The authors have investigated a construction methodology for a non-invasive ultrasound theragnostic system, called NIUTS, to track and follow moving body targets, such as tumors / stones located in moving organs (kidneys, livers, etc.), robustly and precisely, so as to compensate for nearly 90 percent of target motions in ultrasound images, while irradiating therapeutic ultrasound to focal lesions. In the present report, we propose a novel servo recovery algorithm for NIUTS. We confirm the effectiveness of the implemented servo recovery algorithm for a real human kidney, which, as far as we know, is the first successful report of semi-autonomous servo recovery systems for lost body targets. This robust servo recovery method could provide an indispensable tool for precise, safe, and efficient treatments of tumors and stones.

The authors have developed a bed-type non-invasive ultrasound theragnostic system (NIUTS) that compensates for movement by tracking and following the area to be treated by stereo ultrasound imaging while irradiating high-intensity focused ultrasound (HIFU) onto the affected area. In this paper, we propose a novel robust template matching method to track and follow body targets, which include tumors and stones for the NIUTS. The proposed novel robust template matching method could be applied to a motion tracking of the real human kidney based on the ultrasound images, which is the first successful report as far as I know. This robust visual servoing method could be a great tool to treat the tumors and stones precisely and safely.

The authors have developed a non-invasive ultrasound theragnostic system (NIUTS) with a focal lesion servo (FLS) function based on stereo ultrasound imaging in order to compensate for movement while irradiating high-intensity focused ultrasound (HIFU) onto a focal lesion. In the present paper, we propose a redundant motion control mechanism of the HIFU focus, for therapeutics, that is independent of the ultrasound probes for diagnostics. Using the proposed redundant motion control mechanism, an arbitrary designated position in the focal lesion can be treated without altering the viewpoint of the ultrasound probes. The proposed mechanism enables (i) noise factors, which deteriorate the image quality (IQ) for FLS, to be reduced, thereby enhancing the FLS performance, and (ii) enables the destruction of a focal lesion (kidney stone) with a preoperatively designated locus that is moving due to respiration/heartbeat.

MOTIVATION: Identifying somatic changes from tumor and matched normal sequences has become a standard approach in cancer research. More specifically, this requires accurate detection of somatic point mutations with low allele frequencies in impure and heterogeneous cancer samples. Although haplotype phasing information derived by using heterozygous germ line variants near candidate mutations would improve accuracy, no somatic mutation caller that uses such information is currently available. RESULTS: We propose a Bayesian hierarchical method, termed HapMuC, in which power is increased by using available information on heterozygous germ line variants located near candidate mutations. We first constructed two generative models (the mutation model and the error model). In the generative models, we prepared candidate haplotypes, considering a heterozygous germ line variant if available, and the observed reads were realigned to the haplotypes. We then inferred the haplotype frequencies and computed the marginal likelihoods using a variational Bayesian algorithm. Finally, we derived a Bayes factor for evaluating the possibility of the existence of somatic mutations. We also demonstrated that our algorithm has superior specificity and sensitivity compared with existing methods, as determined based on a simulation, the TCGA Mutation Calling Benchmark 4 datasets and data from the COLO-829 cell line. AVAILABILITY AND IMPLEMENTATION: The HapMuC source code is available from http://github.com/usuyama/hapmuc.

We propose a non-invasive ultrasound theragnos tic system that tracks movement in an affected area (kidney stones, in the present study) by irradiating the area with high intensity focused ultrasound (HIFU). In the present paper, the concept behind a novel medical support system that integrates therapy and diagnostics (theragnostics) is illustrated. The re quired functions for the proposed system are discussed and an overview of the constructed system configuration is illustrated. The problems associated with kidney stone motion tracking by ultrasonography are described. In order to overcome these problems, we consider two approaches. The first approach is to minimize the servoing error so as to enhance both the efficiency of the therapy and the safety of the patient. The second approach is to reduce the effect of the servoing error. With respect to the first approach, we propose a robust detection method of the stone position based on shape information. With respect to the second approach, we propose a solution for controlling the HIFU irradiation power in accordance with the servoing error, primarily in order to enhance the safety of the patient.

The non-invasive ultrasound theragnostic system, we propose, tracks and follows movement in an affected area -kidney stones here-, while High-Intensity Focused Ultrasound (HIFU) is irradiated onto the area. In this paper, the concept of the novel medical support system, which integrates the therapy and diagnostics, is illustrated at first. Secondly, structuring the required functions for the proposed system is discussed. Third, the overview of the constructed system configuration is illustrated. Fourth, the problem of the stone motion tracking by ultrasonography is clarified. To cope with this problem, the respiratory motion of a human kidney is analyzed and a controller, by utilizing the quasi-periodical motion of the respiratory kidney motion, is proposed. Finally, the result of the servoing and HIFU irradiation experiments of the model stone, which moves based on the real human kidney motion data, is reported to confirm the effectiveness of the proposed controller and the constructed system.