Robotic Force Stabilization for Beating Heart Intracardiac Surgery

DSpace/Manakin Repository

Robotic Force Stabilization for Beating Heart Intracardiac Surgery

Citable link to this page

 

 
Title: Robotic Force Stabilization for Beating Heart Intracardiac Surgery
Author: Yuen, Shelten G.; Yip, Michael C.; Vasilyev, Nikolay; Perrin, Douglas Paul; Del Nido, Pedro J.; Howe, Robert D.

Note: Order does not necessarily reflect citation order of authors.

Citation: Yuen, Shelten G., Michael C. Yip, Nikolay V. Vasilyev, Douglas P. Perrin, Pedro J. del Nido, and Robert D. Howe. 2009. “Robotic Force Stabilization for Beating Heart Intracardiac Surgery.” Lecture Notes in Computer Science: 26–33. doi:10.1007/978-3-642-04268-3_4.
Full Text & Related Files:
Abstract: The manipulation of fast moving, delicate tissues in beating heart procedures presents a considerable challenge to surgeons. We present a new robotic force stabilization system that assists surgeons by maintaining a constant contact force with the beating heart. The system incorporates a novel, miniature uniaxial force sensor that is mounted to surgical instrumentation to measure contact forces during surgical manipulation. Using this sensor in conjunction with real-time tissue motion information derived from 3D ultrasound, we show that a force controller with feed-forward motion terms can provide safe and accurate force stabilization in an in vivo contact task against the beating mitral valve annulus. This 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: doi:10.1007/978-3-642-04268-3_4
Other Sources: https://www.ncbi.nlm.nih.gov/pmc/articles/PMC2860961/
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:32154756
Downloads of this work:

Show full Dublin Core record

This item appears in the following Collection(s)

 
 

Search DASH


Advanced Search
 
 

Submitters