Loading...

Control tuning of a اeart motion tracking system in off-pump heart surgery

Rahmati, Z ; Sharif University of Technology | 2018

754 Viewed
  1. Type of Document: Article
  2. DOI: 10.1109/ICRoM.2017.8466219
  3. Publisher: Elsevier , 2018
  4. Abstract:
  5. Design, implementation and experimental evaluation of a classic PID, and a modern Generalized Predictive Control (GPC) for an off-pump heart tracking system were carried out. Following the design and simulation analysis of the controllers, experimental evaluation was conducted on the slave robot of SINA tele-operational surgical system. Results revealed that considering the volatile high-frequency/speed pattern of heart motion, the agility of the controlled system is the most influential factor on its performance. With this in mind, unlike the Ziegler-Nichols-based tuned PID with emphasis on steady-state condition, the PID control with more transient behavior showed a superior performance. The same rule holds for GPC tuning. Furthermore, the GPC demonstrated a better performance compared to the PID, thanks to its predictive characteristic; mainly if the 'Look-Ahead' feature of the GPC control is provided with the utmost correct data of future heart motion. In this case, the RMS of tracking error reached to 0.236 mm and showed 61% enhancement in tracking performance. Analysis in time/frequency-domain modeling also proved that the real-time GPC control benefits highly from simpler models due to less computational burden. © 2017 IEEE
  6. Keywords:
  7. Generalized predictive control (GPC) ; Heart-synchronized control/er ; Off-pump heart surgery ; PID control ; Tuning guidelines ; Frequency agility ; Heart ; Machine design ; Motion analysis ; Pumps ; Robotics ; Surgery ; Three term control systems ; Tracking (position) ; Computational burden ; Design and simulation ; Experimental evaluation ; Generalized predictive control ; Heart surgery ; Steady-state condition ; Synchronized control ; Tracking performance ; Predictive control systems
  8. Source: 5th RSI International Conference on Robotics and Mechatronics, IcRoM 2017, 25 October 2017 through 27 October 2017 ; 2018 , Pages 445-450 ; 9781538657034 (ISBN)
  9. URL: https://ieeexplore.ieee.org/document/8466219