Remote Visual Servoing of a Robot Manipulator via Internet2
Journal of Intelligent and Robotic Systems
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
A Novel Algorithm for Heart Motion Analysis Based on Geometric Constraints
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
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
A miniature mobile robot for navigation and positioning on the beating heart
IEEE Transactions on Robotics
International Journal of Robotics Research
Real-time tissue tracking with B-mode ultrasound using speckle and visual servoing
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
Stabilization of image motion for robotic assisted beating heart surgery
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
A Hybrid Control Approach for Non-invasive Medical Robotic Systems
Journal of Intelligent and Robotic Systems
Ultrasound servoing of catheters for beating heart valve repair
IPCAI'10 Proceedings of the First international conference on Information processing in computer-assisted interventions
Force tracking with feed-forward motion estimation for beating heart surgery
IEEE Transactions on Robotics
Predictive control for constrained image-based visual servoing
IEEE Transactions on Robotics
Toward robotized beating heart TECABG: assessment of the heart dynamics using high-speed vision
MICCAI'05 Proceedings of the 8th international conference on Medical image computing and computer-assisted intervention - Volume Part II
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
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This work presents a predictive-control approach to active mechanical filtering of complex, periodic motions of organs induced by respiration or heart beating in robotized surgery. Two different predictive-control schemes are proposed for the compensation of respiratory motions or cardiac motions. For respiratory motions, the periodic property of the disturbance has been included into the input-output model of the controlled system so as to have the robotic system learn and anticipate perturbation motions. A new cost function is proposed for the unconstrained generalized predictive controller (GPC), where reference tracking is decoupled from the rejection of predictable periodic motions. Cardiac motions are more complex, since they are the combination of two periodic nonharmonic components. An adaptive disturbance predictor is proposed which outputs future predicted disturbance values. These predicted values are used to anticipate the disturbance by using the predictive feature of a regular GPC. Experimental results are presented on a laboratory testbed and in vivo on pigs. They demonstrate the effectiveness of the two proposed methods to compensate complex physiological motion.