Multivariate vector autoregressive prognosis-based model following control method for robot-assisted beating heart surgery

2013 ◽  
Vol 27 (16) ◽  
pp. 1259-1271 ◽  
Author(s):  
Fan Liang ◽  
Yang Yu ◽  
Xiaofeng Meng
Keyword(s):  
Heart Surgery ◽  
Control Method ◽  
Beating Heart ◽  
Beating Heart Surgery ◽  
Robot Assisted ◽  
Vector Autoregressive ◽  
Model Following Control ◽  
Model Following

Switched-Impedance Control of Surgical Robots in Teleoperated Beating-Heart Surgery

2018 ◽  
Vol 03 (03n04) ◽  
pp. 1841003 ◽  
Author(s):  
Lingbo Cheng ◽  
Mahdi Tavakoli
Keyword(s):  
Heart Surgery ◽  
Force Feedback ◽  
Haptic Feedback ◽  
Control Method ◽  
Impedance Control ◽  
Beating Heart ◽  
Human Operator ◽  
Beating Heart Surgery ◽  
Impedance Models ◽  
Fast Motions

A novel switched-impedance control method is proposed and implemented for telerobotic beating-heart surgery. Differing from cardiopulmonary-bypass-based arrested-heart surgery, beating-heart surgery creates challenges for the human operator (surgeon) due to the heart’s fast motions and, in the case of a teleoperated surgical robot, the oscillatory haptic feedback to the operator. This paper designs two switched reference impedance models for the master and slave robots to achieve both motion compensation and nonoscillatory force feedback during slave–heart interaction. By changing the parameters of the impedance models, different performances for both robots are obtained: (a) when the slave robot does not make contact with the beating heart, the slave robot closely follows the motion of the master robot as in a regular teleoperation system, (b) when contact occurs, the slave robot automatically compensates for the fast motions of the beating heart while the human operator perceives the nonoscillatory component of the slave–heart interaction forces, creating the feeling of making contact with an idle heart for the human operator. The proposed method is validated through simulations and experiments.

On-Pump Beating Heart Surgery Offers an Alternative for Unstable Patients Undergoing Coronary Artery Bypass Grafting

2005 ◽  
Vol 7 (2) ◽  
pp. 88 ◽  
Author(s):  
James R. Edgerton ◽  
Morley A. Herbert ◽  
Katherine K. Jones ◽  
Syma L. Prince ◽  
Tea Acuff ◽  
...  
Keyword(s):  
Coronary Artery ◽  
Coronary Artery Bypass Grafting ◽  
Coronary Artery Bypass ◽  
Heart Surgery ◽  
Artery Bypass ◽  
Beating Heart ◽  
Bypass Grafting ◽  
Beating Heart Surgery ◽  
Artery Bypass Grafting

Beating Heart Surgery with Pulmonary Perfusion and Ventilation During Cardiopulmonary Bypass: Target Organs' Perfusion Without Plegia

2012 ◽  
Vol 24 (4) ◽  
pp. 308-310 ◽  
Author(s):  
Francisco Igor B. Macedo ◽  
Edward Gologorsky ◽  
Ana Claudia B.A. Costa ◽  
Si M. Pham ◽  
Tomas A. Salerno
Keyword(s):  
Cardiopulmonary Bypass ◽  
Heart Surgery ◽  
Beating Heart ◽  
Pulmonary Perfusion ◽  
Beating Heart Surgery ◽  
Target Organs
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