Yuen Shelten G, Perrin Douglas P, Vasilyev Nikolay V, Del Nido Pedro J, Howe Robert D
Harvard School of Engineering and Applied Sciences, Cambridge, MA 02138 USA.
Department of Cardiovascular Surgery, Children's Hospital Boston, MA 02115 USA.
IEEE Trans Robot. 2010 Aug 16;26(5):888-896. doi: 10.1109/TRO.2010.2053734.
The manipulation of fast moving, delicate tissues in beating heart procedures presents a considerable challenge to the surgeon. A robotic force tracking system can assist the surgeon by applying precise contact forces to the beating heart during surgical manipulation. Standard force control approaches cannot safely attain the required bandwidth for this application due to vibratory modes within the robot structure. These vibrations are a limitation even for single degree of freedom systems driving long surgical instruments. These bandwidth limitations can be overcome by incorporating feed-forward motion terms in the control law. For intracardiac procedures, the required motion estimates can be derived from 3D ultrasound imaging. Dynamic analysis shows that a force controller with feed-forward motion terms can provide safe and accurate force tracking for contact with structures within the beating heart. validation confirms that this approach 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.
在心脏跳动手术中对快速移动、脆弱的组织进行操作，对外科医生来说是一项巨大的挑战。机器人力跟踪系统可以通过在手术操作过程中向跳动的心脏施加精确的接触力来协助外科医生。由于机器人结构内的振动模式，标准的力控制方法无法安全地达到该应用所需的带宽。即使对于驱动长手术器械的单自由度系统，这些振动也是一个限制因素。通过在控制律中纳入前馈运动项，可以克服这些带宽限制。对于心内手术，所需的运动估计可以从三维超声成像中得出。动态分析表明，具有前馈运动项的力控制器可以为与跳动心脏内的结构接触提供安全、准确的力跟踪。验证证实，与标准力控制器相比，这种方法可使力波动降低50%，与手动尝试保持相同力相比，波动降低75%。
