ICRA 2012 Paper Abstract


Paper WeA03.6

Florez, Juan Manuel (Institut de Systèmes Intelligents et de Robotique - Université P), Szewczyk, Jérôme (Université Pierre et Marie Curie-Paris 6), Morel, Guillaume (Univ. Pierre et Marie Curie - Paris 6)

An Impedance Control Strategy for a Hand-Held Instrument to Compensate for Physiological Motion

Scheduled for presentation during the Regular Session "Medical Robotics I" (WeA03), Wednesday, May 16, 2012, 09:45−10:00, Meeting Room 3 (Mak'to)

2012 IEEE International Conference on Robotics and Automation, May 14-18, 2012, RiverCentre, Saint Paul, Minnesota, USA

This information is tentative and subject to change. Compiled on June 18, 2018

Keywords Medical Robots and Systems, Force Control, Physical Human-Robot Interaction


Current trends in robotic cardiac surgery presage for allowing physiological motion compensation in beating-heart surgery. However, interacting with fast moving soft organs by means of stiff instruments/robots is challenging. This paper concerns comanipulation with a hand-held instrument, the goal being to allow the surgeon to perform low frequency motions that correspond to the surgical task while a distal part of the instrument actively moves in synchronism with the heart motion in order to guarantee that the contact is maintained.

This paper explores the difficulties of implementing owimpedance control on a novel hand-held motion compensation instrument. A force feedback control strategy is proposed and evaluated experimentally on a simulated surgical scene. Taking advantage of the sensory capacities of the prototype resented, a successful modulation of the dynamics of interaction is reached. Conclusive results on the performances of the system and possibilities of future improvements are given.



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