| Abstrakt: |
Researchers from Beihang University in Hangzhou, China have developed a new robotics-assisted beating heart surgery technique that has the potential to reduce the risk of infection. The key challenge in this type of surgery is obtaining real-time and accurate feedback of the interaction forces between the surgical robot and the cardiac tissues. To address this, the researchers propose an online force separation scheme called the Motion Frequency Exploration-Based Force Separator (MSEFS), which utilizes an expectation-maximization procedure to estimate the motion state and frequency parameter. Simulation results show that the MSEFS outperforms existing force estimation schemes. This research has been peer-reviewed and published in the journal Neurocomputing. [Extracted from the article] |
