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Model Predictive Control of a Medical Robotic System

  • Ivan BuzurovicEmail author
Conference paper
Part of the Lecture Notes in Networks and Systems book series (LNNS, volume 54)

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.

Keywords

Robotic system Model predictive control Needle insertion 

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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  1. 1.Harvard Medical SchoolHarvard UniversityBostonUSA

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