论文标题
在1 kHz处进行视网膜激光处理的模型预测性控制
Model predictive control for retinal laser treatment at 1 kHz
论文作者
论文摘要
激光光凝是一种用于视网膜疾病治疗的技术。尽管这通常是手动完成的或使用简单的控制方案，但我们采用一种基于优化的方法，即模型预测控制（MPC），以在峰值温度上执行界限，从而在医疗过程中的安全性 - 尽管有斑点依赖于组织的吸收。为此，重复率为1 kHz是理想的，使实时要求成为一个重大挑战。我们使用参数模型降低（用于参数和状态估计的扩展卡尔曼滤波器）提供了量身定制的MPC方案，并适当地构建了阶段成本，并在模拟和使用猪眼的实验中验证其适用性。此外，我们对专门针对快速数值计算的专门量身定制的实现提供了一些见解。
Laser photocoagulation is a technique applied in the treatment of retinal diseases. While this is often done manually or using simple control schemes, we pursue an optimization-based approach, namely Model Predictive Control (MPC), to enforce bounds on the peak temperature and, thus, safety during the medical treatment procedure - despite the spot-dependent absorption of the tissue. To this end, a repetition rate of 1 kHz is desirable rendering the real-time requirements a major challenge. We present a tailored MPC scheme using parametric model reduction, an extended Kalman filter for the parameter and state estimation, and suitably constructed stage costs and verify its applicability both in simulation and experiments with porcine eyes. Moreover, we give some insight on the implementation specifically tailored for fast numerical computations.
