AbstractThe purpose of this work is to integrate the concept of patient-in-the-closed-loop application with tumour treatment of cancer-diagnosed patients in remote areas. The generic closed loop control objective is effective synchronisation of the radiation focus to the movement of a lung tissue tumour during actual breathing of the patient. This is facilitated by accurate repositioning of a robotic arm manipulator, i.e. we emulate the Cyberknife Robotic Radiosurgery system. Predictive control with disturbance filter is used in this application in a minimalistic model design. Performance of the control structure is validated by means of simulation using real recorded breathing patterns from patients measured in 3D space. Latency in communication protocol is taken into account, given telerobotics involve autonomous operation of a robot interacting with a human being in different location. Our results suggest that the proposed closed loop control structure has practical potential to individualise the treatment and improves accuracy by at least 15%.
HighlightsExploit the periodicity of the tumour movement for predictive controller design.Combine inverse kinematics with closed loop control in radiotherapy.Application for telemedicine in remote areas.
Motion compensation for robotic lung tumour radiotherapy in remote locations: A personalised medicine approach
Acta Astronautica ; 132 ; 59-66
2016-12-01
8 pages
Article (Journal)
Electronic Resource
English
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