Neuro-adaptive control in beating heart surgery based on the viscoelastic tissue model

Journal Title: روش های هوشمند در صنعت برق - Year 2014, Vol 5, Issue 17

Abstract

In this paper, the problem of 3D heart motion in beating heart surgery is resolved by proposing a parallel force-motion controller. Motion controller is designed based on neuro-adaptive approach to compensate 3D heart motion and deal with uncertainity in dynamic parameters, while an implicit force control is implemented by considering a viscoelastic tissue model. Stability analysis is proved through Lypanov’s stability theory and Barballet’s lemma. Simulation results, for D2M2 robot, which is done in nominal case and viscoelastic parameter mismatches demonstrate the robust performance of the controller.

Authors and Affiliations

Setareh Rezakhani, Mehdi Aliyari Shoorehdeli, Azam Ghasemi

Keywords

Related Articles

Design and Simulation of a Low-Noise Amplifier (LNA) with low power consumption and high gain in 2.4GHz frequency for wireless systems

This paper presents the design and simulation of low-noise amplifier (LNA) with .18CMOS technology in 2.4GHz frequency addressed, the process HSPICE RF simulation software has been done. Using cascode structure leads to...

Robustness Beamforming Algorithms

Adaptive beamforming methods are known to degrade in the presence of steering vector and covariance matrix uncertinity. In this paper, a new approach is presented to robust adaptive minimum variance distortionless respon...

Ultra low voltage and low power 4-2 compressor using FinFET transistors

A compressor is basic building blocks of many arithmetic circuits. Design of smaller area, low power consumption and high speed compressor is always in demand. As the channel length approaches nanometer scale, the use of...

Reduction of Sub-synchronous Resonances with D-FACTS Devices using intelligent Control

When a turbine–generator set connect to a long transmission line, may results side effects such as Sub-Synchronous Resonances (SSR). The capabilities of the Distributed Static Series Compensator (DSSC) as a member of the...

Evaluation of the Trajectory Sensitivity Analysis of the DFIG Control Parameters in Response to Changes in Wind Speed and the Line Impedance Connection to the Grid DFIG

Economic and environmental conditions often make large stations and transmission lines, restrictions are placed. Small and medium-sized production units connected to existing systems as a strategy is in progress. These u...

Download PDF file
  • EP ID EP328684
  • DOI -
  • Views 133
  • Downloads 0

How To Cite

Setareh Rezakhani, Mehdi Aliyari Shoorehdeli, Azam Ghasemi (2014). Neuro-adaptive control in beating heart surgery based on the viscoelastic tissue model. روش های هوشمند در صنعت برق, 5(17), 31-40. https://europub.co.uk/articles/-A-328684