Model-based online estimation of interaction force in beating heart robotic-assisted surgery

摘要

This paper presents an extended three dimensional, active, viscoelastic, inhomogeneous, and anisotropic interaction model of beating heart to be employed in force control, impedance control, and teleportation with haptic feedback. Unlike many existing models, no unrealistic assumptions such as elastic, isotropic, homogeneous, and ignoring shear strain are imposed on the presented model. To overcome complexities due to the inhomogeneous property of heart tissue, and significant uncertainty in the model parameters, a continuous adaptive robust estimator is developed to estimate beating heart force under online situation. Moreover, the continuous nonlinear gains utilized in the estimator, no chattering appears in practical applications. In addition, Lyapunov function is used to ensure uniformly ultimately bounded (UUB) stability. Furthermore, simulations are performed in the analysis and evaluation of the proposed estimator. Finally, it is shown that the developed model well-agrees with the experimental data extracted from available vivo samples.