Generalized Predictive Control of a Surgical Robot for Beating-Heart Surgery Under Delayed and Slowly-Sampled Ultrasound Image Data

Bowthorpe, Meaghan; Tavakoli, Mahdi

doi:10.1109/lra.2016.2530859

Cited by 29 publications

(9 citation statements)

References 24 publications

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“…Before discussing robot controllers, a vital issue is to measure the moving organ position in real time. To this end, many image-based sensors have been widely used in research such as high-speed camera/laparoscopy (Nakajima et al, 2014 ), X-ray fluoroscopy (Ma et al, 2020 ), computed tomography (CT) (Su et al, 2013 ), magnetic resonance imaging (MRI) (Yang et al, 2014 ), positron emission tomography (PET) (Bettinardi et al, 2013 ), and ultrasound imaging (US) (Bowthorpe and Tavakoli, 2016a , b ; Diodato et al, 2018 ). To get performance, hybrid imaging systems are also developed to measure precise organ motion including MRI/US imaging (Celicanin et al, 2018 ), MRI/CT imaging (Neumann et al, 2017 ), PET/CT imaging (Bettinardi et al, 2013 ; Pepin et al, 2014 ), and PET/MRI (Kolbitsch et al, 2018 ).…”

Section: Teleoperation For Organ Motion Compensationmentioning

confidence: 99%

“…Predictive feedback controllers not only need the organ's current position but also take the tracking error into account. By considering the physiological organ motion as periodic disturbances, controllers such as model predictive controllers (MPCs) (Gangloff et al, 2006 ; Vrooijink et al, 2017 ), Smith predictor-based controllers (Bowthorpe et al, 2013 ; Bowthorpe and Tavakoli, 2016a ), generalized predictive controllers (GPCs) (Bowthorpe and Tavakoli, 2016b ), and repetitive-GPC (R-GPC) (Ginhoux et al, 2005 ) were used. As these methods rely on the known organ motion model, the robustness of the system to irregular organ motion is challenging.…”

Section: Teleoperation For Organ Motion Compensationmentioning

confidence: 99%

See 1 more Smart Citation

COVID-19 Pandemic Spurs Medical Telerobotic Systems: A Survey of Applications Requiring Physiological Organ Motion Compensation

Cheng

Tavakoli

2020

Front. Robot. AI

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The coronavirus disease 2019 (COVID-19) pandemic has resulted in public health interventions such as physical distancing restrictions to limit the spread and transmission of the novel coronavirus, causing significant effects on the delivery of physical healthcare procedures worldwide. The unprecedented pandemic spurs strong demand for intelligent robotic systems in healthcare. In particular, medical telerobotic systems can play a positive role in the provision of telemedicine to both COVID-19 and non-COVID-19 patients. Different from typical studies on medical teleoperation that consider problems such as time delay and information loss in long-distance communication, this survey addresses the consequences of physiological organ motion when using teleoperation systems to create physical distancing between clinicians and patients in the COVID-19 era. We focus on the control-theoretic approaches that have been developed to address inherent robot control issues associated with organ motion. The state-of-the-art telerobotic systems and their applications in COVID-19 healthcare delivery are reviewed, and possible future directions are outlined.

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Section: Teleoperation For Organ Motion Compensationmentioning

confidence: 99%

Section: Teleoperation For Organ Motion Compensationmentioning

confidence: 99%

COVID-19 Pandemic Spurs Medical Telerobotic Systems: A Survey of Applications Requiring Physiological Organ Motion Compensation

Cheng

Tavakoli

2020

Front. Robot. AI

Self Cite

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“…Furthermore, overlaying preoperative imaging results and even live imaging data such as ultrasound or magnetic resonance imaging (MRI) could potentially solve the navigation challenge for laparoscopic surgery. Pioneering systems have already been reported for both preoperative and intraoperative imaging augmentation [33,[35][36][37].…”

Section: Innovations For Visionmentioning

confidence: 99%

The Next-Generation Surgical Robots

Wang¹,

Liu²,

Peng³

et al. 2018

Surgical Robotics

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The chronicle of surgical robots is short but remarkable. Within 20 years since the regulatory approval of the irst surgical robot, more than 3,000 units were installed worldwide, and more than half a million robotic surgical procedures were carried out in the past year alone. The exceptionally high speeds of market penetration and expansion to new surgical areas had raised technical, clinical, and ethical concerns. However, from a technological perspective, surgical robots today are far from perfect, with a list of improvements expected for the next-generation systems. On the other hand, robotic technologies are lourishing at ever-faster paces. Without the inherent conservation and safety requirements in medicine, general robotic research could be substantially more agile and explorative. As a result, various technical innovations in robotics developed in recent years could potentially be grafted into surgical applications and ignite the next major advancement in robotic surgery. In this article, the current generation of surgical robots is reviewed from a technological point of view, including three of possibly the most debated technical topics in surgical robotics: vision, haptics, and accessibility. Further to that, several emerging robotic technologies are highlighted for their potential applications in next-generation robotic surgery.

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“…In this present work, an ultrasound machine is used for guiding intracardiac beating heart repairs as it can provide tissue images through blood. In previous work, our group used ultrasound images and combined them with a Smith predictor and a generalized predictive controller, respectively, to estimate and compensate for the beating heart's motion. The acquisition and processing of ultrasound images cause a large time delay, which needs to be compensated for via control.…”

Section: Introductionmentioning

confidence: 99%