Publication record · 18.cifr/2007.bebek.beating-heart-surgery
18.cifr/2007.bebek.beating-heart-surgeryThis paper presents intelligent control algorithms for robotic-assisted beating heart surgery. The algorithms use an Extended Kalman Filter to estimate a Fourier-series model of the quasi-periodic heart motion in real time, then use a predictive feedforward-feedback controller to synchronize robot motion with the beating heart surface, enabling surgeons to operate without stopping the heart.
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Extending to arrhythmic (non-stationary) heart rhythms is open, as the Fourier model assumes quasi-periodicity. Force/haptic feedback integration for safe tissue contact is needed. In-vivo validation with a full surgical robot platform and simultaneous respiratory-cardiac motion handling remain as future work.