Paper Info
Title
Predictive control algorithms using biological signals for active relative motion canceling in robotic assisted heart surgery
Abstract
Robotics technology promises an enhanced way of performing off-pump coronary artery bypass graft (CABG) surgery. In the robotic-assisted CABG surgery, surgeon performs the operation with intelligent robotic instruments controlled through teleoperation in place of conventional surgical tools. The robotic tools actively cancel the relative motion between the sur- gical instruments and the point-of-interest on the beating heart, in contrast to traditional off-pump CABG where the heart is passively constrained to dampen the beating motion. As a result, the surgeon operates on the heart as if it were stationary. This algorithm is called Active Relative Motion Canceling (ARMC). In this paper, the use of biological signals, such as electrocardiogram (ECG), to achieve better motion canceling in the model-based intelligent ARMC algorithm is proposed. An ECG contains records for the electrical activity of the heart, which forms a series of waves and complexes. Real time identification of these waves and complexes will improve the estimation of the future heart motion and improve the performance of the ARMC algorithm. Finally, the experimental results of the algorithm implemented on a 3-DOF robotic test-bed system are reported. I. INTRODUCTION Off-pump coronary artery bypass graft (CABG) surgery is performed while the heart is still beating instead of using a cardiopulmonary bypass machine and stopping the heart to perform the surgery. Although off-pump CABG surgery is in a nascent stage and only applicable to limited cases, it
Year
DOI
Venue
2006
10.1109/ROBOT.2006.1641190
Orlando, FL
Keywords
Field
DocType
electrocardiography,medical robotics,motion control,predictive control,surgery,telerobotics,active relative motion canceling,biological signals,electrocardiogram,off-pump coronary artery bypass graft surgery,predictive control,robotic assisted heart surgery,teleoperation
Teleoperation,Robot control,Motion control,Model predictive control,Relative motion,Algorithm,Artificial intelligence,Engineering,Electrocardiography,Surgery,Telerobotics,Robotics
Conference
Volume
Issue
ISSN
2006
1
1050-4729
ISBN
Citations 
PageRank 
0-7803-9505-0
10
0.85
References 
Authors
9
2
Name
Order
Citations
PageRank
Ozkan Bebek118321.27
Murat Cenk Cavusoglu252273.38