DocumentCode :
1014071
Title :
Intelligent Control Algorithms for Robotic-Assisted Beating Heart Surgery
Author :
Bebek, Özkan ; Cavusoglu, M. Cenk
Author_Institution :
Case Western Reserve Univ., Cleveland
Volume :
23
Issue :
3
fYear :
2007
fDate :
6/1/2007 12:00:00 AM
Firstpage :
468
Lastpage :
480
Abstract :
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 cancellation is proposed. Finally, experimental results of the algorithm on a 3-degree-of-freedom robotic test-bed system are reported.
Keywords :
cardiology; intelligent robots; medical robotics; motion control; surgery; active relative motion canceling; beating heart surgery; coronary artery bypass graft surgery; intelligent control; intelligent robotic tools; Arteries; Biological system modeling; Electrocardiography; Heart; Intelligent control; Intelligent robots; Medical robotics; Surgery; Surges; Surgical instruments; Electrocardiogram (ECG); medical robotics; model predictive control; motion canceling; real-time tracking;
fLanguage :
English
Journal_Title :
Robotics, IEEE Transactions on
Publisher :
ieee
ISSN :
1552-3098
Type :
jour
DOI :
10.1109/TRO.2007.895077
Filename :
4252156
Link To Document :
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