Active motion compensation in robotic cardiac surgery

Moustris, George P.; Mantelos, A. I.; Tzafestas, Costas S.

doi:10.23919/ecc.2013.6669751

Cited by 6 publications

(5 citation statements)

References 18 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…A. Robot Assisted Surgery with Periodic Motion Periodic motion has been studied in robotic surgery including estimation [21][22][23][24][25] and control/compensation [26][27][28][29]. Much of this work considers virtual surgical simulators, e.g., Duindam and Sastry [27], and proposes a full synchronization approach where the quasi-periodic motion of the anatomy is tracked.…”

Section: Arxiv:171202917v1 [Csro] 8 Dec 2017mentioning

confidence: 99%

“…Much of this work considers virtual surgical simulators, e.g., Duindam and Sastry [27], and proposes a full synchronization approach where the quasi-periodic motion of the anatomy is tracked. Other works, such as Moustris et al [29], fully synchronize human input on real robot systems with stabilized virtual images, or passively compensate for motion using mounted devices, such as HeartLander [28]. Our work considers physical experiments with a physical simulator of periodic motion, which introduces additional challenges of state estimation from imperfect visual signals and control latency.…”

Section: Arxiv:171202917v1 [Csro] 8 Dec 2017mentioning

confidence: 99%

“…This is a 1D approximation to the problem as modeling rotations and translations in the full SE(3) space can be very challenging. The tracking controller is an efficient solution and has been widely applied in prior work [26][27][28][29]. However, it is quite hard to implement in a physical setup.…”

Section: ) No Synchronization (Open Loop)mentioning

confidence: 99%

See 2 more Smart Citations

Using intermittent synchronization to compensate for rhythmic body motion during autonomous surgical cutting and debridement

Patel

Krishnan

Goncalves

et al. 2018

2018 International Symposium on Medical Robotics (ISMR)

View full text Add to dashboard Cite

Anatomical structures are rarely static during a surgical procedure due to breathing, heartbeats, and peristaltic movements. Inspired by observing an expert surgeon, we propose an intermittent synchronization with the extrema of the rhythmic motion (i.e., the lowest velocity windows). We performed 2 experiments: (1) pattern cutting, and (2) debridement. In (1), we found that the intermittent synchronization approach, while 1.8x slower than tracking motion, was significantly more robust to noise and control latency, and it reduced the max cutting error by 2.6x In (2), a baseline approach with no synchronization achieves 62% success rate for each removal, while intermittent synchronization achieves 80%.

show abstract

Section: Arxiv:171202917v1 [Csro] 8 Dec 2017mentioning

confidence: 99%

Section: Arxiv:171202917v1 [Csro] 8 Dec 2017mentioning

confidence: 99%

See 1 more Smart Citation

Using intermittent synchronization to compensate for rhythmic body motion during autonomous surgical cutting and debridement

Patel

Krishnan

Goncalves

et al. 2018

2018 International Symposium on Medical Robotics (ISMR)

View full text Add to dashboard Cite

show abstract

“…Robotic surgical training techniques and benchmarks are well-studied. Motion has been studied in robotic surgery including estimation [30][31][32][33][34] and control/compensation [35][36][37][38]. All of this work considers virtual surgical simulators, e.g., Duindam and Sastry [36], and proposes a full synchronization approach where the quasi-periodic motion of the anatomy is tracked.…”

Section: B Surgical Robotic Trainingmentioning

confidence: 99%

“…All of this work considers virtual surgical simulators, e.g., Duindam and Sastry [36], and proposes a full synchronization approach where the quasi-periodic motion of the anatomy is tracked. Other works, such as Moustris et al [38], fully synchronize human input on real robot systems with stabilized virtual images, or passively compensate for motion using mounted devices, such as HeartLander [37].…”

Section: B Surgical Robotic Trainingmentioning

confidence: 99%

SPRK: A low-cost stewart platform for motion study in surgical robotics

Patel

Krishnan

Goncalves

et al. 2018

2018 International Symposium on Medical Robotics (ISMR)

View full text Add to dashboard Cite

To simulate body organ motion due to breathing, heart beats, or peristaltic movements, we designed a lowcost, miniaturized SPRK (Stewart Platform Research Kit) to translate and rotate phantom tissue. This platform is 20cm × 20cm × 10cm to fit in the workspace of a da Vinci Research Kit (DVRK) surgical robot and costs $250, two orders of magnitude less than a commercial Stewart platform. The platform has a range of motion of ± 1.27 cm in translation along x, y, and z directions and has motion modes for sinusoidal motion and breathing-inspired motion. Modular platform mounts were also designed for pattern cutting and debridement experiments. The platform's positional controller has a time-constant of 0.2 seconds and the root-mean-square error is 1.22 mm, 1.07 mm, and 0.20 mm in x, y, and z directions respectively. All the details, CAD models, and control software for the platform is available at github.com/BerkeleyAutomation/sprk.

show abstract

Image-Guided Motion Compensation for Robotic-Assisted Beating Heart Surgery

Moustris

Tzafestas

2020

Handbook of Robotic and Image-Guided Surgery

View full text Add to dashboard Cite

Active motion compensation in robotic cardiac surgery

Cited by 6 publications

References 18 publications

Using intermittent synchronization to compensate for rhythmic body motion during autonomous surgical cutting and debridement

Using intermittent synchronization to compensate for rhythmic body motion during autonomous surgical cutting and debridement

SPRK: A low-cost stewart platform for motion study in surgical robotics

Image-Guided Motion Compensation for Robotic-Assisted Beating Heart Surgery

Contact Info

Product

Resources

About