Abstract
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.
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Yuen, S.G., Yip, M.C., Vasilyev, N.V., Perrin, D.P., del Nido, P.J., Howe, R.D. (2009). Robotic Force Stabilization for Beating Heart Intracardiac Surgery. In: Yang, GZ., Hawkes, D., Rueckert, D., Noble, A., Taylor, C. (eds) Medical Image Computing and Computer-Assisted Intervention – MICCAI 2009. MICCAI 2009. Lecture Notes in Computer Science, vol 5761. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-04268-3_4
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DOI: https://doi.org/10.1007/978-3-642-04268-3_4
Publisher Name: Springer, Berlin, Heidelberg
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