Therapy control using motion prediction based on cyclic motion model

A method of adapting a therapy protocol in response to a time-varying target locus in an image-guided therapy delivery system, the method comprising:

• receiving imaging information about the time-varying target locus within a therapy recipient;
• determining a latency associated the a therapy generator of the therapy delivery system;
• automatically generating a predicted target locus by applying an earlier target locus extracted from the imaging information and the determined latency associated with the therapy generator to a cyclic motion model associated with the therapy recipient;
• and
• automatically generating an updated therapy protocol to align the therapy locus with the predicted target locus, the therapy locus established by a therapy beam provided by the therapy generator.

A medical system, comprising:

• a medical device including a control protocol, the control protocol being configured to control the medical device;
• and
• a controller configured to:
• receive a measured data set containing values of a physiologic signal caused by an anatomical structure on a patient measured at a plurality of past time points;
• estimate a state representation for each of the past time points according to the measured data set, the state representation reflecting an internal state of the anatomical structure;
• determine a latency associated with the medical device;
• predict a future state representation for a future time point based on the estimated state representations and the determined latency associated with the medical device;
• train a mapping function using historical measured values of the physiologic signal;
• predict a functional representation for the future time point based on the future state representation and the mapping function mapping state representations to functional representations of the physiologic signal;
• calculate a future value of the physiologic signal according to the predicted functional representation, and
• update the control protocol according to the future value.

A method for updating a control protocol of a medical device, comprising:

• receiving a measured data set containing values of a physiologic signal caused by an anatomical structure on a patient measured at a plurality of past time points;
• estimating a state representation for each of the past time points according to the measured data set, the state representation reflecting an internal state of the anatomical structure;
• determining a latency associated with the medical device;
• predicting a future state representation for a future time point based on the estimated state representations and the determined latency associated with the medical device;
• training a mapping function using historical measured values of the physiologic signal;
• predicting a functional representation for the future time point based on the future state representation and the mapping function that maps state representations to functional representations;
• calculating a future value of the physiologic signal according to the predicted functional representation;
• and
• updating the control protocol of the medical device according to the predicted future value, the control protocol controlling the medical device.