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Applied Bionics and Biomechanics
Volume 2017, Article ID 5868695, 8 pages
Research Article

An Ultrasound Imaging-Guided Robotic HIFU Ablation Experimental System and Accuracy Evaluations

1Department of Mechanical Engineering, National Central University, Taoyuan County 32001, Taiwan
2Graduate Institute of Biomedical Engineering, National Central University, Taoyuan County 32001, Taiwan
3Department of Neurosurgery, Cathay General Hospital, Taipei City 10630, Taiwan
4Department of Medicine, School of Medicine, Fu Jen Catholic University, New Taipei City 24205, Taiwan

Correspondence should be addressed to Ching Shiow Tseng;

Received 30 June 2016; Accepted 29 January 2017; Published 13 April 2017

Academic Editor: Agnès Drochon

Copyright © 2017 Chih Yu An et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.


In recent years, noninvasive thermal treatment by using high-intensity focused ultrasound (HIFU) has high potential in tumor treatment. The goal of this research is to develop an ultrasound imaging-guided robotic HIFU ablation system for tumor treatment. The system integrates the technologies of ultrasound image-assisted guidance, robotic positioning control, and HIFU treatment planning. With the assistance of ultrasound image guidance technology, the tumor size and location can be determined from ultrasound images as well as the robotic arm can be controlled to position the HIFU transducer to focus on the target tumor. After the development of the system, several experiments were conducted to measure the positioning accuracy of this system. The results show that the average positioning error is 1.01 mm with a standard deviation 0.34, and HIFU ablation accuracy is 1.32 mm with a standard deviation 0.58, which means this system is confirmed with its possibility and accuracy.