Infinite-Dimensional Adaptive Boundary Observer for Inner-Domain Temperature Estimation of 3D Electrosurgical Processes using Surface Thermography Sensing

• URL: http://arxiv.org/abs/2211.00515v1
• Date: Tue, 1 Nov 2022 15:03:01 GMT
• Title: Infinite-Dimensional Adaptive Boundary Observer for Inner-Domain Temperature Estimation of 3D Electrosurgical Processes using Surface Thermography Sensing
• Authors: Hamza El-Kebir, Junren Ran, Martin Ostoja-Starzewski, Richard Berlin, Joseph Bentsman, Leonardo P. Chamorro
• Abstract summary: We present a novel 3D adaptive observer framework for determination of subsurface organic tissue temperatures in electrosurgery. We introduce a novel approach to decoupled parameter adaptation and estimation, wherein the parameter estimation can run in real-time. In this work, we also present a novel model structure adapted to the setting of robotic surgery, wherein we model the electrosurgical heat distribution as a compactly supported magnitude- and velocity-controlled heat source.
• Score: 0.0
• License: http://creativecommons.org/licenses/by/4.0/
• Abstract: We present a novel 3D adaptive observer framework for use in the determination of subsurface organic tissue temperatures in electrosurgery. The observer structure leverages pointwise 2D surface temperature readings obtained from a real-time infrared thermographer for both parameter estimation and temperature field observation. We introduce a novel approach to decoupled parameter adaptation and estimation, wherein the parameter estimation can run in real-time, while the observer loop runs on a slower time scale. To achieve this, we introduce a novel parameter estimation method known as attention-based noise-robust averaging, in which surface thermography time series are used to directly estimate the tissue's diffusivity. Our observer contains a real-time parameter adaptation component based on this diffusivity adaptation law, as well as a Luenberger-type corrector based on the sensed surface temperature. In this work, we also present a novel model structure adapted to the setting of robotic surgery, wherein we model the electrosurgical heat distribution as a compactly supported magnitude- and velocity-controlled heat source involving a new nonlinear input mapping. We demonstrate satisfactory performance of the adaptive observer in simulation, using real-life experimental ex vivo porcine tissue data.

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