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Predictive Model Reference Adaptive Controller to Compensate Heart Motion in Minimally Invasive CABG Surgery

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Abstract

Heart beating is a major challenge in minimally invasive coronary artery surgery. A promising solution is to develop a motion compensation robotic system that gives the surgeon an impression of operating on motionless tissue by synchronizing the surgical tool automatically with the heart tissue motion. To achieve higher control accuracy, an intelligent controller called Predictive Model Reference Adaptive Controller is presented herein, which is adapted not only by observed reference signals but, also by unknown reference signals that are not observed by a camera but could be predicted by a state space estimator. To develop such a system, first the heart surface motion is tracked by the Lucas–Kanade tracking algorithm and validated by human observation. The results of implementing this control algorithm on a real human heart data set show capability of achieving a motion compensation system with high control accuracy.

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Acknowledgment

The authors would like to thank Dr. R. Richa with the National Institute for Digital Convergence (INCoD), Florianópolis, Brazil for his assistance in this paper.

Conflict of interest

There is not any conflict of interest in this paper.

Ethical Standards

The video of a CABG procedure on a human heart tissue was obtained from Hamlyn Centre Laparoscopic/Endoscopic Video Datasets at Imperial College London and this data set is available online.16 There is no animal involved in this research.

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Authors and Affiliations

  1. The School of Mechanical and Aerospace Engineering, 218 EN, Oklahoma State University, Stillwater, OK, 74075, USA

    H. Mohamadipanah, L. L. Hoberock & M. Andalibi

Authors
  1. H. Mohamadipanah
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  2. L. L. Hoberock
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  3. M. Andalibi
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Correspondence to H. Mohamadipanah.

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Associate Editor Ajit P. Yoganathan oversaw the review of this article.

Appendix

Appendix

See Appendix Table 2.

Table 2 The manipulator masses.
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Mohamadipanah, H., Hoberock, L.L. & Andalibi, M. Predictive Model Reference Adaptive Controller to Compensate Heart Motion in Minimally Invasive CABG Surgery. Cardiovasc Eng Tech 6, 329–339 (2015). https://doi.org/10.1007/s13239-015-0225-y

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  • DOI: https://doi.org/10.1007/s13239-015-0225-y

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