Predicting respiratory motion for active canceling during percutaneous needle insertion

C. N. Riviere, A. Thakral, I. I. Iordachita, G. Mitroi, D. Stoianovici

Research output: Contribution to journalConference articlepeer-review

33 Scopus citations


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 algorithm, 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.

Original languageEnglish (US)
Pages (from-to)3477-3480
Number of pages4
JournalAnnual Reports of the Research Reactor Institute, Kyoto University
StatePublished - 2001
Externally publishedYes
Event23rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society - Istanbul, Turkey
Duration: Oct 25 2001Oct 28 2001


  • Adaptive filtering
  • Compensation
  • Robot
  • Surgery

ASJC Scopus subject areas

  • Energy Engineering and Power Technology
  • Mechanical Engineering


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