{"id":"https://openalex.org/W2143509332","doi":"https://doi.org/10.1109/iros.2009.5354839","title":"A control framework for the non-invasive ultrasound theragnostic system","display_name":"A control framework for the non-invasive ultrasound theragnostic system","publication_year":2009,"publication_date":"2009-10-01","ids":{"openalex":"https://openalex.org/W2143509332","doi":"https://doi.org/10.1109/iros.2009.5354839","mag":"2143509332"},"language":"en","primary_location":{"id":"doi:10.1109/iros.2009.5354839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354839","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5010421160","display_name":"Norihiro Koizumi","orcid":"https://orcid.org/0000-0002-1111-9942"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Norihiro Koizumi","raw_affiliation_strings":["Engineering Synthesis, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Engineering Synthesis, Japan","institution_ids":[]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5011945815","display_name":"Joonho Seo","orcid":"https://orcid.org/0000-0003-0330-1805"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Joonho Seo","raw_affiliation_strings":["The Univ. of Tokyo, Japan","The University of Tokyo, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Univ. of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"The University of Tokyo, JAPAN","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5044411678","display_name":"Yugo Suzuki","orcid":"https://orcid.org/0000-0001-9182-6286"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yugo Suzuki","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5030942625","display_name":"Deukhee Lee","orcid":"https://orcid.org/0000-0001-7340-897X"},"institutions":[{"id":"https://openalex.org/I58716616","display_name":"Korea Institute of Science and Technology","ror":"https://ror.org/05kzfa883","country_code":"KR","type":"facility","lineage":["https://openalex.org/I27494661","https://openalex.org/I2801339556","https://openalex.org/I2801339556","https://openalex.org/I4210144908","https://openalex.org/I4387152098","https://openalex.org/I4387152098","https://openalex.org/I58716616"]}],"countries":["KR"],"is_corresponding":false,"raw_author_name":"Deukhee Lee","raw_affiliation_strings":["Korea Institute of Science and Technology, Seoul, South Korea"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Korea Institute of Science and Technology, Seoul, South Korea","institution_ids":["https://openalex.org/I58716616"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5111534726","display_name":"Kohei Ota","orcid":null},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kohei Ota","raw_affiliation_strings":["The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5022166589","display_name":"Akira Nomiya","orcid":"https://orcid.org/0000-0001-6698-8232"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Akira Nomiya","raw_affiliation_strings":["The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008571388","display_name":"Shin Yoshizawa","orcid":"https://orcid.org/0000-0002-2228-1128"},"institutions":[{"id":"https://openalex.org/I201537933","display_name":"Tohoku University","ror":"https://ror.org/01dq60k83","country_code":"JP","type":"education","lineage":["https://openalex.org/I201537933"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Shin Yoshizawa","raw_affiliation_strings":["Tohoku University, Sendai, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tohoku University, Sendai, Japan","institution_ids":["https://openalex.org/I201537933"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025592956","display_name":"Kiyoshi Yoshinaka","orcid":"https://orcid.org/0000-0002-5345-7974"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Kiyoshi Yoshinaka","raw_affiliation_strings":["The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5028247446","display_name":"Naohiko Sugita","orcid":"https://orcid.org/0000-0002-1369-0747"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Naohiko Sugita","raw_affiliation_strings":["The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5108203748","display_name":"Yoichiro Matsumoto","orcid":null},"institutions":[{"id":"https://openalex.org/I161296585","display_name":"Tokyo University of Science","ror":"https://ror.org/05sj3n476","country_code":"JP","type":"education","lineage":["https://openalex.org/I161296585"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yoichiro Matsumoto","raw_affiliation_strings":["Tokyo University of Science, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Tokyo University of Science, Tokyo, Japan","institution_ids":["https://openalex.org/I161296585"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5071062016","display_name":"Yukio Homma","orcid":"https://orcid.org/0000-0002-4794-5250"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Yukio Homma","raw_affiliation_strings":["The University of Tokyo, Tokyo, Japan"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The University of Tokyo, Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5030659108","display_name":"Mamoru Mitsuishi","orcid":"https://orcid.org/0000-0002-0354-1246"},"institutions":[{"id":"https://openalex.org/I74801974","display_name":"The University of Tokyo","ror":"https://ror.org/057zh3y96","country_code":"JP","type":"education","lineage":["https://openalex.org/I74801974"]}],"countries":["JP"],"is_corresponding":false,"raw_author_name":"Mamoru Mitsuishi","raw_affiliation_strings":["The Univ. of Tokyo, Japan","The University of Tokyo, JAPAN"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"The Univ. of Tokyo, Japan","institution_ids":["https://openalex.org/I74801974"]},{"raw_affiliation_string":"The University of Tokyo, JAPAN","institution_ids":["https://openalex.org/I74801974"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":4,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":1.5013,"has_fulltext":false,"cited_by_count":14,"citation_normalized_percentile":{"value":0.84231279,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":89,"max":98},"biblio":{"volume":null,"issue":null,"first_page":"4511","last_page":"4516"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11778","display_name":"Electrical and Bioimpedance Tomography","score":0.9939000010490417,"subfield":{"id":"https://openalex.org/subfields/2208","display_name":"Electrical and Electronic Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10378","display_name":"Advanced MRI Techniques and Applications","score":0.9848999977111816,"subfield":{"id":"https://openalex.org/subfields/2741","display_name":"Radiology, Nuclear Medicine and Imaging"},"field":{"id":"https://openalex.org/fields/27","display_name":"Medicine"},"domain":{"id":"https://openalex.org/domains/4","display_name":"Health Sciences"}},{"id":"https://openalex.org/T10358","display_name":"Advanced Radiotherapy Techniques","score":0.9797000288963318,"subfield":{"id":"https://openalex.org/subfields/3108","display_name":"Radiation"},"field":{"id":"https://openalex.org/fields/31","display_name":"Physics and Astronomy"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6559853553771973},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5578789114952087},{"id":"https://openalex.org/keywords/motion","display_name":"Motion (physics)","score":0.5250420570373535},{"id":"https://openalex.org/keywords/ultrasound","display_name":"Ultrasound","score":0.5067046284675598},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4867115318775177},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.4554223418235779},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.4520742893218994},{"id":"https://openalex.org/keywords/tracking-system","display_name":"Tracking system","score":0.4392281770706177},{"id":"https://openalex.org/keywords/visual-servoing","display_name":"Visual servoing","score":0.4335371255874634},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.42210888862609863},{"id":"https://openalex.org/keywords/image","display_name":"Image (mathematics)","score":0.2009267508983612},{"id":"https://openalex.org/keywords/radiology","display_name":"Radiology","score":0.16740626096725464},{"id":"https://openalex.org/keywords/medicine","display_name":"Medicine","score":0.13793757557868958},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.10465732216835022}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6559853553771973},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5578789114952087},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.5250420570373535},{"id":"https://openalex.org/C143753070","wikidata":"https://www.wikidata.org/wiki/Q162564","display_name":"Ultrasound","level":2,"score":0.5067046284675598},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4867115318775177},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.4554223418235779},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.4520742893218994},{"id":"https://openalex.org/C154586513","wikidata":"https://www.wikidata.org/wiki/Q4420972","display_name":"Tracking system","level":3,"score":0.4392281770706177},{"id":"https://openalex.org/C10912380","wikidata":"https://www.wikidata.org/wiki/Q527952","display_name":"Visual servoing","level":3,"score":0.4335371255874634},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.42210888862609863},{"id":"https://openalex.org/C115961682","wikidata":"https://www.wikidata.org/wiki/Q860623","display_name":"Image (mathematics)","level":2,"score":0.2009267508983612},{"id":"https://openalex.org/C126838900","wikidata":"https://www.wikidata.org/wiki/Q77604","display_name":"Radiology","level":1,"score":0.16740626096725464},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.13793757557868958},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.10465732216835022},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C106131492","wikidata":"https://www.wikidata.org/wiki/Q3072260","display_name":"Filter (signal processing)","level":2,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros.2009.5354839","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros.2009.5354839","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2009 IEEE/RSJ International Conference on Intelligent Robots and Systems","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/3","display_name":"Good health and well-being","score":0.4300000071525574}],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":13,"referenced_works":["https://openalex.org/W1873393810","https://openalex.org/W2004170475","https://openalex.org/W2065685950","https://openalex.org/W2087983089","https://openalex.org/W2089092965","https://openalex.org/W2098759960","https://openalex.org/W2104377141","https://openalex.org/W2116443211","https://openalex.org/W2117029786","https://openalex.org/W2120415087","https://openalex.org/W2168845043","https://openalex.org/W2409819611","https://openalex.org/W6714597592"],"related_works":["https://openalex.org/W2394134009","https://openalex.org/W1971984615","https://openalex.org/W2806679586","https://openalex.org/W2046099857","https://openalex.org/W4315836311","https://openalex.org/W2393252924","https://openalex.org/W2787600244","https://openalex.org/W2186532442","https://openalex.org/W2354867839","https://openalex.org/W2095056275"],"abstract_inverted_index":{"The":[0],"non-invasive":[1],"ultrasound":[2],"theragnostic":[3],"system,":[4,38],"we":[5],"propose,":[6],"tracks":[7],"and":[8,43,96,117,145],"follows":[9],"movement":[10],"in":[11],"an":[12],"affected":[13],"area":[14],"-kidney":[15],"stones":[16],"here-,":[17],"while":[18],"High-Intensity":[19],"Focused":[20],"Ultrasound":[21],"(HIFU)":[22],"is":[23,45,58,68,80,94,109,135],"irradiated":[24],"onto":[25],"the":[26,31,34,41,51,55,61,64,71,74,87,101,105,112,115,122,129,139,142,146],"area.":[27],"In":[28],"this":[29,85],"paper,":[30],"concept":[32],"of":[33,63,73,90,104,114,121,141],"novel":[35],"medical":[36],"support":[37],"which":[39,125],"integrates":[40],"therapy":[42],"diagnostics,":[44],"illustrated":[46],"at":[47],"first.":[48],"Secondly,":[49],"structuring":[50],"required":[52],"functions":[53],"for":[54],"proposed":[56,143],"system":[57,66],"discussed.":[59],"Third,":[60],"overview":[62],"constructed":[65,147],"configuration":[67],"illustrated.":[69],"Fourth,":[70],"problem":[72],"stone":[75],"motion":[76,89,103,133],"tracking":[77],"by":[78,99],"ultrasonography":[79],"clarified.":[81],"To":[82],"cope":[83],"with":[84],"problem,":[86],"respiratory":[88,106],"a":[91,97],"human":[92,131],"kidney":[93,107,132],"analyzed":[95],"controller,":[98],"utilizing":[100],"quasi-periodical":[102],"motion,":[108],"proposed.":[110],"Finally,":[111],"result":[113],"servoing":[116],"HIFU":[118],"irradiation":[119],"experiments":[120],"model":[123],"stone,":[124],"moves":[126],"based":[127],"on":[128],"real":[130],"data,":[134],"reported":[136],"to":[137],"confirm":[138],"effectiveness":[140],"controller":[144],"system.":[148]},"counts_by_year":[{"year":2017,"cited_by_count":1},{"year":2015,"cited_by_count":3},{"year":2014,"cited_by_count":4},{"year":2013,"cited_by_count":1},{"year":2012,"cited_by_count":2}],"updated_date":"2026-04-30T06:05:26.967640","created_date":"2025-10-10T00:00:00"}