Abstract
Actively compensating for respiratory and pulsatory motion-as outlined in section 2.5-requires real time tracking of marker positions on the patient’s chest and subsequent prediction (see chapter 4) and correlation (see chapter 5). It is clear that we deal with some kind of control process: the robot is moved in real time according to processed sensory input from the tracking system. To quantify the accuracy of the individual processing steps, new evaluation metrics are introduced (section 3.2), a new method to reduce measurement noise will be discussed (section 3.3, published in [7, 10]), the noise level of different tracking systems will be evaluated (section 3.4) and motion artefacts inherent to active optical cameras will be analysed (section 3.5, published in [8]).
Parts of this chapter have been published in [7, 8, 10, 20]
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Ernst, F. (2012). Signal Processing. In: Compensating for Quasi-periodic Motion in Robotic Radiosurgery. Springer, New York, NY. https://doi.org/10.1007/978-1-4614-1912-9_3
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