Visual servoing for a US‐guided therapeutic HIFU system by coagulated lesion tracking: a phantom study

Applying ultrasound (US)‐guided high‐intensity focused ultrasound (HIFU) therapy for kidney tumours is currently very difficult, due to the unclearly observed tumour area and renal motion induced by human respiration. In this research, we propose new methods by which to track the indistinct tumour area and to compensate the respiratory tumour motion for US‐guided HIFU treatment.

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