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Predicting respiratory motion for active canceling during percutaneous needle insertion

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5 Author(s)
Riviere, C.N. ; Robotics Inst., Carnegie Mellon Univ., Pittsburgh, PA, USA ; Thakral, A. ; Iordachita, I.I. ; Mitroi, G.
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Prediction of bodily motion due to respiration was investigated preparatory to implementation of active compensation for respiration in a robot-assisted system for percutaneous kidney surgery. Data for preliminary testing were recorded from the chest wall of a subject using an optical displacement sensor. The weighted-frequency Fourier linear combiner algorithms an adaptive modeling: algorithm, was used to model and predict respiratory movement. Preliminary results are presented, in which the algorithm is shown to track a 0.86 mm rms respiration signal with 0.11 mm rms error. The general robotic system and compensation scheme are also described.

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Engineering in Medicine and Biology Society, 2001. Proceedings of the 23rd Annual International Conference of the IEEE  (Volume:4 )

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