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Design an Analysis of a Heartbeat Motion Compensation Controller in a Robotic Coronary Artery Bypass Graft Surgery

Rahmati, Zahra | 2014

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  1. Type of Document: M.Sc. Thesis
  2. Language: Farsi
  3. Document No: 46445 (08)
  4. University: Sharif University of Technology
  5. Department: Mechanical Engineering
  6. Advisor(s): Behzadipour, Saeed
  7. Abstract:
  8. The Coronary artery bypass grafting surgery is one of the most complicated and invasive surgeries, in which the chest is cleaved up to 20 cm. Also, heart motion with 1-2Hz frequency bothers surgeons to perform on. This leads surgeons to get interested in minimally invasive robotic surgery methods. The idea is to synchronize the robot motion with heart, in order for surgeons to perceive it stationary. This needs 3 major stages: online taking of data, estimate the future heart motion, and control the robot. First studies employ visual seroving for control demand. Later studies, although differ in data collection methods, rely on classic error-based feedback controllers, such as PID. Fast movement of heart, makes it substantial to use 2 DOF (feedback and feed-forward) modern controllers. Model Predictive Controller (MPC) is of this type, which include non-causal features, as well.
    The aim of this thesis is to provide the MIS cardiac surgery capability for the manufactured surgical robot, called “pioneer;” with focus on design of the most proficient controller for tracking task. To achieve this, an experimental setup, including the heart simulator robot and the linear potentiometer attached to pioneer, is provided. The control design task is begun by best-fit modeling. Then, the designed controllers are examined by 4 tests. The controllers are of the PID kind, tuned in current and position mode; and predictive forms, implemented by both the MPC Toolbox in MATLAB, and GPC structure. GPC outperformed in all tests. The RMS tracking error in PID and GPC reaches 0.342 and 0.236 mm, respectively. Experiments also show the key role of perfect data gathering and estimation in the final tracking performance. For the first time the data are feed to the controller by a lead. This lead cancels out the delay of robot dynamic. Results are enhanced to 36% decrease in errror
  9. Keywords:
  10. Heart Surgery ; Coronary Artery Bypass ; Model Predictive Control ; Robot Modeling ; Two Deyree of Freedom Predictive Controller ; Leaded Data

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