Title :
Intelligent Control Algorithms for Robotic-Assisted Beating Heart Surgery
Author :
Bebek, Özkan ; Cavusoglu, M. Cenk
Author_Institution :
Case Western Reserve Univ., Cleveland
fDate :
6/1/2007 12:00:00 AM
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;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2007.895077