title: A novel high intensity focused ultrasound robotic system for breast cancer treatment.
abstract: High intensity focused ultrasound (HIFU) is a promising technique for cancer treatment owing to its minimal invasiveness and safety. However, skin burn, long treatment time and incomplete ablation are main shortcomings of this method. This paper presents a novel HIFU robotic system for breast cancer treatment. The robot has 4 rotational degrees of freedom with the workspace located in a water tank for HIFU beam imaging and ablation treatment. The HIFU transducer combined with a diagnostic 2D linear ultrasound probe is mounted on the robot end-effector, which is rotated around the HIFU focus when ablating the tumor. HIFU beams are visualized by the 2D probe using beam imaging. Skin burn can be prevented or alleviated by avoiding long time insonification towards the same skin area. The time cost could be significantly reduced, as there is no need to interrupt the ablation procedure for cooling the skin. In addition, our proposed robot control strategies can avoid incomplete ablation. Experiments were carried out and the results showed the effectiveness of our proposed system.
authors: Graduate School of Engineering, The University of Tokyo, Japan.
authors: Taizan
authors: T
authors: Yonetsuji
authors: Graduate School of Engineering, The University of Tokyo, Japan.
authors: Takehiro
authors: T
authors: Ando
authors: Graduate School of Engineering, The University of Tokyo, Japan.
authors: Junchen
authors: J
authors: Wang
authors: Hitachi Aloka Medical, Ltd., Japan.
authors: Keisuke
authors: K
authors: Fujiwara
authors: Hitachi Aloka Medical, Ltd., Japan.
authors: Kazunori
authors: K
authors: Itani
authors: Graduate School of Engineering, The University of Tokyo, Japan.
authors: Takashi
authors: T
authors: Azuma
authors: Advanced Industrial Science and Technology, Japan.
authors: Kiyoshi
authors: K
authors: Yoshinaka
authors: Graduate School of Engineering, The University of Tokyo, Japan.
authors: Akira
authors: A
authors: Sasaki
authors: Graduate School of Engineering, The University of Tokyo, Japan.
authors: Shu
authors: S
authors: Takagi
authors: Graduate School of Engineering, The University of Tokyo, Japan.
authors: Etsuko
authors: E
authors: Kobayashi
authors: Graduate School of Engineering, The University of Tokyo, Japan.
authors: Hongen
authors: H
authors: Liao
authors: Graduate School of Engineering, The University of Tokyo, Japan.
authors: Yoichiro
authors: Y
authors: Matsumoto
authors: Graduate School of Engineering, The University of Tokyo, Japan.
authors: Ichiro
authors: I
authors: Sakuma
mesh_terms: D000818:Animals; D001943:Breast Neoplasms / Q000000981:diagnostic imaging* / Q000601:surgery*; D002645:Chickens; D004867:Equipment Design; D019544:Equipment Failure Analysis; D057086:High-Intensity Focused Ultrasound Ablation / Q000295:instrumentation*; D019047:Phantoms, Imaging; D015203:Reproducibility of Results; D012371:Robotics / Q000295:instrumentation*; D012680:Sensitivity and Specificity; D025321:Surgery, Computer-Assisted / Q000295:instrumentation*; D016217:Ultrasonography, Mammary / Q000295:instrumentation*