Predicting Respiratory Motion for Active Canceling During Percutaneous Needle Insertion
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.
Document Details
- Document Type
- Technical Report
- Publication Date
- Oct 25, 2001
- Accession Number
- ADA410283
Entities
People
- A. Thakral
- C. N. Riviere
- D. Stoianovici
- G. Mitroi
- I. I. Iordachita
Organizations
- Carnegie Mellon University