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Model predictive control architectures with force feedback for robotic-assisted beating heart surgery | IEEE Conference Publication | IEEE Xplore

Model predictive control architectures with force feedback for robotic-assisted beating heart surgery


Abstract:

Minimally invasive surgery (MIS) offers considerable advantages for patients, lowering infection risks, and reducing trauma and convalescence times. Dedicated surgical ro...Show More

Abstract:

Minimally invasive surgery (MIS) offers considerable advantages for patients, lowering infection risks, and reducing trauma and convalescence times. Dedicated surgical robots significantly improve surgeon's skills especially for tasks requiring high precision such as lead placement and suturing. However, these robotic setups do not allow yet beating heart surgery with motion compensation functionalities. This paper tackles autonomous heart motion compensation with force feedback. We propose a cascade model predictive control (MPC) architecture with a Kalman Active Observer (AOB) in the loop, and compare it with the classical MPC approach. The cascade MPC-AOB control architecture has two loops. The inner one performs model-reference adaptive control, guaranteeing a desired force tracking dynamics. The outer one generates control actions to compensate physiological motions. Both MPC-based architectures are analyzed and experimentally evaluated. Two robots are used. A lightweight 4-DoF surgical robot generates desired surgical forces and a 3-DoF robot equipped with an ex vivo heart at the end-effector reproduces realistic heart motions.
Date of Conference: 31 May 2014 - 07 June 2014
Date Added to IEEE Xplore: 29 September 2014
Electronic ISBN:978-1-4799-3685-4
Print ISSN: 1050-4729
Conference Location: Hong Kong, China

References

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