Improved heart motion tracking algorithm with added acceleration measurement for beating heart surgery
In the CABG surgery the robot dynamically cancels the relative motion between the point of interest (POI) on the beating heart and robotic instruments, such that the surgeon can operate as if the heart is stationary. Due to high bandwidth of the POI motion, the quick and precise tracking ability of the robot system is necessary. Different from other heart motion tracking system with only position measurement, our system had both position and acceleration measurement to achieve better tracking performance. The state analysis of the physical model of surgical robotic system offered us the possibility to decrease the tracking error by adding accelerometer. The control algorithm based on the adaptive heart motion model employed the optimal tracking theory with Kalman Filter state estimation is proposed. The result showing better tracking performance is achieved by the added acceleration measurement which provided pre-lead phase over position and more dynamics. The comparison tracking results with and without acceleration measurement which was experimented on 3D test bed Phantom robotics are reported.
optimal tracking control surgical assisted robotics adaptive heart motion model Kalman Filter robot calibration
Fan Liang Xiaofeng Meng Dengfeng Dong
School of Instrumentation Science & Opto-Electronics Engineering,Key Laboratory of Precision Opto-mechatronics Technology, Ministry of Education Beihang University, 37 Xueyuan Road Beijing, China
国际会议
武汉
英文
228-232
2011-08-20(万方平台首次上网日期,不代表论文的发表时间)