NDLI: Improved heart motion tracking algorithm with added acceleration measurement for beating heart surgery

Content Provider	IEEE Xplore Digital Library
Author	Fan Liang Xiaofeng Meng Dengfeng Dong
Copyright Year	2011
Description	Author affiliation: School of Instrumentation Science & Opto-Electronics Engineering, Key Laboratory of Precision Opto-mechatronics Technology, Ministry of Education, Beihang University, 37 Xueyuan Road, Beijing, China (Fan Liang; Xiaofeng Meng; Dengfeng Dong)
Abstract	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.
Starting Page	228
Ending Page	232
File Size	254105
Page Count	5
File Format	PDF
ISBN	9781424495993
e-ISBN	9781424496006
DOI	10.1109/CCIENG.2011.6008108
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-08-20
Publisher Place	China
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Heart Accelerometers Adaptation models Tracking Kalman Filter Optimal tracking control Adaptive heart motion model Surgical assisted robotics Surgery Robot calibration Kalman filters Robots
Content Type	Text
Resource Type	Article

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