Open document
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General information |
| Author |
Liang, Fan; Meng, Xiaofeng |
| Published |
InTech Open Access Publisher, 2013
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| Abstract |
Off‐pump coronary artery bypass graft surgery
outperforms the traditional on‐pump surgery because the
assisted robotic tools can cancel the relative motion
between the beating heart and the robotic tools, which
reduces post‐surgery complications for patients. The
challenge for the robot assisted tool when tracking the
beating heart is the abrupt change caused by the
nonlinear nature of heart motion and high precision
surgery requirements. A characteristic analysis of 3D
heart motion data through bi‐spectral analysis
demonstrates the quadratic nonlinearity in heart motion.
Therefore, it is necessary to introduce nonlinear heart
motion prediction into the motion tracking control
procedures. In this paper, the heart motion tracking
problem is transformed into a heart motion model
following problem by including the adaptive heart
motion model into the controller. Moreover, the model
following algorithm with the nonlinear heart motion
model embedded inside provides more accurate future
reference by the quadratic term of sinusoid series, which
could enhance the tracking accuracy of sharp change
point and approximate the motion with sufficient detail.
The experiment results indicate that the proposed
algorithm outperforms the linear prediction‐based model
following controller in terms of tracking accuracy (root
mean square). |
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International Journal of Advanced Robotic Systems
Author: Ottaviano, Erika; Ceccarelli, Marco; Husty, Manfred; Yu, Sung-Hoon; Kim, Yong-Tae; Park, Chang-Woo; Hyun, Chang-Ho; Chen, Xiulong; Feng, Weiming; Sun, Xianyang; Gao, Qing; Grigorescu, Sorin M.; Pozna, Claudiu; Liu, Wanli; Zhankui, Wang; Guo, Meng; Fu, Guoyu; Zhang, Jin; Chen, Wenyuan; Peng, Fengchao; Yang, Pei; Chen, Chunlin; Ding, Rui; Yu, Junzhi; Yang, Qinghai; Tan, Min; Polden, Joseph; Pan, [...]
Published: 2004
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