IEEE Robotics & Automation Magazine - September 2023 - 79
A Computer-Assisted
Platform for
Noninvasive
Surgical Treatments
on Static and
Moving Organs
High-Intensity
Focused Ultrasound
Surgery Based
on KUKA Robot
By Andrea Mariani , Laura Morchi , Alessandro Diodato ,
Selene Tognarelli , and Arianna Menciassi
High-intensity focused ultrasound surgery based on a KUKA
robot (HIFUSK) can address unmet clinical needs in the treatment
of pathological tissues, such as cancerous tissues.
HIFUSK is the marriage of two technologies: robotics and
focused ultrasound (FUS). Such a combination results in a surgical
treatment that is precise and noninvasive (no incisions,
no anesthesia, and no ionizing energy) thanks to robotics and
FUS, respectively. Robotic control and machine learning algoDigital
Object Identifier 10.1109/MRA.2022.3188221
Date of current version: 1 August 2022
1070-9932/22©2022IEEE
rithms ensure safety even in case of target motions during
therapy. The platform has been validated in dry lab/ex vivo
scenarios, and it was preliminarily tested in terms of safety
and efficacy during an in vivo test on a large animal model.
FUS SURGERY
TECHNOLOGY OVERVIEW
US consists of mechanical waves characterized by frequencies
that are higher with respect to the upper audible boundary
of human hearing (i.e., higher than 20 kHz). The use of US in
SEPTEMBER 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE
79
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IEEE Robotics & Automation Magazine - September 2023
Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2023
Contents
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IEEE Robotics & Automation Magazine - September 2023 - Cover3
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