Adaptative Force Feedback Control for 3D Compensation of Physiological Motion in Beating Heart Surgery - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2010

Adaptative Force Feedback Control for 3D Compensation of Physiological Motion in Beating Heart Surgery

Abstract

In this paper the problem of 3D physiological motion compensation in beating heart surgery is resolved by an adaptive control architecture based on Model Reference Adaptive Control (MRAC). The proposed control architecture uses the measures of the contact efforts applied by the surgical tool on the heart to assure force feedback. No apriori information about motion characteristics is necessary. It includes a nonlinear feedback linearizing the robot dynamics and a velocity loop. Simulation results are presented to show the effectiveness of the proposed control architecture for 3D compensation of physiological motions in beating heart surgery. Furthermore, its robustness toward uncertainties on dynamic parameters and environment stiffness is shown.

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lirmm-00545458 , version 1 (10-09-2019)

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Zeineb Zarrouk, Ahmed Chemori, Philippe Poignet. Adaptative Force Feedback Control for 3D Compensation of Physiological Motion in Beating Heart Surgery. IROS: Intelligent Robots and Systems, Oct 2010, Taipei, Taiwan. pp.1856-1861, ⟨10.1109/IROS.2010.5650684⟩. ⟨lirmm-00545458⟩
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