Scalable Techniques from Nonparametric Statistics for Real Time Robot Learning
Applied Intelligence
Incremental Online Learning in High Dimensions
Neural Computation
Gaussian process approach for modelling of nonlinear systems
Engineering Applications of Artificial Intelligence
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
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Cardiolock: an active cardiac stabilizer first in vivo experiments using a new robotized device
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume 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 |
Compensation of cardiac motion during robot-assisted surgical procedures is needed to ensure better quality stabilization. Serial Comanipulation to actively compensate physiological motion is one alternative to common used Teleoperation techniques. In this paper, a 1 DOF hand-held force controlled prototype is presented. The active part of the instrument moves in synchronism with the heart motion in order to guarantee that the contact is maintained thanks to the application of a controlled force, while the surgeon's hand is in charge to perform the surgical task. It then focuses on a crucial control aspect: there is a lack of a parametric model describing the interaction between the surgical instrument and the heart that would provide enough precision for prediction. Namely, the robot low level controller and the beating heart are modeled thanks to a Locally Weighted Projection Regression (LWPR). The paper discusses how this technique can be used in the context of predictive force control and shows conclusive simulation results.