Compensation for 3D physiological motion in robotic-assisted surgery using a predictive force controller - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Conference Papers Year : 2009

Compensation for 3D physiological motion in robotic-assisted surgery using a predictive force controller

Abstract

This paper presents a predictive force control approach to compensate for the physiological motion induced by both respiratory and heart beating motions during cardiac surgery. It focuses on the design and implementation of the control algorithm in the context of robotized minimally invasive surgery. The controller is based on a linear predictive control loop using the force information applied on the heart by the instrument. Experimental evaluation highlights the performance of the algorithm for compensating 3D physiological motion.

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Dates and versions

lirmm-00812831 , version 1 (30-09-2022)

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Michel Dominici, Philippe Poignet, Rui Cortesão, Etienne Dombre, Olivier Tempier. Compensation for 3D physiological motion in robotic-assisted surgery using a predictive force controller. IROS 2009 - IEEE/RSJ International Conference on Intelligent Robots and Systems, Oct 2009, St. Louis, MO, United States. pp.2634-2639, ⟨10.1109/IROS.2009.5353909⟩. ⟨lirmm-00812831⟩
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