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首页> 外文期刊>Mechatronics, IEEE/ASME Transactions on >Physiological Organ Motion Prediction and Compensation Based on Multirate, Delayed, and Unregistered Measurements in Robot-Assisted Surgery and Therapy
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Physiological Organ Motion Prediction and Compensation Based on Multirate, Delayed, and Unregistered Measurements in Robot-Assisted Surgery and Therapy

机译：基于多速率，延迟和未注册测量的机器人辅助手术和治疗中的生理器官运动预测和补偿

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摘要

Physiological motion makes performing a surgical or therapeutic procedure more difficult for the physician. In heart surgery, the heart is stopped as it is too difficult for the surgeon to follow the heart's beating motion and perform a surgical task. In radiation therapy, respiration causes the cancerous tissue to move, rendering the therapy less effective and possibly damaging to healthy tissue. This paper focuses on controlling a robot, which is used to perform the surgery or therapy, to compensate for the physiological motion along the surgical tool's axis such that the point of interest (POI) on the organ becomes stationary relative to the robot. The difficulty in creating such a system lies in the measurement of the POI's and robot's positions via different sensors that are unregistered, have different measurement rates, and have data acquisition and processing delays. This paper presents the Kalman-filter-based estimation of the organ motion despite the large data acquisition/processing delays and low update rates inherent in some measurements used for robot control in robot-assisted surgeries and therapies. This paper also proposes control systems that compensate for the organ motion despite the delayed, multirate, and unregistered sensor data allowing the physician to perform a therapeutic or surgical procedure with a teleoperated robot on a seemingly stationary POI.
机译：生理运动使医师更难以进行外科手术或治疗程序。在心脏手术中，心脏停止了，因为外科医生很难跟随心脏的跳动运动并执行手术任务。在放射疗法中，呼吸作用使癌性组织运动，使疗法的效果降低，并可能损害健康组织。本文着重于控制用于执行手术或治疗的机器人，以补偿沿手术工具轴的生理运动，从而使器官上的兴趣点（POI）相对于机器人变得静止。创建这样一个系统的困难在于通过未注册的，具有不同的测量速率以及具有数据采集和处理延迟的不同传感器来测量POI和机器人的位置。本文提出了基于卡尔曼滤波器的器官运动估计，尽管在机器人辅助手术和治疗中用于机器人控制的某些测量中存在较大的数据采集/处理延迟和较低的更新率。本文还提出了一种控制系统，尽管存在延迟，多速率和未注册的传感器数据，但该系统仍能补偿器官运动，从而使医生可以利用看似固定的POI上的遥控机器人执行治疗或外科手术。

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