Predicting respiratory motion for active canceling during percutaneous needle insertion
Conference Paper, Proceedings of 23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '01), pp. 3477 - 3480, October, 2001
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.
BibTeX
@conference{Riviere-2001-8324,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 = {Proceedings of 23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC '01)},
year = {2001},
month = {October},
pages = {3477 - 3480},
keywords = {compensation, adaptive filtering, robot, surgery},
}
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