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Conference Papers Year : 2008

Compensation of Physiological Motion using Linear Predictive Force Control

Abstract

This paper proposes a new approach to compensate the physiological motion, induced by respiration and heart beating, for robotized minimally invasive cardiac surgery. The control algorithm, based on a linear predictive control, uses the effort information applied on the heart by the instrument.

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lirmm-00286411 , version 1 (09-06-2008)

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Michel Dominici, Philippe Poignet, Etienne Dombre. Compensation of Physiological Motion using Linear Predictive Force Control. IROS: Intelligent Robots and Systems, Sep 2008, Nice, France. pp.1173-1178, ⟨10.1109/IROS.2008.4651011⟩. ⟨lirmm-00286411⟩
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