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Conference papers

Beating Heart Motion Compensation Using Active Observers and Disturbance Estimation

Pedro Moreira 1 Chao Liu 1 Nabil Zemiti 1 Philippe Poignet 1
1 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : One important issue that surgeons need to deal during delicate procedures are the physiological motions induced by the breathing and the heartbeat. To avoid the use of external heart-lung machines, which implies in a great risk to the patient and a long recovery time, many research works have been developed in order to design a method able to cancel these motions and give to the surgeon a perception of a stable environment. This paper proposes a new force control scheme using an Active Observer based on the Kelvin Boltzmann interaction model. A feedforward term and a disturbance estimation are included in the control scheme to improve the disturbance estimation. This estimation is performed using the viscoelastic Kelvin Boltzmann tissue model and a quasi-periodic Fourier series model. The results show the ability of the proposed force control scheme to reject beating heart motions. Performance under parameters mismatch is also analyzed.
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Submitted on : Monday, January 21, 2013 - 6:44:59 PM
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Pedro Moreira, Chao Liu, Nabil Zemiti, Philippe Poignet. Beating Heart Motion Compensation Using Active Observers and Disturbance Estimation. SYROCO: Symposium on Robot Control, Sep 2012, Dubrovnik, Croatia. pp.741-746, ⟨10.3182/20120905-3-HR-2030.00164⟩. ⟨lirmm-00779219⟩



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