Physiological Movement Registration and Compensation of Targets during Robotic Focused Ultrasound Surgery

Sunita Chauhan, Rakkunedeth H Abhilash

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


Continuous deformation and dislocation of soft tissues in the abdominal and thoracic region presents a major issue for effective targeting of all non-invasive ablative modalities such as radiotherapy/surgery and Focused Ultrasound Surgery. Most significant among these is the movement of the target organs due to physiological processes such as respiration. The movement is found to be most significant for liver and kidneys. We studied movement and compensation strategies with the aim to implement them during ultrasound ablation using our robotic system for targeted FUS dose delivery. The motion pattern of the liver can be assumed to be in a single plane as it closely follows the movement of the diaphragm. However, the movement of kidneys is three dimensional and follows complicated patterns. Kidney motion is highly subject specific and has poor repeatability. In our research, we quantify the relation of liver movement and the breathing pattern so as to achieve real-time movement compensation using a prediction-correlation approach.
Original languageEnglish
Title of host publicationUIA44, Annual Ultrasound Industry Symposium
Subtitle of host publicationUIA44, 2015
Number of pages6
Publication statusPublished - 2015
EventAnnual Symposium of the Ultrasonic Industry Association 2015 - Washington, United States of America
Duration: 20 Apr 201522 Apr 2015
Conference number: 44th


ConferenceAnnual Symposium of the Ultrasonic Industry Association 2015
Abbreviated titleUIA 2015
Country/TerritoryUnited States of America
Physics Procedia Volume 87
Internet address

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