The Medical Group works on the improvement of technical systems for various therapies and interventions. It focuses on modeling, optimization and control of the complex, nonlinear human-machine-interaction. Depending on the application, different object oriented modeling tools are used, which allow for an intuitive description of physiological and anatomical systems.
The following challenges from the field of control theory are addressed within the applications:
- Human processes and systems are nonlinear, individual and very often not understood completely.
- Human dynamics evolve on different scales, for example fast dynamics within a single heartbeat or slow adaption and training mechanisms.
- Due to the modeling of different physical processes models are often too complex for a direct use in control loops and need to be reduced.
- Sensor systems are difficult to apply noninvasively; thereby exact measurements are hardly possible.
In order to cope with these challenges, the group Medical works in cooperation with interdisciplinary partners on the following methods:
- Design of observers and estimators for variables which cannot be measured directly
- Model based, nonlinear optimization for complex plants
- Implementation of real-time nonlinear model predictive control strategies, to consider the nonlinear system behavior directly
- Design of reduced white-box models
In addition to higher-level control theory questions, one focus of the Group Medical lies on the field of medical robotics and especially in the use of industrial robots in interaction with humans.
Research topics in this field are:Copyright: IRT
- Motion control: task redundant robots allow for application specific optimizations
- Safe human-robot interaction: detection of motions and interaction forces allows for safe reactions of the robot
- Robots as actuators in control loops with a „human“ plant.
The following projects are currently conducted:
- Interaction of the cardiovascular system with assistive devices;
Ventricular Assist Devices, called VAD
Smart Life Support 2.0
- Motion compensation in radiotherapy
- Patient specific individual neurorehabilitation
- Load management in neuromuscular strength training