Prediction of renal respiratory motion for compensation during percutaneous needle insertion in robot assisted surgery

Çetinkaya, Mehmet
In this study, the aim is to design a respiratory motion prediction algorithm which can be used to compensate for this physiological disturbance in medical operations where respiration limits operation accuracy. For this purpose, a new Kalman filter has been developed for tracking quasi-periodic signals approximated as finite Fourier series. Instead of relying on approximations provided by Extended Kalman Filter or Unscented Kalman Filter, our filter performs the exact calculation of the mean and covariances of interest. Our results indicate that the theoretically derived mean and covariance calculations result in either comparable or better estimation performance in terms of convergence speed and output estimation error depending on the circumstances. We then employ an expectation maximization algorithm to find the maximum likelihood estimates of the process noise with known measurement noise statistics. Coupled with this, the new filter is able to track the output despite breathing irregularities. However, the degree of irregularity may cause divergence from the assumed underlying model.


Evaluation of multivariate adaptive non-parametric reduced-order model for solving the inverse electrocardiography problem: a simulation study
Onak, Onder Nazim; Serinağaoğlu Doğrusöz, Yeşim; Weber, Gerhard Wilhelm (Springer Science and Business Media LLC, 2019-05-01)
In the inverse electrocardiography (ECG) problem, the goal is to reconstruct the heart's electrical activity from multichannel body surface potentials and a mathematical model of the torso. Over the years, researchers have employed various approaches to solve this ill-posed problem including regularization, optimization, and statistical estimation. It is still a topic of interest especially for researchers and clinicians whose goal is to adopt this technique in clinical applications. Among the wide range of...
Eyüboğlu, Behçet Murat; WOLF, PD (IOP Publishing, 1994-01-01)
In order to measure in vivo resistivity of tissues in the thorax, the possibility of combining anatomical data extracted from high-resolution images with multiple-electrode impedance measurements, a priori knowledge of the range of tissue resistivities, and a priori data on the instrumentation noise is assessed in this study. A statistically constrained minimum-mean-square error estimator (MIMSEE) that minimizes the effects of linearization errors and instrumentation noise is developed and compared to the c...
Forward problem of electrocardiography in terms of 3D transmembrane potentials using COMSOL
Bedir, Gizem; Serinağaoğlu Doğrusöz, Yeşim; Çetin, Barbaros; Department of Biomedical Engineering (2015)
Computation of body surface potentials from equivalent cardiac sources is called as forward problem of electrocardiography (ECG). There exist different solution meth- ods for solving the forward ECG problem. These solution methods depend on the choice of the equivalent cardiac sources. In this study, bidomain model based trans- membrane potential (TMP) distribution is used as equivalent cardiac source to exam- ine the cellular electrophysiology macroscopically. With this type of source defini- tion, the TMP...
Estimation of the Balance-Keeping Control Law Applied by a Human Being Upon a Sudden Sagittal Tilt Perturbation
BİLGİN, NURDAN; Özgören, Mustafa Kemal (2019-04-01)
This study aims to estimate the control law employed by the central nervous system (CNS) to keep a person in balance after a sudden disturbance. For this aim, several experiments were carried out, in which the subjects were perturbed sagittally by using a single-axis tilt-platform and their motions were recorded with appropriate sensors. The analysis of the experimental results leads to the contribution of this paper as a conjecture that the CNS commands the muscular actuators of the joints according to an ...
Comparison of Kalman filter and Bayesian-MAP approaches in the spatio-temporal solution of the inverse electrocardiography Ters elektrokardiyografinin zaman-uzamsal çözümünde Kalman filtre ve Bayes-MAP yöntemlerinin karşilaştirilmasi
Aydin, Ümit; Serinağaoğlu Doğrusöz, Yeşim (2010-07-15)
In this study some of the spatial and spatio-temporal methods for the solution of the inverse problem of electrocardiography (ECG) are compared with each other. Comparisons are also made for the cases with geometric errors, where the location of the heart is shifted for 10mm and the size of the heart is reduced by 5%. The compared methods are the Kalman filter and Bayesian maximum a posteriori estimation (MAP). Two different Bayesian-MAP algorithms are used. While one uses only spatial information the other...
Citation Formats
M. Çetinkaya, “Prediction of renal respiratory motion for compensation during percutaneous needle insertion in robot assisted surgery,” M.S. - Master of Science, Middle East Technical University, 2018.