Abstract:
Surgery on a freely beating-heart is extremely difficult as the surgeon must perform the procedure while following the heart's fast motion. However, by controlling a tele...Show MoreMetadata
Abstract:
Surgery on a freely beating-heart is extremely difficult as the surgeon must perform the procedure while following the heart's fast motion. However, by controlling a teleoperated robot to continuously follow the heart's motion, the surgeon can operate on a seemingly stationary heart. The heart's motion is calculated from ultrasound images and thus involves a non-negligible delay estimated to be 100 ms that, if not compensated for, can cause the robot end-effector (i.e., the surgical tool) to collide with and puncture the heart. This research proposes the use of a Smith predictor to compensate for this time delay. The results suggest that this improves heart motion tracking as the mean absolute error, the difference between the surgeon's motion and the distance between the heart and surgical tool, and the mean integrated square error decreased.
Date of Conference: 06-10 May 2013
Date Added to IEEE Xplore: 17 October 2013
ISBN Information:
Print ISSN: 1050-4729
Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Surgery ,
- Delays ,
- Robots ,
- Ultrasonic imaging ,
- Heart beat ,
- Needles
- Index Terms
- Smith Predictor ,
- Beating Heart Surgery ,
- Surgeons ,
- Time Delay ,
- Mean Absolute Error ,
- Ultrasound Imaging ,
- End-effector ,
- Fast Motion ,
- Surgical Tools ,
- Heart Motion ,
- Medical Imaging ,
- Mobile Devices ,
- Actuator ,
- Transfer Function ,
- Feedback Control ,
- Predictive Control ,
- Needle Tip ,
- Heart Beat ,
- Lineaments ,
- Surgical Instruments ,
- Extended Kalman Filter ,
- Heart Rate Estimation ,
- Cubic Interpolation ,
- Chirp Signal ,
- Heart Wall ,
- Motion Estimation ,
- Zero-order Hold ,
- Pericardiocentesis ,
- Update Rate ,
- Constant Time Delay
Contents Keywords assist with retrieval of results and provide a means to discovering other relevant content. Learn more.
- IEEE Keywords
- Surgery ,
- Delays ,
- Robots ,
- Ultrasonic imaging ,
- Heart beat ,
- Needles
- Index Terms
- Smith Predictor ,
- Beating Heart Surgery ,
- Surgeons ,
- Time Delay ,
- Mean Absolute Error ,
- Ultrasound Imaging ,
- End-effector ,
- Fast Motion ,
- Surgical Tools ,
- Heart Motion ,
- Medical Imaging ,
- Mobile Devices ,
- Actuator ,
- Transfer Function ,
- Feedback Control ,
- Predictive Control ,
- Needle Tip ,
- Heart Beat ,
- Lineaments ,
- Surgical Instruments ,
- Extended Kalman Filter ,
- Heart Rate Estimation ,
- Cubic Interpolation ,
- Chirp Signal ,
- Heart Wall ,
- Motion Estimation ,
- Zero-order Hold ,
- Pericardiocentesis ,
- Update Rate ,
- Constant Time Delay
