Predictive probe stabilization relative to subject movement

Abstract

The present invention provides a method and system to actively or predictively stabilize a probe, such as a microelectrode, relative to movement of the subject. In the preferred embodiments, cardiac and respiratory activities of the subject are measured and utilized to predict subject movement. In the preferred embodiments, a probe is mounted on a manipulator such that the probe moveable in response to a control voltage. A calibrated control voltage is determined from a known probe displacement, such as by measuring probe impedance during a probe oscillation having a known amplitude and frequency. A plurality of control voltage parameters, such as filter coefficients, are then determined from the calibrated control voltage and from a respective measured biological function, such as from an EKG or a thoracic pressure measurement. The control voltage for the probe is then generated from the respective measured biological function and from the respective plurality of control voltage parameters. When more than one measured biological function is utilized, the overall control voltage is a linear superposition of respective intermediate control voltages. The probe is then moved in response to the control voltage, providing stabilization relative to subject movement, and the probe may then be utilized for desired measurements within the subject.