3D Force Control for Robotic-Assisted Beating Heart Surgery Based on Viscoelastic Tissue Model

Chao Liu 1 Pedro Moreira 1 Nabil Zemiti 1 Philippe Poignet 2
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
2 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
Abstract : Current cardiac surgery faces the challenging problem of heart beating motion even with the help of mechanical stabilizer which makes delicate operation on the heart surface difficult. Motion compensation methods for robotic-assisted beating heart surgery have been proposed recently in literature, but research on force control for such kind of surgery has hardly been reported. Moreover, the viscoelasticity property of the interaction between organ tissue and robotic instrument further complicates the force control design which is much easier in other applications by assuming the interaction model to be elastic (industry, stiff object manipulation, etc.). In this work, we present a three-dimensional force control method for robotic-assisted beating heart surgery taking into consideration of the viscoelastic interaction property. Performance studies based on our D2M2 robot and 3D heart beating motion information obtained through Da Vinci™ system are provided.
Type de document :
Communication dans un congrès
EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.7054-7058, 2011, 〈10.1109/IEMBS.2011.6091783〉
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00623173
Contributeur : Martine Peridier <>
Soumis le : mardi 13 septembre 2011 - 16:44:14
Dernière modification le : jeudi 11 janvier 2018 - 16:19:46

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Chao Liu, Pedro Moreira, Nabil Zemiti, Philippe Poignet. 3D Force Control for Robotic-Assisted Beating Heart Surgery Based on Viscoelastic Tissue Model. EMBC: Engineering in Medicine and Biology Conference, Aug 2011, Boston, United States. 33rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society, pp.7054-7058, 2011, 〈10.1109/IEMBS.2011.6091783〉. 〈lirmm-00623173〉

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