Depth of anesthesia control using internal model control techniques

The major difficulty in the design of closed-loop control during anaesthesia is the inherent patient variability due to differences in demographic and drug tolerance. These discrepancies are translated into the pharmacokinetics (PK), and pharmacodynamics (PD). These uncertainties may affect the stability of the closed loop control system. This paper aims at developing predictive controllers using Internal Model Control technique. This study develops patient dose-response models and to provide an adequate drug administration regimen for the anaesthesia to avoid under or over dosing of the patients. The controllers are designed to compensate for patients inherent drug response variability, to achieve the best output disturbance rejection, and to maintain optimal set point response. The results are evaluated compared with traditional PID controller and the performance is confirmed in our simulation

Approximate entropy as an indicator of non-linearity in self paced voluntary finger movement EEG

This study investigates the indications of non-linear dynamic structures in electroencephalogram signals. The iterative amplitude adjusted surrogate data method along with seven non-linear test statistics namely the third order autocorrelation, asymmetry due to time reversal, delay vector variance method, correlation dimension, largest Lyapunov exponent, non-linear prediction error and approximate entropy has been used for analysing the EEG data obtained during self paced voluntary finger-movement. The results have demonstrated that there are clear indications of non-linearity in the EEG signals. However the rejection of the null hypothesis of non-linearity rate varied based on different parameter settings demonstrating significance of embedding dimension and time lag parameters for capturing underlying non-linear dynamics in the signals. Across non-linear test statistics, the highest degree of non-linearity was indicated by approximate entropy (APEN) feature regardless of the parameter settings

Advanced multiparametric optimization and control studies for anaesthesia

Anaesthesia is a reversible pharmacological state of the patient where hypnosis, analgesia and muscle relaxation are guaranteed and maintained throughout the surgery. Analgesics block the sensation of pain; hypnotics produce unconsciousness, while muscle relaxants prevent unwanted movement of muscle tone. Controlling the depth of anaesthesia is a very challenging task, as one has to deal with nonlinearity, inter- and intra-patient variability, multivariable characteristics, variable time delays, dynamics dependent on the hypnotic agent, model analysis variability, agent and stability issues. The modelling and automatic control of anaesthesia is believed to (i) benefit the safety of the patient undergoing surgery as side-effects may be reduced by optimizing the drug infusion rates, and (ii) support anaesthetists during critical situations by automating the drug delivery systems. In this work we have developed several advanced explicit/multi-parametric model predictive (mp-MPC) control strategies for the control of depth of anaesthesia. State estimation techniques are developed and used simultaneously with mp-MPC strategies to estimate the state of each individual patient, in an attempt to overcome the challenges of inter- and intra- patient variability, and deal with possible unmeasurable noisy outputs. Strategies to deal with the nonlinearity have been also developed including local linearization, exact linearization as well as a piece-wise linearization of the Hill curve leading to a hybrid formulation of the patient model and thereby the development of multiparametric hybrid model predictive control methodology. To deal with the inter- and intra- patient variability, as well as the noise on the process output, several robust techniques and a multiparametric moving horizon estimation technique have been design and implemented. All the studies described in the thesis are performed on clinical data for a set of 12 patients who underwent general anaesthesia.Open Acces

Modelling, Optimisation and Explicit Model Predictive Control of Anaesthesia Drug Delivery Systems

The contributions of this thesis are organised in two parts. Part I presents a mathematical model for drug distribution and drug effect of volatile anaesthesia. Part II presents model predictive control strategies for depth of anaesthesia control based on the derived model. Closed-loop model predictive control strategies for anaesthesia are aiming to improve patient's safety and to fine-tune drug delivery, routinely performed by the anaesthetist. The framework presented in this thesis highlights the advantages of extensive modelling and model analysis, which are contributing to a detailed understanding of the system, when aiming for the optimal control of such system. As part of the presented framework, the model uncertainty originated from patient-variability is analysed and the designed control strategy is tested against the identified uncertainty. An individualised physiologically based model of drug distribution and uptake, pharmacokinetics, and drug effect, pharmacodynamics, of volatile anaesthesia is presented, where the pharmacokinetic model is adjusted to the weight, height, gender and age of the patient. The pharmacodynamic model links the hypnotic depth measured by the Bispectral index (BIS), to the arterial concentration by an artificial effect site compartment and the Hill equation. The individualised pharmacokinetic and pharmacodynamic variables and parameters are analysed with respect to their influence on the measurable outputs, the end-tidal concentration and the BIS. The validation of the model, performed with clinical data for isoflurane and desflurane based anaesthesia, shows a good prediction of the drug uptake, while the pharmacodynamic parameters are individually estimated for each patient. The derived control design consists of a linear multi-parametric model predictive controller and a state estimator. The non-measurable tissue and blood concentrations are estimated based on the end-tidal concentration of the volatile anaesthetic. The designed controller adapts to the individual patient's dynamics based on measured data. In an alternative approach, the individual patient's sensitivity is estimated on-line by solving a least squares parameter estimation problem.Open Acces

A nonlinear disturbance observer for robotic manipulators

A new nonlinear disturbance observer (NDO) for robotic manipulators is derived in this paper. The global exponential stability of the proposed disturbance observer (DO) is guaranteed by selecting design parameters, which depend on the maximum velocity and physical parameters of robotic manipulators. This new observer overcomes the disadvantages of existing DOs, which are designed or analyzed by linear system techniques. It can be applied in robotic manipulators for various purposes such as friction compensation, independent joint control, sensorless torque control and fault diagnosis. The performance of the proposed observer is demonstrated by the friction estimation and compensation for a two-link robotic manipulator. Both simulation and experimental results show the NDO works well

Physics of brain dynamics: Fokker-Planck analysis reveals changes in EEG delta-theta interactions in anaesthesia

We use drift and diffusion coefficients to reveal interactions between different oscillatory processes underlying a complex signal and apply the method to EEG delta and theta frequencies in the brain. By analysis of data recorded from rats during anaesthesia, we consider the stability and basins of attraction of fixed points in the phase portrait of the deterministic part of the retrieved stochastic process. We show that different classes of dynamics are associated with deep and light anaesthesia, and we demonstrate that the predominant directionality of the interaction is such that theta drives delt

Robust fractional order PI control for cardiac output stabilisation

Drug regulatory paradigms are dependent on the hemodynamic system as it serves to distribute and clear the drug in/from the body. While focusing on the objective of the drug paradigm at hand, it is important to maintain stable hemodynamic variables. In this work, a biomedical application requiring robust control properties has been used to illustrate the potential of an autotuning method, referred to as the fractional order robust autotuner. The method is an extension of a previously presented autotuning principle and produces controllers which are robust to system gain variations. The feature of automatic tuning of controller parameters can be of great use for data-driven adaptation during intra-patient variability conditions. Fractional order PI/PD controllers are generalizations of the well-known PI/PD controllers that exhibit an extra parameter usually used to enhance the robustness of the closed loop system. (C) 2019, IFAC (International Federation of Automatic Control) Hosting by Elsevier Ltd. All rights reserved

Differential pharmacokinetics and pharmacokinetic/pharmacodynamic modelling of robenacoxib and ketoprofen in a feline model of inflammation

Robenacoxib and ketoprofen are acidic nonsteroidal anti‐inflammatory drugs (NSAIDs). Both are licensed for once daily administration in the cat, despite having short blood half‐lives. This study reports the pharmacokinetic/pharmacodynamic (PK/PD) modelling of each drug in a feline model of inflammation. Eight cats were enrolled in a randomized, controlled, three‐period cross‐over study. In each period, sterile inflammation was induced by the injection of carrageenan into a subcutaneously implanted tissue cage, immediately before the subcutaneous injection of robenacoxib (2 mg/kg), ketoprofen (2 mg/kg) or placebo. Blood samples were taken for the determination of drug and serum thromboxane (Tx)B2 concentrations (measuring COX‐1 activity). Tissue cage exudate samples were obtained for drug and prostaglandin (PG)E2 concentrations (measuring COX‐2 activity). Individual animal pharmacokinetic and pharmacodynamic parameters for COX‐1 and COX‐2 inhibition were generated by PK/PD modelling. S(+) ketoprofen clearance scaled by bioavailability (CL/F) was 0.114 L/kg/h (elimination half‐life = 1.62 h). For robenacoxib, blood CL/F was 0.684 L/kg/h (elimination half‐life = 1.13 h). Exudate elimination half‐lives were 25.9 and 41.5 h for S(+) ketoprofen and robenacoxib, respectively. Both drugs reduced exudate PGE2 concentration significantly between 6 and 36 h. Ketoprofen significantly suppressed (>97%) serum TxB2 between 4 min and 24 h, whereas suppression was mild and transient with robenacoxib. In vivoIC50COX‐1/IC50COX‐2 ratios were 66.9:1 for robenacoxib and 1:107 for S(+) ketoprofen. The carboxylic acid nature of both drugs may contribute to the prolonged COX‐2 inhibition in exudate, despite short half‐lives in blood

In vivo measurement of human brain elasticity using a light aspiration device

The brain deformation that occurs during neurosurgery is a serious issue impacting the patient "safety" as well as the invasiveness of the brain surgery. Model-driven compensation is a realistic and efficient solution to solve this problem. However, a vital issue is the lack of reliable and easily obtainable patient-specific mechanical characteristics of the brain which, according to clinicians' experience, can vary considerably. We designed an aspiration device that is able to meet the very rigorous sterilization and handling process imposed during surgery, and especially neurosurgery. The device, which has no electronic component, is simple, light and can be considered as an ancillary instrument. The deformation of the aspirated tissue is imaged via a mirror using an external camera. This paper describes the experimental setup as well as its use during a specific neurosurgery. The experimental data was used to calibrate a continuous model. We show that we were able to extract an in vivo constitutive law of the brain elasticity: thus for the first time, measurements are carried out per-operatively on the patient, just before the resection of the brain parenchyma. This paper discloses the results of a difficult experiment and provide for the first time in-vivo data on human brain elasticity. The results point out the softness as well as the highly non-linear behavior of the brain tissue.Comment: Medical Image Analysis (2009) accept\'