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2 2 TRO, TMECH Interesting Readings IJMRCAS, TUFFC The Most
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5 5 J TRO09 The Most Interesting Readings
6 J Frans Johansson, The Medici Effect, When you step into an intersection of fields, disciplines, or cultures, you can combine existing concepts into a large number of extraordinary new ideas. The name I have given this phenomenon, the Medici Effect, comes from a remarkable burst of creativity in fifteenth-century Italy. Gutenberg s press Everybody can read bibles : MIT: Bio is new digital. J Everybody can receive high-quality-medicine by IT (Robot) technology Museo Nazionale della Scienza e della Tecnologia "Leonardo da Vinci" in Milano tube.com/watch?v=vz86iqng8j 8 6
7 7 J Me-DigITalization IJAT09 The Most Interesting Readings
8 8 1 TRO 2009 Affordance
9 9 2 TMECH 2008 IJMRCAS 2016
10 10 3
11 11 Focal lesion Focus Y. Matsumoto, et. al. Body Water bag ExAblate 2000 (GE Healthcare) JC Haifu System (Chongqing Haifu Medical Technology Co. Ltd.) Ultrasound beam HIFU transducer
12 12 K. Kuroda, et. al. MR CT 1mm
13 13 Non-Invasive Ultrasound Theragnostic System Concept Ex. vivo exp. swine, model kid. stone IROS 2007, 09, 14, 15, ICRA 2011, 14 ~9 mm
14 14 z x z y z y x PC ( ) RF 3 TM
15 15 Position mm x robo x fl Time s With servoing Without servoing
16 16 Azizian M (Intuitive Surgical Inc.), et al. Visual servoing in medical robotics: a survey. Part II: tomographic imaging modalities techniques and applications. Int J Med Robot Comput Assist Surg (IJMRCAS) 2014 (31) Lee D, Koizumi N, Ota K, et al. Ultrasound-based visual servoing system for lithotripsy. In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2007). (32) Koizumi N, Seo J, Lee D, et al. Robust kidney stone tracking for a non-invasive ultrasound theragnostic system servoing performance and safety enhancement. In IEEE International Conference on Robotics Automation (ICRA2011). (34) Koizumi N, Seo J, Suzuki Y, et al. A control framework for the non-invasive ultrasound theragnostic system. In IEEE/RSJ Interantional Conference on Intelligent Robots and Systems (IROS2009). (35) Seo J, Koizumi N, Funamoto T, et al. Visual servoing for a US-guided therapeutic HIFU system by coagulated lesion tracking: a phantom study. Int J Med Robot Comput Assist Surg (IJMRCAS) 2011.
17 17 Without servoing Kidney motion compensation With servoing 90 % 1mm
18 mm Without servoing RFA With servoing
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