Shared control for motion compensation in robotic beating heart surgery

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

doi:10.1109/icra.2013.6631414

Cited by 8 publications

(2 citation statements)

References 20 publications

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“…This medical application would be extremely difficult and unsafe (if even possible) for the patients without this assistance. For instance, in [328], the beating heart motion compensation is decomposed into three tasks; (1) motion synchronization, (2) image stabilization, and (3) shared control. In [211], for lung motion compensation during needle insertion, an impedance-based control was used.…”

Section: Task Decomposition Based Shared Controlmentioning

confidence: 99%

Review of Advanced Medical Telerobots

et al. 2020

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The advent of telerobotic systems has revolutionized various aspects of the industry and human life. This technology is designed to augment human sensorimotor capabilities to extend them beyond natural competence. Classic examples are space and underwater applications when distance and access are the two major physical barriers to be combated with this technology. In modern examples, telerobotic systems have been used in several clinical applications, including teleoperated surgery and telerehabilitation. In this regard, there has been a significant amount of research and development due to the major benefits in terms of medical outcomes. Recently telerobotic systems are combined with advanced artificial intelligence modules to better share the agency with the operator and open new doors of medical automation. In this review paper, we have provided a comprehensive analysis of the literature considering various topologies of telerobotic systems in the medical domain while shedding light on different levels of autonomy for this technology, starting from direct control, going up to command-tracking autonomous telerobots. Existing challenges, including instrumentation, transparency, autonomy, stochastic communication delays, and stability, in addition to the current direction of research related to benefit in telemedicine and medical automation, and future vision of this technology, are discussed in this review paper.

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Section: Task Decomposition Based Shared Controlmentioning

confidence: 99%

Review of Advanced Medical Telerobots

et al. 2020

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“…In this work we present a novel way of applying virtual fixtures for beating heart surgery, utilizing a new motion compensation framework under which the mechanical synchronization, the image stabilization and the shared control emerge and combine naturally [25]. This is achieved by using the Strip-Wise Affine Map (SWAM) [26], which shifts the control to a stabilized canonical space where the robot and the image are still.…”

Section: Introductionmentioning

confidence: 98%

Enhancing surgical accuracy using virtual fixtures and motion compensation in robotic beating heart surgery

Moustris

Mantelos

Tzafestas

2013

21st Mediterranean Conference on Control and Automation

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This paper proposes a novel technique for applying virtual fixtures in a changing environment. The main targeted application is robotic beating heart surgery, which enables the surgeon to operate directly on a beating heart. Using a motion compensation framework, the motion of the heart surface is stabilized in a virtual space, which is presented to the surgeon to operate in. Consequently, the fixture is implemented in this static space, bypassing problems of dynamic fixtures such as position update, placement and force transients. Randomized experiments were performed using a trained surgeon comparing our approach to simple motion compensation and no compensation at all. The positive effect of the fixture in surgical accuracy for a tracking task is also discussed.

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

Moustris

Tzafestas

2020

Handbook of Robotic and Image-Guided Surgery

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Shared control for motion compensation in robotic beating heart surgery

Cited by 8 publications

References 20 publications

Review of Advanced Medical Telerobots

Review of Advanced Medical Telerobots

Enhancing surgical accuracy using virtual fixtures and motion compensation in robotic beating heart surgery

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

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