Adaptive controller for hyperthermia robot
This paper describes the development of an adaptive computer control routine for a robotically, deployed focused, ultrasonic hyperthermia cancer treatment system. The control algorithm developed herein uses physiological models of a tumor and the surrounding healthy tissue regions and transient temperature data to estimate the treatment region`s blood perfusion. This estimate is used to vary the specific power profile of a scanned, focused ultrasonic transducer to achieve a temperature distribution as close as possible to an optimal temperature distribution. The controller is evaluated using simulations of diseased tissue and using limited experiments on a scanned, focused ultrasonic treatment system that employs a 5-Degree-of-Freedom (D.O.F.) robot to scan the treatment transducers over a simulated patient. Results of the simulations and experiments indicate that the adaptive control routine improves the temperature distribution over standard classical control algorithms if good (although not exact) knowledge of the treated region is available. Although developed with a scanned, focused ultrasonic robotic treatment system in mind, the control algorithm is applicable to any system with the capability to vary specific power as a function of volume and having an unknown distributed energy sink proportional to temperature elevation (e.g., other robotically deployed hyperthermia treatment methods using different heating modalities).
- Research Organization:
- Oak Ridge National Lab. (ORNL), Oak Ridge, TN (United States)
- Sponsoring Organization:
- USDOE Office of Environmental Restoration and Waste Management, Washington, DC (United States)
- DOE Contract Number:
- AC05-96OR22464
- OSTI ID:
- 459365
- Report Number(s):
- CONF-970464-8; ON: DE97002987; TRN: AHC29708%%30
- Resource Relation:
- Conference: 7. American Nuclear Society topical meeting on robotics and remote systems, Augusta, GA (United States), 27 Apr - 1 May 1997; Other Information: PBD: [1997]
- Country of Publication:
- United States
- Language:
- English
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