Predicting respiratory motion for active canceling during percutaneous needle insertion

Cameron Riviere, A. Thakral, I. I. Iordachita, G. Mitroi, and D. Stoianovici
Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, October, 2001, pp. 3477-3480.


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Abstract
Prediction of bodily motion due to respiration was investigated preparatory to implementation of active compensation for respiration in a robot-assisted system for percutaneous kidney surgery. Data for preliminary testing were recorded from the chest wall of a subject using an optical displacement sensor. The weighted-frequency Fourier linear combiner algorithm, an adaptive modeling algorithm, was used to model and predict respiratory movement. Preliminary results are presented, in which the algorithm is shown to track a 0.86 mm rms respiration signal with 0.11 mm rms error. The general robotic system and compensation scheme are also described.

Keywords
compensation, adaptive filtering, robot, surgery

Notes
Sponsor: National Science Foundation
Grant ID: EEC-9731748
Associated Center(s) / Consortia: Medical Robotics Technology Center
Associated Lab(s) / Group(s): Surgical Mechatronics Laboratory

Text Reference
Cameron Riviere, A. Thakral, I. I. Iordachita, G. Mitroi, and D. Stoianovici, "Predicting respiratory motion for active canceling during percutaneous needle insertion," Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society, October, 2001, pp. 3477-3480.

BibTeX Reference
@inproceedings{Riviere_2001_4093,
   author = "Cameron Riviere and A. Thakral and I. I. Iordachita and G. Mitroi and D. Stoianovici",
   title = "Predicting respiratory motion for active canceling during percutaneous needle insertion",
   booktitle = "Proc. 23rd Annual Intl. Conf. IEEE Engineering in Medicine and Biology Society",
   pages = "3477-3480",
   month = "October",
   year = "2001",
}