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首页> 外文会议>IEEE International Conference on Robotics and Automation >Smith predictor based control in teleoperated image-guided beating-heart surgery
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Smith predictor based control in teleoperated image-guided beating-heart surgery

机译：基于Smith预估器的远程图像引导心脏不停跳手术控制

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Surgery on a freely beating-heart is extremely difficult as the surgeon must perform the procedure while following the heart's fast motion. However, by controlling a teleoperated robot to continuously follow the heart's motion, the surgeon can operate on a seemingly stationary heart. The heart's motion is calculated from ultrasound images and thus involves a non-negligible delay estimated to be 100 ms that, if not compensated for, can cause the robot end-effector (i.e., the surgical tool) to collide with and puncture the heart. This research proposes the use of a Smith predictor to compensate for this time delay. The results suggest that this improves heart motion tracking as the mean absolute error, the difference between the surgeon's motion and the distance between the heart and surgical tool, and the mean integrated square error decreased.
机译：在自由跳动的心脏上进行手术是极其困难的，因为外科医生必须在跟随心脏快速运动的同时进行手术。然而，通过控制遥控机器人持续跟踪心脏的运动，外科医生可以对看似静止的心脏进行手术。心脏的运动是根据超声图像计算的，因此涉及不可忽略的延迟，估计为100 ms，如果不进行补偿，可能会导致机器人末端执行器（即手术工具）与心脏碰撞并刺穿心脏。本研究建议使用史密斯预测器来补偿这种时间延迟。结果表明，随着平均绝对误差、外科医生的运动与心脏与手术工具之间的距离之间的差异以及平均积分平方误差的减小，这改善了心脏运动跟踪。

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