Compensation of Physiological Motion using Linear Predictive Force Control
Résumé
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.
Domaines
Automatique / Robotique| Origine | Fichiers produits par l'(les) auteur(s) |
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