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Thermal and Mechanical Characteristics of Dual Cure Self-etching, Self-adhesive Resin Based Cement Read chapter Read first chapter

2019 | OriginalPaper | Chapter

Model Predictive Control of a Medical Robotic System

Author : Ivan Buzurovic

Published in: Experimental and Numerical Investigations in Materials Science and Engineering

Publisher: Springer International Publishing

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Abstract

One of the most challenging phases in interstitial brachytherapy is the placement of the needles. In these medical procedures, the needles are inserted inside the tissue to guide the positioning of the radioactive sources. The low dose-rate (LDR) radioactive sources are placed inside the tissue permanently, whereas a radioactive source in the high dose-rate (HDR) brachytherapy is temporarily placed in the desired positions so that the delivery of the prescription dose to the clinical targets can be achieved. Therefore, it is important to develop a robust and sophisticated tool that can perform the automatic needle placement with a high level of accuracy for different medical procedures and conditions. In this study, we propose a novel concept for the automatic needle insertion using a new miniature automated robotic system. The mathematical model of this system was derived, allowing the implementation of the model predictive control (MPC) that can be used to govern the mechanism. The purpose of this approach was to minimize the lateral components of the generalized reactive force which is responsible for the tissue displacement and, consequently, for the needle deflection.

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previous chapter Identification and Recognition of Vehicle Environment Using Artificial Neural Networks
Literature
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Metadata
Title
Model Predictive Control of a Medical Robotic System
Author
Ivan Buzurovic
Copyright Year
2019
Book
Experimental and Numerical Investigations in Materials Science and Engineering

Print ISBN: 978-3-319-99619-6

Electronic ISBN: 978-3-319-99620-2

Copyright Year: 2019

DOI
https://doi.org/10.1007/978-3-319-99620-2_17

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