Feed-Forward Controller for the Integrated Non-Invasive Ultrasound Diagnosis and Treatment

摘要

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 highspeed camera is used. We propose feed-forward control using semi-regular kidney movement focusing on enhancing servoing performance.