February 19, 2016IEEE Robotics and Automation Letters

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

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Structured PICO

Population

User study participants performing a simulated mitral valve annuloplasty task

Intervention

Robot-assisted surgical system using motion prediction (extended Kalman filter) and generalized predictive control to synchronize with beating heart motion using delayed and slowly-sampled ultrasound image data

Outcome

Efficacy in synchronizing the surgical robot to the beating heart motionsurrogate

A novel predictive control system for surgical robots can successfully synchronize with beating heart motion using delayed ultrasound data, potentially enabling beating-heart reconstructive surgeries.

Discussion

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Implication

Hypothesis-generating for beating-heart robotic surgery; prospective trials needed before clinical adoption.

Cite This Study

Bowthorpe et al. (2016) studied this question.

synapsesocial.com/papers/6a6f756a2163a0a01bc3c00f https://doi.org/10.1109/lra.2016.2530859

View Full Paper

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

Structured PICO

Discussion

Implication

Cite This Study

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

Structured PICO

Discussion

Implication

Cite This Study

Also Consider

Also Consider