A High-Precision US-Guided Robot-Assisted HIFU Treatment System for Breast Cancer

Tianhan Tang; Takashi Azuma; Toshihide Iwahashi; Hideki Takeuchi; Etsuko Kobayashi; Ichiro Sakuma

doi:10.1016/j.eng.2018.07.008

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Engineering ›› 2018, Vol. 4 ›› Issue (5) : 702-713. DOI: 10.1016/j.eng.2018.07.008

Research

Research Robotics—Article

A High-Precision US-Guided Robot-Assisted HIFU Treatment System for Breast Cancer

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Abstract

Breast cancer is the most commonly diagnosed cancer in women. A strong treatment candidate is high-intensity focused ultrasound (HIFU), a non-invasive therapeutic method that has already demonstrated its promise. To improve the precision and lower the cost of HIFU treatment, our group has developed an ultrasound (US)-guided, five-degree-of-freedom (DOF), robot-assisted HIFU system. We constructed a fully functional prototype enabling easy three-dimensional (3D) US image reconstruction, target segmentation, treatment path generation, and automatic HIFU irradiation. The position was calibrated using a wire phantom and the coagulated area was assessed on heterogeneous tissue phantoms. Under the US guidance, the centroids of the HIFU-ablated area deviated by less than 2 mm from the planned treatment region. The overshoot around the planned region was well below the tolerance of clinical usage. Our system is considered to be sufficiently accurate for breast cancer treatment.

Keywords

HIFU / Breast cancer / US-guided navigation / Medical robotics / Accuracy evaluation

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Tianhan Tang, Takashi Azuma, Toshihide Iwahashi, Hideki Takeuchi, Etsuko Kobayashi, Ichiro Sakuma. A High-Precision US-Guided Robot-Assisted HIFU Treatment System for Breast Cancer. Engineering, 2018, 4(5): 702‒713 https://doi.org/10.1016/j.eng.2018.07.008

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Acknowledgments

This work was partially supported by the Translational Systems Biology and Medicine Initiative (TSBMI) from the Ministry of Education, Culture, Sports, Science and Technology (MEXT) of Japan. The authors would also like to thank the China Scholarship Council and Otsuka Toshimi Scholarship Foundation.

Compliance with ethics guidelines

Tianhan Tang, Takashi Azuma, Toshihide Iwahashi, Hideki Takeuchi, Etsuko Kobayashi, and Ichiro Sakuma declare that they have no conflict of interest or financial conflicts to disclose.