Robotic active positioning for magnetic resonance-guided high-intensity focused ultrasound

Xu Xiao, Zhihong Huang, Alexander Volovick, Andreas Melzer

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    1 Citation (Scopus)


    Magnetic resonance (MR) guided High-intensity focused ultrasound (HIFU) is a noninvasive method producing thermal necrosis and cavitation at the position of tumors with high accuracy. Because the typical size of the high-intensity focused ultrasound focus are much smaller than the targeted tumor or other tissues, multiple sonications and focus repositioning become necessary for HIFU treatment. In order to reach a much wider range, manual repositioning or using MR compatible mechanical actuators could be used. The repositioning technique is a time consuming procedure because it needs a series of MR imaging to detect the transducer and markers preplaced on the mechanical devices. We combined an active tracking technique into the MR guided HIFU system. In this work, the robotic system used is the MR-compatible robotics from InnoMotion (TM) (IBSMM, Engineering spol. sr.o. / Ltd, Czech) which is originally designed for MR-guided needle biopsy. The precision and positioning speed of the combined robotic HIFU system are evaluated in this study. Compared to the existing MR guided HIFU systems, the combined robotic system with active tracking techniques provides a potential that allows the HIFU treatment to operate in a larger spatial range and with a faster speed.

    Original languageEnglish
    Title of host publication12th International Symposium on Therapeutic Ulstrasound
    EditorsStephen Meairs
    Place of PublicationMelville
    PublisherAmerican Institute of Physics
    Number of pages5
    ISBN (Print)9780735411203
    Publication statusPublished - 2012
    Event12th International Society for Therapeutic Ultrasound Symposium - Heidelberg Convention Center, Heidelberg, Germany
    Duration: 10 Jun 201213 Jun 2012

    Publication series

    NameAIP conference proceedings
    PublisherAmerican Institute of Physics
    ISSN (Print)0094-243X


    Conference12th International Society for Therapeutic Ultrasound Symposium
    Abbreviated titleISTU 2012
    Internet address


    • FUTURE
    • MRI
    • micro coils
    • active tracking
    • robotic arm


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