Towards active tracking of beating heart motion in the presence of arrhythmia for robotic assisted beating heart surgery.
Towards active tracking of beating heart motion in the presence of arrhythmia for robotic assisted beating heart surgery.
复制标题
在机器人辅助心脏跳动手术中，在心律失常的情况下主动跟踪跳动的心脏运动。
DOI：
10.1371/journal.pone.0102877
复制
发表时间：
2014
期刊：
影响因子：
3.7
通讯作者：
Çavuşoğlu MC
中科院分区：
文献类型：
--
作者：
Tuna EE;Karimov JH;Liu T;Bebek Ö;Fukamachi K;Çavuşoğlu MC
在机器人辅助搏动心脏手术中，心脏运动跟踪的控制体系结构对需要跟踪的运动带宽有严格的要求。为了获得足够的跟踪精度，文献中提出了依赖于即将到来的心脏运动估计的前馈控制算法。然而，这些前馈运动控制算法在心律变化下的性能是一个重要的问题。在他们过去的工作中，作者已经证明了在恒定和缓慢变化的心率条件下，使用广义自适应预测因子的后退水平模型预测控制算法的有效性。本文将这些研究扩展到心律失常时心脏运动统计数据突然而显著变化的情况。为了评估自适应算法在心脏手术中心律失常发生时的运动跟踪能力，进行了可行性研究。具体来说，算法的跟踪性能是在预先记录的运动数据上进行评估的，这些数据是在体内收集的，包括心律不规则。在三自由度机器人实验台上对算法进行了仿真和台架实验。它们还与位置加导数控制器以及使用扩展卡尔曼滤波算法预测未来心脏运动的后退地平线模型预测控制器进行了比较。
In robotic assisted beating heart surgery, the control architecture for heart motion tracking has stringent requirements in terms of bandwidth of the motion that needs to be tracked. In order to achieve sufficient tracking accuracy, feed-forward control algorithms, which rely on estimations of upcoming heart motion, have been proposed in the literature. However, performance of these feed-forward motion control algorithms under heart rhythm variations is an important concern. In their past work, the authors have demonstrated the effectiveness of a receding horizon model predictive control-based algorithm, which used generalized adaptive predictors, under constant and slowly varying heart rate conditions. This paper extends these studies to the case when the heart motion statistics change abruptly and significantly, such as during arrhythmias. A feasibility study is carried out to assess the motion tracking capabilities of the adaptive algorithms in the occurrence of arrhythmia during beating heart surgery. Specifically, the tracking performance of the algorithms is evaluated on prerecorded motion data, which is collected in vivo and includes heart rhythm irregularities. The algorithms are tested using both simulations and bench experiments on a three degree-of-freedom robotic test bed. They are also compared with a position-plus-derivative controller as well as a receding horizon model predictive controller that employs an extended Kalman filter algorithm for predicting future heart motion.
登录
查看更多内容
影响因子：
4.8
作者：
Pearson, RK
通讯作者：
Pearson, RK
影响因子：
4.3
作者：
Liu, HC;Shah, S;Jiang, W
通讯作者：
Jiang, W
影响因子：
4.6
作者：
Ortmaier, T;Gröger, M;Hirzinger, G
通讯作者：
Hirzinger, G
影响因子：
7.8
作者：
Bebek, Oezkan;Cavusoglu, M. Cenk
通讯作者：
Cavusoglu, M. Cenk
影响因子：
7.8
作者：
Ginhoux, R;Gangloff, J;Marescaux, J
通讯作者：
Marescaux, J