Robust kidney stone tracking for a non-invasive ultrasound theragnostic system -servoing performance and safety enhancement- - Norihiro Koizumi; Joonho Seo; Lee, Deukhee; Takakazu Funamoto; Akira Nomiya; Kiyoshi Yoshinaka; Naohiko Sugita; Yukio Homma; Yoichiro Matsumoto; Mamoru Mitsuishi