Intelligent control algorithms for robotic-assisted beating heart surgery
Intelligent control algorithms for robotic-assisted beating heart surgery
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DOI：
10.1109/tro.2007.895077
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发表时间：
2007-06-01
影响因子：
7.8
通讯作者：
Cavusoglu, M. Cenk
中科院分区：
文献类型：
--
作者：
Bebek, Oezkan;Cavusoglu, M. Cenk
本文重点讨论辅助非体外循环冠状动脉搭桥术 (CABG) 手术的智能机器人工具的控制算法的开发。在机器人辅助冠状动脉搭桥手术中，外科医生使用智能机器人仪器对跳动的心脏进行手术。机器人工具主动消除手术器械与跳动心脏上的兴趣点之间的相对运动，动态稳定心脏以进行手术。该算法称为主动相对运动取消 (ARMC)。这里，提出了一种基于模型的智能ARMC算法，利用心电图等生物信号来实现有效的运动抵消。最后，报告了该算法在三自由度机器人试验台系统上的实验结果。
This paper focuses on the development of control algorithms for intelligent robotic tools that assist off-pump coronary artery bypass graft (CABG) surgery. In the robotic-assisted CABG surgery, the surgeon operates on the beating heart using intelligent robotic instruments. Robotic tools actively cancel the relative motion between the surgical instruments and the point of interest on the beating heart, dynamically stabilizing the heart for the operation. This algorithm is called active relative motion canceling (ARMC). Here, a model-based intelligent ARMC algorithm employing biological signals, such as electrocardiogram, to achieve effective motion cancelation is proposed. Finally, experimental results of the algorithm on a 3-degree-of-freedom robotic test-bed system are reported.