Abstract
Compensation of cardiac motion during robot-assisted surgical procedures is needed to ensure better quality stabilization. Serial Comanipulation to actively compensate physiological motion is one alternative to common used Teleoperation techniques. In this paper, a 1 DOF hand-held force controlled prototype is presented. The active part of the instrument moves in synchronism with the heart motion in order to guarantee that the contact is maintained thanks to the application of a controlled force, while the surgeon’s hand is in charge to perform the surgical task.
It then focuses on a crucial control aspect: there is a lack of a parametric model describing the interaction between the surgical instrument and the heart that would provide enough precision for prediction. Namely, the robot low level controller and the beating heart are modeled thanks to a Locally Weighted Projection Regression (LWPR). The paper discusses how this technique can be used in the context of predictive force control and shows conclusive simulation results.
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Florez, J.M., Bellot, D., Szewczyk, J., Morel, G. (2011). Serial Comanipulation in Beating Heart Surgery Using a LWPR-Model Based Predictive Force Control Approach. In: Jeschke, S., Liu, H., Schilberg, D. (eds) Intelligent Robotics and Applications. ICIRA 2011. Lecture Notes in Computer Science(), vol 7102. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-25489-5_38
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DOI: https://doi.org/10.1007/978-3-642-25489-5_38
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