Robot Force Control
MICCAI '01 Proceedings of the 4th International Conference on Medical Image Computing and Computer-Assisted Intervention
The Benefit of Force Feedback in Surgery: Examination of Blunt Dissection
Presence: Teleoperators and Virtual Environments
3D Ultrasound-Guided Motion Compensation System for Beating Heart Mitral Valve Repair
MICCAI '08 Proceedings of the 11th international conference on Medical Image Computing and Computer-Assisted Intervention - Part I
Robotic Motion Compensation for Beating Heart Intracardiac Surgery
International Journal of Robotics Research
Robotic Force Stabilization for Beating Heart Intracardiac Surgery
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Active filtering of physiological motion in robotized surgery using predictive control
IEEE Transactions on Robotics
Intelligent Control Algorithms for Robotic-Assisted Beating Heart Surgery
IEEE Transactions on Robotics
Hi-index | 0.00 |
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 that drive long surgical instruments. These bandwidth limitations can be overcome by the incorporation of feed-forward motion terms in the control law. For intracardiac procedures, the required motion estimates can be derived from 3-D 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 with a standard force controller and a 75% reduction in fluctuations when compared with manual attempts to maintain the same force.