Title :
Active motion compensation in robotic cardiac surgery
Author :
Moustris, George P. ; Mantelos, Andreas I. ; Tzafestas, Costas S.
Author_Institution :
Sch. of Electr. & Comput. Eng., Nat. Tech. Univ. of Athens, Athens, Greece
Abstract :
Motion compensation is a prominent application in robotic beating heart surgery, with significant potential benefits for both surgeons and patients. In this paper we investigate an activate assistance control scheme on a simple tracking task, which helps the surgeon guide the robot on a predefined reference. The control is implemented on top of a shared control system, which serves as a basis for implementing higher level controllers. Experiments with a trained surgeon are also presented, which show the positive effect of the approach.
Keywords :
medical robotics; motion compensation; surgery; activate assistance control scheme; active motion compensation; predefined reference; robotic beating heart surgery; robotic cardiac surgery; shared control system; surgeon guide; tracking task; Aerospace electronics; Cameras; Heart; Manifolds; Robots; Surgery; Tracking;
Conference_Titel :
Control Conference (ECC), 2013 European
Conference_Location :
Zurich