Journal
CONTROL ENGINEERING PRACTICE
Volume 81, Issue -, Pages 9-17Publisher
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2018.08.017
Keywords
Motion compensation; Ultrasound image; Force feedback; Impedance control; medical robotics; Beating-heart surgery
Funding
- Canada Foundation for Innovation (CFI) [LOF 28241]
- Alberta Innovation and Advanced Education Ministry, Canada [RCP-12-021]
- Natural Sciences and Engineering Research Council (NSERC) of Canada [RGPIN 03907, RGPIN 372042]
- China Scholarship Council (CSC) [[2015]08410152]
Ask authors/readers for more resources
A novel control method is proposed for master-slave telerobotic beating-heart surgery to solve the challenges of rapid heart motion and oscillatory haptic feedback. In this paper, the ultrasound imaging-based control algorithms are used to make the slave robot compensate for the heart motion automatically. Issues including slow sampling rate and time delay caused by ultrasound imaging are addressed by a cubic interpolation and an extended Kalman filter (EKF), respectively. Meanwhile, to provide the human operator (surgeon) a feeling of operating on an idle heart, an impedance model is designed for the master robot. The proposed method is validated through experiments.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available