Design an Analysis of a Heartbeat Motion Compensation Controller in a Robotic Coronary Artery Bypass Graft Surgery, M.Sc. Thesis Sharif University of Technology ; Behzadipour, Saeed (Supervisor)
Abstract
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...
Cataloging briefDesign an Analysis of a Heartbeat Motion Compensation Controller in a Robotic Coronary Artery Bypass Graft Surgery, M.Sc. Thesis Sharif University of Technology ; Behzadipour, Saeed (Supervisor)
Abstract
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...
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