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PDE-Based Modeling and Non-collocated Feedback Control of Electrosurgical-Probe/Tissue Interaction
Hamza El-Kebir1, Joseph Bentsman2
1Department of Aerospace Engineering, University of Illinois at Urbana-Champaign, Urbana, IL, 61801 USA.
Proceedings of the ... American Control Conference. American Control Conference
|August 9, 2021
Summary
This study introduces a novel control model for electrosurgical probes interacting with tissue. The developed control law and state observer effectively achieve targeted electrosurgical effects, demonstrating controller performance.
Area of Science:
- Biomedical Engineering
- Control Theory
- Mathematical Modeling
Background:
- Electrosurgery is crucial for tissue manipulation but lacks precise control.
- Modeling electrosurgical probe-tissue interaction is complex due to moving boundaries and phase changes.
- Existing models do not adequately support control-oriented design for achieving specific tissue effects.
Purpose of the Study:
- To develop the first control-oriented model for electrosurgical probe-tissue interaction.
- To propose a non-collocated output feedback moving boundary control law for achieving desired electrosurgical outcomes.
- To design a novel state observer for the underlying mathematical problem.
Main Methods:
- A 1-D partial differential equation (PDE) model with a moving boundary was developed.
- A non-collocated output feedback moving boundary control law was designed.
- A pointwise temperature-based state observer for the two-phase Stefan problem was implemented.
Main Results:
- The proposed control law successfully achieved the desired electrosurgically-induced tissue changes.
- The novel state observer enabled the realization of the control law.
- Simulations confirmed that the controller meets its performance objectives.
Conclusions:
- A foundational control-oriented model for electrosurgical probe-tissue interaction has been established.
- The developed control strategy and observer are effective for precise electrosurgical procedures.
- The study paves the way for advanced, model-based control in electrosurgery.
