a) Isometric View (b) Front View600
17
50
730
Irradiation Part
Water
Aquarium
Rubber Membrane
Body (Rabbit)
Aluminum Frame
Testing Bench
Ultrasound diagnostic device Im
ag
e p
roce
ssin
g
de
vice
ControllerXYZ
Stage
Trans-ducer
Pulsegenerator
Ultrasound probe
Video signal
(30fps)
Control signal(1kHz)
Position data (30Hz)
Stone
ProbesTransducer
Transducer ProbesWater to secure path to the affected part
2 probes for 3 dimensionalposition data
Stone motion tracking
Motion Tracking System ConfigurationMotion Tracking System Configuration
XYZ stage
HIFU transducer
Center ultrasound probeSide ultrasound probe
Motor controller
Pulse generator
Ultrasound diagnosis device
Navigation Computer
Real-time tracking system
*Two probes for 3D tracking
XYZ motion control system
HIFU system
Visual Tracking for StoneVisual Tracking for Stone
100mm
5 mm
)4
2sin(10 ty
The movement model formula of a model renal calculus
Model renal calculus
Ultrasound probe
Section image from center and side ultrasound probes
Processing Cycle
GrabImage
ProcessingPattern
MatchingBlob Analysis Reporting
[mm][sec]
Analysis of Kidney MotionAnalysis of Kidney Motion
-20-15
-10-505
1015
0 5 10 15
Time [sec]
Pos
ition
[mm
]
1010~~ 15 mm15 mmAmplitudeAmplitude
30 mm/s30 mm/sMax. speedMax. speed
33~~ 4 sec4 secPeriodPeriod
KidneyKidneyObjectObject
① Periodical motion ② Transition of period, amplitude
① Periodical motion ② Transition of period, amplitude
Kidney motion (man)
Stone
Dead Time in ServoingDead Time in Servoing
2dT
3dT
4dT
1dT
5dT
Dead time to capture the ultrasound images in the ultrasound diagnostic device (About 33ms)
Dead time to capture the ultrasound images in the image processing device (About 33ms)
Dead time to process the ultrasound images in the image processing device (About 33ms)
Time delay to transmit the position data acquired by the image processing (About 1ms)
Dead time to control the motor (About 1ms)
Total 100ms dead time!
Decrease servoing performance! 0.8mm≒
Feed-Forward ControlFeed-Forward Control
BtT
Ax el )2
sin(mod
)cos(mod_ tAxx eld
fffocus
ZnTntnT
txtxA rfocus
rfocus
,)1(
))}(min())({max(5.0
)( mod_rfocus
relgain
dfbfocus xxkx
Presume Periodical Motion Parameter
Presume amplitude
Transition ofperiod, amplitude,disturbances
-
Time delay in Image processing system
Feed-Forward controller
robot30 Hz
sTdallegaink=
+
+
+Desiredfoucus position
Stone position
Focus position
Feedback
Feed-Forward
-20
-15
-10
-5
0
5
10
15
0 5 10 15
Time [sec]
Po
sitio
n [
mm
]
Kidney Motion
Periodical motion
Experimental System ConfigurationExperimental System Configuration
モデル結石
モデル駆動装置
- 12- 8- 4048
12
0 2 4 6 8
[sec]時間
[m
m]
位置
ヒトの呼吸動作
Ultrasound diagnosticdevice Im
ag
e p
roce
ssin
g d
evi
ceControllerXYZ
Stage
Transducer Pulsegenerator
Ultrasoundprobe
Video signal
(30fps)
Control signal
(1kHz)
Position data (30Hz)
Respiration data
Introduce model that simulate the stone motion
Stone Motion Servoing Experiment Stone Motion Servoing Experiment
Experimental ResultExperimental Result
Avgerage errorAvgerage error
Without feed-Without feed-forwardforward 3.243.24 mmmm
With feed-forwardWith feed-forward 2.152.15 mmmm
-15-10
-505
1015
20 25 30 35 40
Without feed-forward With feed-forward
Servoing Error
-15-10-505
1015
20 25 30 35 40
Desired precision: sub mm less than 1mm if possible
Enhance servoing performance 1mm !
Time s
Po
siti
on
mm
Time s
Po
siti
on
mm
ConclusionConclusion
1. The concept of integrated system for non-invasive ultrasound diagnosis and treatment is proposed and constructed
2. Feed-Forward control utilizing the periodical motion of the affected part by respiration is proposed to enhance servoing performance.
3. Servoing experiment is conducted and the effectiveness of the proposed feedforward control method is confirmed.
Future WorksFuture Works
1. Enhance tracking performance1. Enhance tracking performance
2. Robustness of the visual tracking 2. Robustness of the visual tracking
3. Secure safety for the patient3. Secure safety for the patient
4. Animal experiments4. Animal experiments
ContentsContents
1. Stone Motion Tracking for Non-Invasive 1. Stone Motion Tracking for Non-Invasive Ultrasound Diagnosis and Treatment SystemUltrasound Diagnosis and Treatment System
2. Probe Positioning Support Utilizing Shoulder 2. Probe Positioning Support Utilizing Shoulder Model for Ultrasound DiagnosisModel for Ultrasound Diagnosis
Probe Positioning Support Probe Positioning Support Utilizing Shoulder Model for Ultrasound Utilizing Shoulder Model for Ultrasound
DiagnosisDiagnosis
IntroductionIntroduction
Remote Ultrasound Diagnostic System
Probe positioning support by the navigation utilizing the shoulder model
Strain for medical doctor during the probe manipulation
ProblemProblem
SolutionSolution
BackgroundBackground
Master-slave typed
Aging society
Probe positioning support utilizing the shoulder model, distance sensor, and force sensor
Related WorksRelated Works
[1] A. Knoll, et al., “The EndoPAR System for Minimally Invasive Robotic Surgery,” IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004.
FeatureFeature
1. Shoulder model based on anatomy2. Distance information between probe and affected part3. Force information between probe and affected part
Integrate and utilize these 3 points as follows
Related workRelated work
ConceptConcept
Remote Ultrasound Diagnostic SystemRemote Ultrasound Diagnostic System
① Communication network between master and slave site ② master-slave system ③ [master site] medical doctor and master in multimedia cockpit ④ [slave site] patient, helper and slave in consulting room ⑤ Ultrasound image transmission for diagnosis ⑥ Image and audio transmission for communication
① Communication network between master and slave site ② master-slave system ③ [master site] medical doctor and master in multimedia cockpit ④ [slave site] patient, helper and slave in consulting room ⑤ Ultrasound image transmission for diagnosis ⑥ Image and audio transmission for communication
Master site Slave site
Diagnostic ExperimentDiagnostic Experiment (( clinical clinical useuse))
Object of DiagnosisObject of DiagnosisShoulder pain in hemodialysis patientsShoulder pain in hemodialysis patients
[Diagnostic image ]③
A view of the
coracoacromial
ligamanet
[Diagnostic image ]②
A short axis view of
the tendon of the
supraspinatus muscle
[Diagnostic image ]①
A tendon of the long
head of the
biceps brachi muscle
① ② ③
①
②③
Diagnostic image
Required Shoulder ModelRequired Shoulder Model
Modeling of bones, muscles, and ligaments is required to support the probe positioning. Those muscles and ligaments are
components of diagnostic images and adhered to those bones.
humerus bonescapula bone
biceps brachii muscle
supraspinatus muscle
coracoacromial ligamanet
Construct Standard Bone ModelConstruct Standard Bone Model Standard bone modelStandard bone model
Constructed based on Constructed based on Atlas of Atlas of Human AnatomyHuman Anatomy※※
※ G.Wolf-Heidegger and P.Kopf-Maier, ” Wolf-Heidegger Color Atlas of Human Anatomy, Karger, S. Inc , 2003.
Scapula bone humerus bone
Extract body regionExtract body region
Measure center line Measure center line of upper arm and of upper arm and curve of shouldercurve of shoulder
Generate unique Generate unique bone modelbone model
Registration Registration between model and between model and bodybody
Construct muscle Construct muscle and ligament modeland ligament model
Construct standard Construct standard bone modelbone model
Curve of shoulder
Center line of upper arm
Recognize Region of the Upper ArmRecognize Region of the Upper Arm
Extract body regionExtract body region
Measure center line Measure center line of upper arm and of upper arm and curve of shouldercurve of shoulder
Generate unique Generate unique bone modelbone model
Registration Registration between model and between model and bodybody
Construct muscle Construct muscle and ligament modeland ligament model
Construct standard Construct standard bone modelbone model
Modeling of MuscleModeling of Muscle
Extract body regionExtract body region
Measure center line Measure center line of upper arm and of upper arm and curve of shouldercurve of shoulder
Generate unique Generate unique bone modelbone model
Registration Registration between model and between model and bodybody
Construct muscle Construct muscle and ligament modeland ligament model
Construct standard Construct standard bone modelbone model
Adhesion points of supraspinatus muscle
Adhesion points of biceps brachii muscle
Construct Construct MMuscle and uscle and TTendon endon MModelodel
humerus bonescapula bone
biceps brachii muscle
Supraspinatus muscle
coracoacromial ligamanet
Extract body regionExtract body region
Measure center line Measure center line of upper arm and of upper arm and curve of shouldercurve of shoulder
Generate unique Generate unique bone modelbone model
Registration Registration between model and between model and bodybody
Construct muscle Construct muscle and ligament modeland ligament model
Construct standard Construct standard bone modelbone model
Point Position to Push Probe & Point Position to Push Probe & Navigate Probe in Parallel Direction to ImageNavigate Probe in Parallel Direction to Image
Point desired pushing position by click
][: pixelPd
][ pixelPP prd
][: pixelPpr
Navigate probe positionIn parallel directionx
y
Realized Probe positionNavigate probe in Navigate probe in parallel direction to parallel direction to imageimage
Realize and Realize and maintain proper maintain proper contact forcecontact force
Point position to Point position to push probepush probe
Recognize probe Recognize probe positionposition
Navigate probe in Navigate probe in pushing directionpushing direction
Probe Navigation Probe Navigation in Pushing Directionin Pushing Direction
Distance sensor
Probe
Implement infra-red radiation distance sensor
|| affpr xx
Distance between probeand affected part:
Navigate probe in Navigate probe in parallel direction to parallel direction to imageimage
Realize and Realize and maintain proper maintain proper contact forcecontact force
Point position to Point position to push probepush probe
Recognize probe Recognize probe positionposition
Navigate probe in Navigate probe in pushing directionpushing direction
Approaching to affected part
[mm]
Realize and Maintain Proper Realize and Maintain Proper Contact ForceContact Force
20|| affpr xx
If distance is within threshold,
Control contact force to makeproper diagnostic image
Proper contact forceDiagnostic image 1:
2 N~ 8 N( Avg. of 5 examinee)
Proper contact forceDiagnostic image 1:
2 N~ 8 N( Avg. of 5 examinee)
Navigate probe in Navigate probe in parallel direction to parallel direction to imageimage
Realize and Realize and maintain proper maintain proper contact forcecontact force
Point position to Point position to push probepush probe
Recognize probe Recognize probe positionposition
Navigate probe in Navigate probe in pushing directionpushing direction
[mm]
Probe Navigation to Affected PartProbe Navigation to Affected Part
Display the probe position on shoulder model
Click the desiredprobe position
ConclusionsConclusions
1. Shoulder model is proposed.
2. A registration method is proposed between the probe and the affected part.
3. A navigation function to the affected part utilizing the shoulder model is implemented.
4. Effectiveness of the navigation function is confirmed by the navigation experiment.
Future WorksFuture Works
1. Enhance precision of registration.1. Enhance precision of registration.
2. 3 dimensional modeling & registration.2. 3 dimensional modeling & registration.
3. Probe orientation adjustment.3. Probe orientation adjustment.
4. Digitalization and technologizing of the ski4. Digitalization and technologizing of the skill of the medical doctor.ll of the medical doctor.
Acknowledgements
Prof. Mamoru MitsuishiProf. Mamoru MitsuishiDr. Hiroyuki HashizumeDr. Hiroyuki HashizumeDr. Mitsuru NagoshiDr. Mitsuru NagoshiMr. Deukhee LeeMr. Deukhee LeeMr. Kohei OtaMr. Kohei OtaMr. Takehiko TsurumiMr. Takehiko TsurumiAll Members of NML.All Members of NML.Nakashima Propellor Co., Ltd.Nakashima Propellor Co., Ltd.Shigei Medical Institute and HospitalShigei Medical Institute and Hospital
Prof. Yoichiro MatsumotoProf. Yoichiro Matsumoto
Dr. Shin YoshizawaDr. Shin Yoshizawa
Mr. Yukio KanekoMr. Yukio Kaneko
Mr. Akira ItoMr. Akira Ito
Hitachi Medical Corp.Hitachi Medical Corp.
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