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

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.

Endomicroscopy for Computer and Robot Assisted Intervention

“…Predictive force control strategy has been proposed by [83][84]. These works have shown acceptable force disturbance rejection and accuracy for beating heart surgery.…”

Cascade force control for autonomous beating heart motion compensation

“…The MPC approach presented in Dominici, Poignet, Cortesão, Dombre, and Tempier (2009) is applied to an unstable system. Even if MPC can deal with such plant, a stable plant is more robust to handle external disturbances (such as heart motion).…”

“…The stand alone AOB follows the procedure of Cortesão (2007) and the stand alone MPC follows the procedure of Dominici et al (2009). These control architectures are compared with the MPC-AOB in the presence of heart motion.…”

LWPR-model based predictive force control for serial comanipulation in beating heart surgery

“…Because the robot is much stiffer than the heart, contact causes the tissue to comply with the location of the robotic instrument tip. Thus identification is performed assuming inner control loop in figure 5 as the reference model, as opposed to using the free response of the system as used in other works using parametric identification schemes [6], [24]. Nevertheless, the system is time varying so it needs incremental online training as well as adaptation because target mapping depends on the surgeons will.…”

“…This idea was for example developed in [5] using ILC, which has the advantage of not requiring a model of the contact interaction but, again, exhibits low robustness to irregularities. Predictive force control for beating heart surgery has been proposed in [6], but in this paper, a linear model is assumed for the interaction. Similarly, in the context of serial comanipulation, i.e.…”