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.


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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...
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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.