ICRA 2011 Paper Abstract


Paper ThP213.1

DOMINICI, Michel (Faculty of Science and Technology of Coimbra), Cortesao, Rui (University of Coimbra), Sousa, Cristóvão (Institute for Systems and Robotics (ISR-UC), University of Coimb)

Heart Motion Compensation for Robotic-Assisted Surgery Predictive Approach vs. Active Observer

Scheduled for presentation during the Regular Sessions "Medical Robots and Systems VIII" (ThP213), Thursday, May 12, 2011, 15:25−15:40, Room 5I

2011 IEEE International Conference on Robotics and Automation, May 9-13, 2011, Shanghai International Conference Center, Shanghai, China

This information is tentative and subject to change. Compiled on August 18, 2019

Keywords Medical Robots and Systems, Force Control


In beating-heart surgeries two natural disturbances affect surgeon's skills: respiration and heart motion. Heart motions are too dynamic to be manually compensated, therefore robotic-assisted surgery has the potential to improve surgical tasks, especially those requiring high precision such as needle insertion or suturing. In our approach only force data are used to autonomously compensate physiological motions. Two force control architectures are confronted and experimentally compared, using a lightweight 7 DOF WAM arm. One is based on linear predictive control, which uses a mathematical model to predict the system behavior. The other one is based on model-reference adaptive control with stochastic active observers.



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