Active filtering of physiological motion in robotized surgery using predictive control
Active filtering of physiological motion in robotized surgery using predictive control
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DOI：
10.1109/tro.2004.833812
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发表时间：
2005-02-01
影响因子：
7.8
通讯作者：
Marescaux, J
中科院分区：
文献类型：
--
作者：
Ginhoux, R;Gangloff, J;Marescaux, J
本文提出了一种预测控制方法，用于对机器人手术中由呼吸或心脏跳动引起的复杂的周期性器官运动进行主动机械过滤。提出了两种不同的预测控制方案来补偿呼吸运动或心脏运动。对于呼吸运动，将扰动的周期性包含在受控系统的输入输出模型中，以使机器人系统学习和预测扰动运动。提出了一种新的无约束广义预测控制器(GPC)的代价函数，将参考跟踪与可预测周期运动的抑制解耦。由于心脏运动是两个周期非调和分量的组合，因此心脏运动更加复杂。提出了一种自适应扰动预测器，输出未来预测的扰动值。这些预测值被用来通过使用常规GPC的预测特征来预测干扰。实验结果在实验室试验台上公布，并在猪身上进行活体实验。它们证明了所提出的两种方法对复杂生理运动进行补偿的有效性。
This paper presents a predictive-control approach to active mechanical filtering of complex, periodic motions of organs induced by respiration or heart beating in robotized surgery. Two different predictive-control schemes are proposed for the compensation of respiratory motions or cardiac motions. For respiratory motions, the periodic property of the disturbance has been included into the input-output model of the controlled system so as to have the robotic system learn and anticipate perturbation motions. A new cost function is proposed for the unconstrained generalized predictive controller (GPC), where reference tracking is decoupled from the rejection of predictable periodic motions. Cardiac motions are more complex, since they are the combination of two periodic nonharmonic components., An adaptive disturbance predictor is proposed which outputs future predicted disturbance values. These predicted values are used to anticipate the disturbance by using the predictive feature of a regular GPC. Experimental results are presented on a laboratory testbed and in vivo on pigs. They demonstrate the effectiveness of the two proposed methods to compensate complex physiological motion.