Force tracking with feed-forward motion estimation for beating heart surgery

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Force tracking with feed-forward motion estimation for beating heart surgery

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Title: Force tracking with feed-forward motion estimation for beating heart surgery
Author: Yuen, Shelten G.; Perrin, Douglas Paul; Vasilyev, Nikolay; Del Nido, Pedro J.; Howe, Robert D.

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Citation: Yuen, Shelten G., Douglas P. Perrin, Nikolay V. Vasilyev, Pedro J. del Nido, and Robert D. Howe. 2010. “Force Tracking with Feed-Forward Motion Estimation for Beating Heart Surgery.” IEEE Transactions on Robotics 26 (5) (October): 888–896. doi:10.1109/tro.2010.2053734. .
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Abstract: The manipulation of fast moving, delicate tissues in beating heart procedures presents a considerable challenge to the surgeon. A robotic force tracking system can assist the surgeon by applying precise contact forces to the beating heart during surgical manipulation. Standard force control approaches cannot safely attain the required bandwidth for this application due to vibratory modes within the robot structure. These vibrations are a limitation even for single degree of freedom systems driving long surgical instruments. These bandwidth limitations can be overcome by incorporating feed-forward motion terms in the control law. For intracardiac procedures, the required motion estimates can be derived from 3D ultrasound imaging. Dynamic analysis shows that a force controller with feed-forward motion terms can provide safe and accurate force tracking for contact with structures within the beating heart. In vivo validation confirms that this approach confers a 50% reduction in force fluctuations when compared to a standard force controller and a 75% reduction in fluctuations when compared to manual attempts to maintain the same force.
Published Version: 10.1109/TRO.2010.2053734
Other Sources: http://biorobotics.harvard.edu/pubs/2010/journal/yuen_ForceControl_TRo_2010.pdf
Terms of Use: This article is made available under the terms and conditions applicable to Open Access Policy Articles, as set forth at http://nrs.harvard.edu/urn-3:HUL.InstRepos:dash.current.terms-of-use#OAP
Citable link to this page: http://nrs.harvard.edu/urn-3:HUL.InstRepos:22085980
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