Towards robotized beating heart TECABG: Assessment of the heart dynamics using high-speed vision

Cuvillon, Loïc; Gangloff, Jacques; Mathelin, Michel de; Forgione, Antonello

doi:10.3109/10929080600970916

Cited by 16 publications

(4 citation statements)

References 15 publications

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“…In heart-beating surgery, the portion of interest of the heart is immobilized by a mechanical stabilizer. However, some residual motion remains that act as a disturbance for the surgeon [11]. Several solutions have been proposed to improve the stability of the region of interest [18,25,26].…”

Section: Methodsmentioning

confidence: 99%

“…2, one can observe the effect of a significant motion over exposure time. The object has been used previously in order to estimate the movements of a beating heart [11].…”

Section: Measurement Of the Position By Cameramentioning

confidence: 99%

“…However, in some applications, the CT signal is of interest. For instance, Cuvillon et al used a high-speed camera in order to reconstruct the CT trajectory of the heart [11]. Neglecting the camera dynamics, it was considered that a high-speed camera was necessary, with a frame rate higher than the heart-beating harmonics with some margin.…”

Section: Introductionmentioning

confidence: 99%

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Modeling and compensation of dynamic effects in camera-based position measurement

Laroche

Kagami

Cuvillon

2014

Robotics and Autonomous Systems

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Cameras are used as position sensors for camera-based control or metrology, the goal being to estimate the position of some markers or features. When one of these markers has significant displacement over the exposure time, the measurement delivered by image processing cannot be considered as a sample of the actual trajectory as dynamic effects become effective. In this paper, models are proposed that allow to reproduce accurately the measurements provided by a camera. Various cases are considered: with full or partial exposure time; with global shutter mode or rolling shutter mode. An experimental evaluation in the global shutter case shows the accuracies of the models. When the continuous-time trajectory of a device needs to be reconstructed, these accurate models of the camera-based position measurement can be used in order to improve the trajectory provided by the camera. A methodology based on a hybrid Kalman filter is proposed to solve this general issue. An experimental evaluation is provided for the global shutter case, based on real images inspired from the problem of heart motion reconstruction.

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Section: Methodsmentioning

confidence: 99%

“…2, one can observe the effect of a significant motion over exposure time. The object has been used previously in order to estimate the movements of a beating heart [11].…”

Section: Measurement Of the Position By Cameramentioning

confidence: 99%

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Modeling and compensation of dynamic effects in camera-based position measurement

Laroche

Kagami

Cuvillon

2014

Robotics and Autonomous Systems

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“…Wael et al outlined a prediction algorithm based on amplitude modulation. Their work remained within a Fourier coefficient estimation framework but in a simpler manner compared to the approach employed in (Cuvillon et al , 2006). They used an RLS algorithm with a forgetting factor to estimate the parameter vectors (Bachta et al , 2009).…”

Section: Introductionmentioning

confidence: 99%

Adaptive iterative learning control of soft robot for beating heart tracking

Wang,

Liu,

2024

RIA

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Purpose Soft robots are known for their excellent safe interaction ability and promising in surgical applications for their lower risks of damaging the surrounding organs when operating than their rigid counterparts. To explore the potential of soft robots in cardiac surgery, this paper aims to propose an adaptive iterative learning controller for tracking the irregular motion of the beating heart. Design/methodology/approach In continuous beating heart surgery, providing a relatively stable operating environment for the operator is crucial. It is highly necessary to use position-tracking technology to keep the target and the surgical manipulator as static as possible. To address the position tracking and control challenges associated with dynamic targets, with a focus on tracking the motion of the heart, control design work has been carried out. Considering the lag error introduced by the material properties of the soft surgical robotic arm and system delays, a controller design incorporating iterative learning control with parameter estimation was used for position control. The stability of the controller was analyzed and proven through the construction of a Lyapunov function, taking into account the unique characteristics of the soft robotic system. Findings The tracking performance of both the proportional-derivative (PD) position controller and the adaptive iterative learning controller are conducted on the simulated heart platform. The results of these two methods are compared and analyzed. The designed adaptive iterative learning control algorithm for position control at the end effector of the soft robotic system has demonstrated improved control precision and stability compared with traditional PD controllers. It exhibits effective compensation for periodic lag caused by system delays and material characteristics. Originality/value Tracking the beating heart, which undergoes quasi-periodic and complex motion with varying accelerations, poses a significant challenge even for rigid mechanical arms that can be precisely controlled and makes tracking targets located at the surface of the heart with the soft robot fraught with considerable difficulties. This paper originally proposes an adaptive interactive learning control algorithm to cope with the dynamic object tracking problem. The algorithm has theoretically proved its convergence and experimentally validated its performance at the cable-driven soft robot test bed.

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