Output-Feedback Tracking for Tumour Motion Compensation in Adaptive Radiotherapy

Devi Putra, Piotr Skworcow, Olivier C.L Haas, Keith J. Burnham, John A. Mills

    Research output: Chapter in Book/Report/Conference proceedingConference proceedingpeer-review

    11 Citations (Scopus)


    This paper considers a compensation strategy for tumour motion caused by respiration and patient movements during radiotherapy treatments using a controlled patient support system (PSS). An output-feedback model predictive control (MPC) scheme for the PSS to track the tumour motion is proposed. The MPC controller utilizes predicted tumour positions, which are calculated by a Kalman filter, as reference signals and estimated position and velocity of the PSS, which are obtained from a state observer, as feedback signals. Simulation results using a clinical data set consisting of 100 traces of lung-cancer patient respiratory motion demonstrate the applicability of the proposed control strategy.
    Original languageEnglish
    Title of host publicationAmerican Control Conference, 2007. ACC '07
    Pages3414 - 3419
    Number of pages6
    ISBN (Print)1-4244-0988-8
    Publication statusPublished - Jul 2007
    Event2007 American Control Conference - New York, United States
    Duration: 9 Jul 200713 Jul 2007

    Publication series

    ISSN (Print)0743-1619
    ISSN (Electronic)2378-5861


    Conference2007 American Control Conference
    Country/TerritoryUnited States
    CityNew York

    Bibliographical note

    This conference paper is not yet available on the repository. The paper was given at the American Control Conference, 2007 (ACC '07), New York, 9-13 July 2007


    • Kalman filter
    • adaptive radiotherapy treatment
    • clinical data set
    • controlled patient support system
    • feedback signal
    • lung-cancer patient respiratory motion
    • output-feedback model predictive control
    • output-feedback tracking
    • patient movement
    • reference signal
    • respiration movement
    • state observer
    • tumour motion compensation
    • tumour position


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