An Chih Yu, Syu Jia Hao, Tseng Ching Shiow, Chang Chih-Ju
Department of Mechanical Engineering, National Central University, Taoyuan County 32001, Taiwan.
Graduate Institute of Biomedical Engineering, National Central University, Taoyuan County 32001, Taiwan.
Appl Bionics Biomech. 2017;2017:5868695. doi: 10.1155/2017/5868695. Epub 2017 Apr 13.
In recent years, noninvasive thermal treatment by using high-intensity focused ultrasound (HIFU) has high potential in tumor treatment. The goal of this research is to develop an ultrasound imaging-guided robotic HIFU ablation system for tumor treatment. The system integrates the technologies of ultrasound image-assisted guidance, robotic positioning control, and HIFU treatment planning. With the assistance of ultrasound image guidance technology, the tumor size and location can be determined from ultrasound images as well as the robotic arm can be controlled to position the HIFU transducer to focus on the target tumor. After the development of the system, several experiments were conducted to measure the positioning accuracy of this system. The results show that the average positioning error is 1.01 mm with a standard deviation 0.34, and HIFU ablation accuracy is 1.32 mm with a standard deviation 0.58, which means this system is confirmed with its possibility and accuracy.
近年来，利用高强度聚焦超声（HIFU）进行的非侵入性热疗在肿瘤治疗方面具有很高的潜力。本研究的目标是开发一种用于肿瘤治疗的超声成像引导机器人HIFU消融系统。该系统集成了超声图像辅助引导、机器人定位控制和HIFU治疗规划等技术。在超声图像引导技术的辅助下，可以从超声图像中确定肿瘤的大小和位置，还可以控制机器人手臂将HIFU换能器定位到聚焦于目标肿瘤上。系统开发完成后，进行了多项实验来测量该系统的定位精度。结果表明，平均定位误差为1.01毫米，标准差为0.34，HIFU消融精度为1.32毫米，标准差为0.58，这意味着该系统的可行性和准确性得到了证实。
