Abstract
A fully integrated 3-axis robotic motion tracking and compensation system has been developed to compensate for and track periodic and quasi-periodic organ motion present during surgery resulting from cardiac and respiratory rhythms. The Z-axis motion compensation is achieved by using a fiber-optic laser sensor to obtain precise displacement measurements. Adaptive and predictive signal processing techniques are used to develop a novel motion compensation algorithm that results in a compensated Z-axis motion tracking the organ movement. The X-Y motion tracking uses a custom VLS1 chip, modeled as a foveated silicon retina, for precision targeting in the X-Y plane. A surgical probe is moved in response to the motion compensation algorithms and the optical tracking chip. Compensated motion tracking, with less that 10% targeting error, has been demonstrated in a rodent heart model system. Using a complementary algorithm, artifacts due to respiratory motion have also been extracted.
Original language | English (US) |
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Pages (from-to) | S-100 |
Journal | Annals of biomedical engineering |
Volume | 28 |
Issue number | SUPPL. 1 |
State | Published - Dec 1 2000 |
Event | 2000 Annual Fall Meeting of the Biomedical Engineering Society - Washington, WA, USA Duration: Oct 12 2000 → Oct 14 2000 |
ASJC Scopus subject areas
- Biomedical Engineering