Model predictive control for retinal laser treatment at 1 kHz

Laser photocoagulation is a technique applied
in the treatment of retinal disease, which is often done
manually or using simple control schemes. We pursue
an optimization-based approach, namelyModel Predictive
Control (MPC), to enforce bounds on the peak temperature
and, thus, to ensure safety during the medical treatment
procedure – despite the spot-dependent absorption of the
tissue. The desired laser repetition rate of 1 kHz is renders
the requirements on the computation time of the MPC
feedback a major challenge. We present a tailored MPC
scheme using parametric model reduction, an extended
Kalman filter for the parameter and state estimation, and
suitably tuned stage costs and verify its applicability
both in simulation and experiments with porcine eyes.
Moreover, we give some insight on the implementation
specifically tailored for fast numerical computations.