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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Conference papers
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00286411
Contributor : Philippe Poignet <>
Submitted on : Monday, June 9, 2008 - 1:20:57 PM
Last modification on : Monday, July 23, 2018 - 10:43:54 AM

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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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