Paper Info
Title
Whisker Sensor Design for Three Dimensional Position Measurement in Robotic Assisted Beating Heart Surgery
Abstract
In the robotic-assisted off-pump Coronary Artery Bypass Graft (CABG) surgery, surgeon performs the operation with intelligent robotic instruments controlled through teleop- eration that replace conventional surgical tools. The robotic tools actively cancel the relative motion between the surgical instruments and the point of interest on the beating heart. Measuring the motion of the heart during this operation is an important part of this scheme. In this paper, a novel whisker sensor design to measure the heart motion in three dimensions (3-D) is presented. The proposed whisker sensor is a flexible contact sensor. Low stiffness of the sensor prevents damage on the tissue it contacts. This paper explains the design concept, and reports the simulation and measurement results of the prototype whisker position sensor. I. INTRODUCTION Traditional off-pump Coronary Artery Bypass Graft (CABG) surgery is in a nascent stage and only applicable to limited cases. However, it is preferred over on-pump CABG surgery because of the significant complications resulting from the use of cardiopulmonary bypass machine, which include long term cognitive loss (1), and increased hospi- talization time and cost (2). Off-pump procedures represent only 15-20% of all CABG surgeries, at best (3). Use of robotics technology will overcome limitations as it promises an alternative and superior way of performing off-pump CABG surgery on a beating heart with technical perfection equal to traditional on-pump procedures. This project aims to develop telerobotic tools to actively track and cancel the relative motion between the surgical instruments and the heart by Active Relative Motion Canceling (ARMC) algo- rithms, which will allow CABG surgeries to be performed on a stabilized view of the beating heart with the technical convenience of on-pump procedures. In this paper, the design and implementation of a novel whisker sensor that is capable of measuring the position in three dimensions (3-D) are discussed. A whisker sensor can be used to detect the relative motion between the surgical instrument and the heart. These measurements are used in the tight control loop for active tracking of the heart.
Year
DOI
Venue
2007
10.1109/ROBOT.2007.363791
ICRA
Keywords
Field
DocType
cardiology,intelligent robots,manipulators,medical robotics,position control,position measurement,surgery,tactile sensors,telerobotics,3D position measurement,contact sensor,heart motion,intelligent robotic instruments,robotic assisted beating heart surgery,robotic tool,robotic-assisted off-pump coronary artery bypass graft surgery,teleoperation,whisker sensor design
Teleoperation,Intelligent sensor,Simulation,Control engineering,Point of interest,Engineering,Surgery,Telerobotics,Position sensor,Beat (acoustics),Tactile sensor,Whisker
Conference
Volume
Issue
ISSN
2007
1
1050-4729
Citations 
PageRank 
References 
5
0.67
8
Authors
2
Name
Order
Citations
PageRank
Ozkan Bebek118321.27
Murat Cenk Cavusoglu252273.38