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.
Type de document :
Communication dans un congrès
IROS: Intelligent RObots and Systems, Oct 2010, Taipei, Taiwan. IEEE/RSJ, pp.1856-1861, 2010
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00545458
Contributeur : Martine Peridier <>
Soumis le : vendredi 10 décembre 2010 - 11:48:13
Dernière modification le : jeudi 11 janvier 2018 - 06:26:07

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  • HAL Id : lirmm-00545458, version 1

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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. IEEE/RSJ, pp.1856-1861, 2010. 〈lirmm-00545458〉

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