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Force Tracking with Feed-Forward Motion Estimation for Beating Heart Surgery.

Shelten G Yuen1, Douglas P Perrin2, Nikolay V Vasilyev2

  • 1Harvard School of Engineering and Applied Sciences, Cambridge, MA 02138 USA.

IEEE Transactions on Robotics : a Publication of the IEEE Robotics and Automation Society
|January 30, 2018
PubMed
Summary
This summary is machine-generated.

A new robotic force tracking system improves surgical precision on beating hearts by using feed-forward motion control. This system significantly reduces force fluctuations during delicate cardiac procedures.

Keywords:
3D ultrasoundbeating heart surgeryforce trackingmedical roboticsmotion compensation

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Area of Science:

  • Robotics
  • Surgical Engineering
  • Biomedical Engineering

Background:

  • Manipulating delicate tissues in beating heart surgery is challenging.
  • Standard robotic force control has bandwidth limitations due to structural vibrations.
  • Precise force application is crucial for safe intracardiac procedures.

Purpose of the Study:

  • To develop and validate a robotic force tracking system for beating heart surgery.
  • To overcome bandwidth limitations in robotic force control for cardiac procedures.
  • To enhance surgeon assistance through precise contact force application.

Main Methods:

  • Incorporated feed-forward motion terms into the robotic force control law.
  • Utilized 3D ultrasound imaging for motion estimation in intracardiac procedures.
  • Performed dynamic analysis and in vivo validation of the enhanced force controller.

Main Results:

  • The feed-forward enhanced controller demonstrated safe and accurate force tracking on beating heart structures.
  • Achieved a 50% reduction in force fluctuations compared to standard force controllers.
  • Reduced force fluctuations by 75% compared to manual surgical attempts.

Conclusions:

  • Feed-forward motion control effectively overcomes bandwidth limitations in robotic surgical systems.
  • This enhanced robotic system offers improved safety and accuracy for beating heart procedures.
  • The technology has the potential to significantly advance minimally invasive cardiac surgery techniques.