ArticleIFAC-PapersOnLine2021
Online Hypermodel-based Path Planning for Feedback Control of Tissue Denaturation in Electrosurgical Cutting.
Article in IFAC-PapersOnLine, 2021. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 9 papers.
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Who cites it
9 citing papers in PubMed.
- Autonomous Closed-Loop Control for Robotic Soft Tissue Electrosurgery Using RGB-D Image Guidance.IEEE transactions on medical robotics and bionics · 2025Article
- Lodestar: An Integrated Embedded Real-Time Control Engine.Control Technology and Applications. Control Technology and Applications · 2023Article
- Minimally Invasive Live Tissue High-Fidelity Thermophysical Modeling Using Real-Time Thermography.IEEE transactions on bio-medical engineering · 2023Article
- Solid Boundary Output Feedback Control of the Stefan Problem: The Enthalpy Approach.IEEE transactions on automatic control · 2023Article
- Output Power Computation and Adaptation Strategy of an Electrosurgery Inverter for Reduced Collateral Tissue Damage.IEEE transactions on bio-medical engineering · 2023Article
- Minimally Invasive Live Tissue High-fidelity Thermophysical Modeling using Real-time Thermography.ArXiv · 2023Article
- Expert knowledge-based peak current mode control of electrosurgical generators for improved output power regulation.Journal of electrical bioimpedance · 2023Article
- Infinite-Dimensional Adaptive Boundary Observer for Inner-Domain Temperature Estimation of 3D Electrosurgical Processes using Surface Thermography Sensing.Proceedings of the ... IEEE Conference on Decision & Control. IEEE Conference on Decision & Control · 2022Article
- Reduced Collateral Tissue Damage Using Thermal-Feedback-Based Power Adaptation of an Electrosurgery Inverter.IEEE transactions on power electronics · 2022Article
Corrections and comments
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Authors and funding
7 authors.
Funding
Abstract
The first closed-loop control of electrosurgical power satisfying a specified tissue damage bound along the desired tissue dissection path is presented. The damage is represented by the 82 °C isotherm corresponding to the admissible tissue denaturation front position in relation to that of the cutting probe tip. The front location is assessed in real time through the infrared temperature readings of the 40 °C isotherm tightly related to the emerging denaturing patch size around the moving probe tip. A control-oriented denaturing hypermodel and its recasting into a form amenable for use in a moving-horizon locally linear model predictive control law are presented. The optimal control action is determined by solving a compound model predictive control problem that targets a number of active one-dimensional domains. This model is obtained from an offline trained nonlinear autoregressive model with exogenous input. To enforce the safety constraints, a supervisor system precedes the path planning control law. This system prevents excessive denaturation by excluding certain system moves, and determines system termination conditions. We experimentally demonstrate the system's performance in two different line-cutting tasks on ex vivo porcine tissue with a desired denaturation front.
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Registered trials
Read under generation 80e0d062 · epoch 390. Bibliography from PubMed, PubMed Central and OpenAlex; grants from NIH RePORTER; trial links from ClinicalTrials.gov; estimates, votes and beliefs from the OpenQuestion graph.