Kinematic Predictive Imaging Technique for Telerobotic Surgery with Time Delay using Model Predictive Control

摘要

Minimum invasive robotic surgery is one of the most desired applications required with the advancement of medical technologies. Surgeons rely on the visual feedback solely from the laparoscopic camera to get the information about the operation to make further decisions. The control gets harder due to the presence of the latency in the network that can make the system unstable. The synchronization between the hand to eye of the surgeon is affected due to random behavior of the latency. In this paper, a novel approach is proposed by using the model predictive control to develop a predictive imaging technique that will provide the surgeon simplified imaging during the condition when delayed perception could occur. The ability of the model predictive control to predict the future will help to handle the randomness of the latency providing a better hand to eye coordination to the surgeon. A comparison is provided with the current techniques showing the effectiveness of the suggested approach.