scholarly journals A Quadratic Nonlinear Prediction-Based Heart Motion Model following Control Algorithm in Robotic-Assisted Beating Heart Surgery

10.5772/54683 ◽  
2013 ◽  
Vol 10 (1) ◽  
pp. 13 ◽  
Author(s):  
Fan Liang ◽  
Xiaofeng Meng
Keyword(s):  
Control Algorithm ◽  
Heart Surgery ◽  
Beating Heart ◽  
Motion Model ◽  
Nonlinear Prediction ◽  
Beating Heart Surgery ◽  
Robotic Assisted ◽  
Model Following Control ◽  
Model Following ◽  
Heart Motion

scholarly journals Heart Motion Prediction Based on Adaptive Estimation Algorithms for Robotic-Assisted Beating Heart Surgery

2013 ◽  
Vol 29 (1) ◽  
pp. 261-276 ◽  
Author(s):  
E. Erdem Tuna ◽  
Timothy J. Franke ◽  
Ozkan Bebek ◽  
Akira Shiose ◽  
Kiyotaka Fukamachi ◽  
...  
Keyword(s):  
Heart Surgery ◽  
Adaptive Estimation ◽  
Beating Heart ◽  
Motion Prediction ◽  
Beating Heart Surgery ◽  
Robotic Assisted ◽  
Estimation Algorithms ◽  
Heart Motion

Feasibility of infrared tracking of beating heart motion for robotic assisted beating heart surgery

2017 ◽  
Vol 14 (1) ◽  
pp. e1869 ◽  
Author(s):  
Saeed Mansouri ◽  
Farzam Farahmand ◽  
Gholamreza Vossoughi ◽  
Alireza Alizadeh Ghavidel ◽  
Mostafa Rezayat
Keyword(s):  
Heart Surgery ◽  
Beating Heart ◽  
Beating Heart Surgery ◽  
Robotic Assisted ◽  
Heart Motion ◽  
Infrared Tracking

The Mixed Kalman and H Infinity Filter Based Robust Model Following Control Algorithm for CABG Beating Heart Surgery

2014 ◽  
Vol 543-547 ◽  
pp. 1360-1364
Author(s):  
Fan Liang ◽  
Xing Li Wu ◽  
Shi Gang Cui ◽  
Li Zhao
Keyword(s):  
Motion Estimation ◽  
Control Algorithm ◽  
Estimation Error ◽  
Beating Heart ◽  
Worst Case ◽  
H Infinity ◽  
Model Following Control ◽  
Model Following ◽  
Heart Motion ◽  
Highly Nonlinear

In the CABG surgery the robot dynamically cancels the relative motion between the point of interest (POI) on the beating heart and robotic instruments, such that the surgeon can operate as if the heart is stationary. However, the highly nonlinear and non-stationary nature of the beating heart motion poses difficulties for robot to follow the characteristics of the beating heart motion. Furthermore, the surgery has potential safety risk if the robot system could not track the POI properly. Therefore, in order to minimize the effects caused by the uncertainty in the heart motion model during the surgery, a robust prediction based model following control algorithm is proposed here. The adaptive Autoregressive (AR) model integrated the mixed Kalman and H infinity filter to estimate the state of the beating heart motion in the sense of minimizing minimize both RMS motion estimation error and worst case motion estimation error. In addition, the linear quadratic optimal tracking theory was used to implement the model following controller. In such way a complicated heart motion tracking problem transformed to dynamic model following problem and the robust property of the tracking control is more effective. The method is verified by two prerecorded distinguished datasets on 3D test bed robotics.

scholarly journals Towards Active Tracking of Beating Heart Motion in the Presence of Arrhythmia for Robotic Assisted Beating Heart Surgery

PLoS ONE ◽  
2014 ◽  
Vol 9 (7) ◽  
pp. e102877 ◽  
Author(s):  
E. Erdem Tuna ◽  
Jamshid H. Karimov ◽  
Taoming Liu ◽  
Özkan Bebek ◽  
Kiyotaka Fukamachi ◽  
...  
Keyword(s):  
Heart Surgery ◽  
Beating Heart ◽  
Beating Heart Surgery ◽  
Robotic Assisted ◽  
Heart Motion
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