Deukhee Lee

The University of Tokyo, Edo, Tōkyō, Japan

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Publications (8)0 Total impact

  • [show abstract] [hide abstract]
    ABSTRACT: We propose a non-invasive ultrasound theragnos tic system that tracks movement in an affected area (kidney stones, in the present study) by irradiating the area with high intensity focused ultrasound (HIFU). In the present paper, the concept behind a novel medical support system that integrates therapy and diagnostics (theragnostics) is illustrated. The re quired functions for the proposed system are discussed and an overview of the constructed system configuration is illustrated. The problems associated with kidney stone motion tracking by ultrasonography are described. In order to overcome these problems, we consider two approaches. The first approach is to minimize the servoing error so as to enhance both the efficiency of the therapy and the safety of the patient. The second approach is to reduce the effect of the servoing error. With respect to the first approach, we propose a robust detection method of the stone position based on shape information. With respect to the second approach, we propose a solution for controlling the HIFU irradiation power in accordance with the servoing error, primarily in order to enhance the safety of the patient.
    IEEE International Conference on Robotics and Automation, ICRA 2011, Shanghai, China, 9-13 May 2011; 01/2011
  • [show abstract] [hide abstract]
    ABSTRACT: We propose a non-invasive ultrasound theragnostic system that tracks movement in an affected area (kidney stones, in the present study) by irradiating the area with high-intensity focused ultrasound (HIFU). In the present paper, the concept behind a novel medical support system that integrates therapy and diagnostics (theragnostics) is illustrated. The required functions for the proposed system are discussed and an overview of the constructed system configuration is illustrated. The problems associated with kidney stone motion tracking by ultrasonography are described. In order to overcome these problems, we consider two approaches. The first approach is to minimize the servoing error so as to enhance both the efficiency of the therapy and the safety of the patient. The second approach is to reduce the effect of the servoing error. With respect to the first approach, we propose two solutions. One is robust detection of the stone position based on shape information, and the other is a controller that compensates for periodic motion of the affected area. With respect to the second approach, we propose a solution for controlling the HIFU irradiation power in accordance with the servoing error, primarily in order to enhance the safety of the patient.
    01/2010;
  • [show abstract] [hide abstract]
    ABSTRACT: The non-invasive ultrasound theragnostic system, we propose, tracks and follows movement in an affected area -kidney stones here-, while High-Intensity Focused Ultrasound (HIFU) is irradiated onto the area. In this paper, the concept of the novel medical support system, which integrates the therapy and diagnostics, is illustrated at first. Secondly, structuring the required functions for the proposed system is discussed. Third, the overview of the constructed system configuration is illustrated. Fourth, the problem of the stone motion tracking by ultrasonography is clarified. To cope with this problem, the respiratory motion of a human kidney is analyzed and a controller, by utilizing the quasi-periodical motion of the respiratory kidney motion, is proposed. Finally, the result of the servoing and HIFU irradiation experiments of the model stone, which moves based on the real human kidney motion data, is reported to confirm the effectiveness of the proposed controller and the constructed system.
    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, October 11-15, 2009, St. Louis, MO, USA; 01/2009
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    ABSTRACT: The authors have developed an Non-Invasive Ultrasound Theragnostic System to decrease the strain of patients and medical doctors. The system we propose tracks and follows movement in an affected area –kidney stones here– while High-Intensity Focused Ultrasound (HIFU) is irradiated onto the area. In this paper, a framework of the non-invasive ultrasound theragnostic system is proposed and illustrated. Specifically, the concept of the system is proposed at first. Secondly, decomposing and reconstructing (structuring) of the functional requirements are discussed. Third, the constructed system, which is based on those structured functional requirements, is illustrated. Fourth, the result of the servoing experiments of the model stone is reported to confirm the effectiveness of the proposed construction methodology and constructed system.
    Medical Imaging and Augmented Reality, 4th International Workshop, MIAR 2008, Tokyo, Japan, August 1-2, 2008, Proceedings; 01/2008
  • [show abstract] [hide abstract]
    ABSTRACT: Recently, lithotripsy (kidney stone treatment) using HIFU (high intensity focused ultrasound) was developed by researchers in therapeutic ultrasound field. The lithotripsy crushes kidney stones powder, therefore, do not harm to the surrounding tissues of the kidney stones. However, it is necessary to continuously emit high intensity ultrasound waves on a target kidney stone during treatment. Therefore, HIFU transducers should follow a target kidney stone which moves due to respiration and heartbeat. In this paper, ultrasound-based visual servoing system is described. Two ultrasound probes and a HIFU transducer are mounted on the end effector of a xyz stage machine. The two ultrasound probes visually keep track of the target kidney stone within the body, and servo the xyz stage machine. The required techniques, such as conversion of a frame of radio frequency (RF) echo signals into an ultrasound bright mode image, visual tracking, pose estimation and control, are explained.
    Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on; 12/2007
  • [show abstract] [hide abstract]
    ABSTRACT: The authors have developed an integrated system for the non-invasive ultrasound diagnosis and treatment to decrease the load of a patient. In this paper, the servoing performance of the system is discussed and investigated at first. Secondly, the authors propose the feed forward controller to enhance the servoing per- formance of the system against the stone model. Finally, the experimental results are reported to confirm the ef- fectiveness of the proposed controller.
    01/2006;
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    ABSTRACT: 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 er- ror mainly due to ultrasound imaging and its dead time become serious problems, unlike when a high- speed camera is used. We propose feed-forward con- trol using semi-regular kidney movement focusing on enhancing servoing performance.
  • Source
    [show abstract] [hide abstract]
    ABSTRACT: The authors have developed an integrated system for the non-invasive ultrasound diagnosis and treatment to decrease the strain of a patient. In this paper, the concept of the proposed system is proposed at first. Secondly, decomposing and reconstructing (structuring) of the required functions are discussed. Third, the constructed system configuration is illustrated. Fourth, the respiratory motion of a human kidney is analyzed and the feed-forward controller is proposed by utilizing the quasi-periodical motion of the respiratory motion. Finally, the result of the servoing experiments of the model stone is reported to confirm the effectiveness of the constructed system.