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Erschienen in:
2009 | OriginalPaper | Buchkapitel
Robotic Force Stabilization for Beating Heart Intracardiac Surgery
verfasst von : Shelten G. Yuen, Michael C. Yip, Nikolay V. Vasilyev, Douglas P. Perrin, Pedro J. del Nido, Robert D. Howe
Erschienen in: Medical Image Computing and Computer-Assisted Intervention – MICCAI 2009
Verlag: Springer Berlin Heidelberg
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The manipulation of fast moving, delicate tissues in beating heart procedures presents a considerable challenge to surgeons. We present a new robotic force stabilization system that assists surgeons by maintaining a constant contact force with the beating heart. The system incorporates a novel, miniature uniaxial force sensor that is mounted to surgical instrumentation to measure contact forces during surgical manipulation. Using this sensor in conjunction with real-time tissue motion information derived from 3D ultrasound, we show that a force controller with feed-forward motion terms can provide safe and accurate force stabilization in an in vivo contact task against the beating mitral valve annulus. This confers a 50% reduction in force fluctuations when compared to a standard force controller and a 75% reduction in fluctuations when compared to manual attempts to maintain the same force.