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

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.