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
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
A miniature mobile robot for navigation and positioning on the beating heart
IEEE Transactions on Robotics
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
International Journal of Robotics Research
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
Automatic tracking of an organ section with an ultrasound probe: compensation of respiratory motion
MICCAI'11 Proceedings of the 14th international conference on Medical image computing and computer-assisted intervention - Volume Part I
ICIRA'11 Proceedings of the 4th international conference on Intelligent Robotics and Applications - Volume Part II
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This paper focuses on the development of control algorithms for intelligent robotic tools that assist off-pump coronary artery bypass graft (CABG) surgery. In the robotic-assisted CABG surgery, the surgeon operates on the beating heart using intelligent robotic instruments. Robotic tools actively cancel the relative motion between the surgical instruments and the point of interest on the beating heart, dynamically stabilizing the heart for the operation. This algorithm is called active relative motion canceling (ARMC). Here, a model-based intelligent ARMC algorithm employing biological signals, such as electrocardiogram, to achieve effective motion cancellation is proposed. Finally, experimental results of the algorithm on a 3-degree-of-freedom robotic test-bed system are reported.