IEEE Robotics & Automation Magazine - September 2023 - 93

801451. We also acknowledge Dr. Porcelli and Prof. Di
Candio, Cisanello Hospital, Pisa, Italy, for support during
the in vivo clinical trial. This article has supplementary
downloadable material available at https://doi.org/10.1109/
MRA.2022.3188221, provided by the authors. This work
involved human subjects or animals in its research. Approval
of all ethical and experimental procedures and protocols was
granted by the Italian Ethical Committee, May 2020, under
Application No. 65E5B.48, authorization no. 434/2020-PR
and performed in line with the Italian law D.lgs. 26/2014.
Andrea Mariani and Laura Morchi shared first authorship
and contributed equally to this work.
AUTHORS
Andrea Mariani, The BioRobotics Institute and Department
of Excellence in Robotics and AI, Sant'Anna School of Advanced
Studies, Pisa, 56025, Italy. E-mail: andrea.mariani@
santannapisa.it.
Laura Morchi, The BioRobotics Institute and Department
of Excellence in Robotics and AI, Sant'Anna School of
Advanced Studies, Pisa, 56025, Italy. E-mail: laura.morchi@
santannapisa.it.
Alessandro Diodato, The BioRobotics Institute and
Department of Excellence in Robotics and AI, Sant'Anna
School of Advanced Studies, Pisa, 56025, Italy. E-mail:
alessandro.diodato@alumni.sssup.it.
Selene Tognarelli, The BioRobotics Institute and
Department of Excellence in Robotics and AI, Sant'Anna
School of Advanced Studies, Pisa, 56025, Italy. E-mail: selene.
tognarelli@santannapisa.it.
Arianna Menciassi, The BioRobotics Institute and
Department of Excellence in Robotics and AI, Sant'Anna
School of Advanced Studies, Pisa, 56025, Italy. E-mail: arianna.
menciassi@santannapisa.it.
REFERENCES
[1] " 2021 state of the field. " Focused Ultrasound Foundation. https://www.fusfoundation.org/images/pdf/FUSF_State_of_the_Field_2021_Final_Web.pdf
(Accessed:
Sep. 15, 2021).
[2] B. Kneidl, M. Peller, G. Winter, L. H. Lindner, and M. Hossann,
" Thermosensitive liposomal drug delivery systems: State of the art review, " Int. J.
Nanomed., vol. 9, pp. 4387-4398, Sep. 2014, doi: 10.2147/IJN.S49297.
[3] S. Mihcin and A. Melzer, " Principles of focused ultrasound, " Minimally
Invasive Therapy Allied Technol., vol. 27, no. 1, pp. 41-50, 2018, doi:
10.1080/13645706.2017.1414063.
[4] Z. Izadifar, Z. Izadifar, D. Chapman, and P. Babyn, " An introduction to high
intensity focused ultrasound: Systematic review on principles, devices, and clinical
applications, " J. Clin. Med., vol. 9, no. 2, p. 460, Feb. 2020, doi: 10.3390/
jcm9020460.
[5] Y.-H. Hsiao, S.-J. Kuo, H.-D. Tsai, M.-C. Chou, and G.-P. Yeh, " Clinical application
of high-intensity focused ultrasound in cancer therapy, " J. Cancer, vol. 7,
no. 3, pp. 225-231, 2016, doi: 10.7150/jca.13906.
[6] R. M. S. Sigrist, J. Liau, A. E. Kaffas, M. C. Chammas, and J. K. Willmann,
" Ultrasound elastography: Review of techniques and clinical applications, "
Theranostics, vol. 7, no. 5, pp. 1303-1329, 2017, doi: 10.7150/thno.18650.
[7] E. Boctor, M. Choti, E. Burdette, and R. J. Webster, " Three-dimensional ultrasound-guided
robotic needle placement: An experimental evaluation, " Int. J. Med.
Robot., vol. 4, no. 2, pp. 180-191, Jun. 2008, doi: 10.1002/rcs.184.
[8] C. Freschi, E. Troia, V. Ferrari, G. G. Megali, A. Pietrabissa, and F. Mosca,
" Ultrasound guided robotic biopsy using augmented reality and human-robot
cooperative control, " in Proc. Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., 2009,
pp. 5110-5113, doi: 10.1109/IEMBS.2009.5332720.
[9] M. Unger, J. Berger, B. Gerold, and A. Melzer, " Robot-assisted ultrasoundguided
tracking of anatomical structures for the application of focused ultrasound, "
Curr. Dir. Biomed. Eng., vol. 6, no. 3, pp. 123-126, Sep. 2020, doi:
10.1515/cdbme-2020-3032.
[10] N. Choong Kheng, N. Wan Sing, L. Phee, and C. Cheng, " A HIFU robot for
transperineal treatment of prostate cancer, " in Proc. 2002 7th Int. Conf. Control.
Autom. Robot. Vis. (ICARCV), vol. 2, pp. 560-565, doi: 10.1109/ICARCV.
2002.1238485.
[11] S. Pather, B. L. Davies, and R. D. Hibberd, " The development of a robotic
system for HIFU surgery applied to liver tumours, " in Proc. 2002 7th Int. Conf.
Control . Autom. Robot. Vis.
ICARCV.2002.1238487.
(ICARCV), pp. 572-577, doi: 10.1109/
[12] Z. Qiu et al., " The development of a robotic approach to therapeutic ultrasound, "
J. Phys. Conf. Ser., vol. 181, no. 1, p. 012017, Aug. 2009, doi:
10.1088/1742-6596/181/1/012017.
[13] Y. T et al., " A novel high intensity focused ultrasound robotic system for
breast cancer treatment, " Med. Image Comput. Comput. Assisted Intervention,
vol. 16, no. Pt 3, pp. 388-395, 2013, doi: 10.1007/978-3-642-40760-4_49.
[14] T. Tang, T. Azuma, T. Iwahashi, H. Takeuchi, E. Kobayashi, and I. Sakuma,
" A high-precision US-guided robot-assisted HIFU treatment system for breast
cancer, " Engineering, vol. 4, no. 5, pp. 702-713, 2018, doi: 10.1016/j.
eng.2018.07.008.
[15] M. H. A. Groen et al., " Safety and feasibility of arterial wall targeting with
robot-assisted high intensity focused ultrasound: A preclinical study, " Int. J.
Hyperthermi a, vol . 37, no. 1, pp. 903-912 , Jan.
10.1080/02656736.2020.1795278.
[16] N. Koizumi et al., " A novel robust template matching method to track and follow
body targets for NIUTS, " in Proc. IEEE Int. Conf. Robot. Autom., Sep. 2014,
pp. 1929-1936, doi: 10.1109/ICRA.2014.6907114.
[17] L. Chanel, F. Nageotte, J. Vappou, J. Luo, L. Cuvillon, and M. de Mathelin,
" Robotized high intensity focused ultrasound (HIFU) system for treatment of
mobile organs using motion tracking by ultrasound imaging: An in vitro study, " in
Proc. 37th Annu. Int. Conf. IEEE Eng. Med. Biol. Soc., Nov. 2015, pp. 2571-2575,
doi: 10.1109/EMBC.2015.7318917.
[18] C. Y. An, Y. L. Hsu, and C. S. Tseng, " An ultrasound-guided robotic HIFU
ablation system with respiration induced displacement and time delay compensation, "
J. Med. Biol. Eng., vol. 39, no. 5, pp. 796-805, doi: 10.1007/s40846-01900463-0.
[19]
S. Tognarelli, G. Ciuti, A. Diodato, A. Cafarelli, and A. Menciassi, " Robotic
platform for high-intensity focused ultrasound surgery under ultrasound tracking:
The FUTURA platform, " J. Med. Robot. Res., vol. 2, no. 3, p. 1740,010, 2017, doi:
10.1142/S2424905X17400104.
[20] S. C. Davies, A. L. Hill, R. B. Holmes, and P. C. Jackson, " Ultrasound quantitation
of respiratory organ motion in the upper abdomen, " Brit. J. Radiol., vol. 67,
no. 803, pp. 1096 -1102 , 1994, do i : 10 .1259/ 0 0 07-1285 - 67
-803-1096.
[21] A. Diodato, A. Cafarelli, A. Schiappacasse, S. Tognarelli, G. Ciuti, and A.
Menciassi, " Motion compensation with skin contact control for high intensity
focused ultrasound surgery in moving organs, " Phys. Med. Biol., vol. 63, no. 3, p.
035017, 2018, doi: 10.1088/1361-6560/aa9c22.
[22] Z. Kalal, K. Mikolajczyk, and J. Matas, " Tracking-learning-detection, " IEEE
Trans. Pattern Anal. Mach. Intell., vol. 34, no. 7, pp. 1409-1422, 2012, doi:
10.1109/TPAMI.2011.239.
[23] V. Simoni, A. Cafarelli, S. Tognarelli, and A. Menciassi, " Ex vivo assessment
of multiple parameters in high intensity focused ultrasound, " in Proc. 40th Annu.
Int. Conf. IEEE Eng. Med. Biol. Soc., Jul. 2018, pp. 5705-5708, doi: 10.1109/
EMBC.2018.8513583.
[24] N. Koizumi and M. Mitsuishi, " A study on the construction methodology of
remote ultrasound diagnosis system, " Robot. Soc. Japan, vol. 25, no. 2, pp. 267-
279, 2007, doi: 10.7210/jrsj.25.267.
[25] L. Morchi, A. Mariani, A. Diodato, S. Tognarelli, A. Cafarelli, and A. Menciassi,
" Acoustic coupling quantification in ultrasound-guided focused ultrasound surgery:
Simulation-based evaluation and experimental feasibility study, " Ultrasound Med.
Biol., vol. 46, no. 12, pp. 3305-3316, 2020, doi: 10.1016/j.ultrasmedbio.2020.08.028.
[26] L. Morchi et al., " A reusable thermochromic phantom for testing high intensity
focused ultrasound technologies, " in Proc. 2021 IEEE 43th Annu. Int. Conf.
IEEE Eng. Med. Biol. Soc.
EMBC46164.2021.9629845.
[27] A. J. Krafft et al., " Robotically assisted focal spot scanning MRgFUS: Initial
in vivo experiments, " in Proc. IFMBE, 2009, pp. 155-158, doi: 10.1007/978-3642-03906-5_42.
[28]
M. M. Swindle, A. C. Smith, and B. J. S. Hepburn, " Swine as models in
experimental surgery, " J. Investigative Surg., vol. 1, no. 1, pp. 65-79, 1988, doi:
10.3109/08941938809141077.
(EMBC), pp. 1431-1434, doi: 10.1109/
2020, doi :
SEPTEMBER 2023 IEEE ROBOTICS & AUTOMATION MAGAZINE
93
IEEE Robotics & Automation Magazine - September 2023

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - September 2023
