Compensation of physiological motion using linear predictive force control

Dominici, Michel; Poignet, Philippe; Dombre, Etienne

doi:10.1109/iros.2008.4651011

Cited by 13 publications

(14 citation statements)

References 7 publications

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“…Dominici, Cortesão, and Sousa (2011) presented a comparative study of two force control architectures for physiological motion compensation. The first one based on a MPC approach uses a mathematical model to predict system behavior (Dominici, Poignet, & Dombre, 2008). The second one is based on an AOB to impose desired closed-loop dynamics (Cortesão, 2007).…”

Section: Related Workmentioning

confidence: 99%

Cascade force control for autonomous beating heart motion compensation

Dominici

Cortesão

2015

Control Engineering Practice

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Section: Related Workmentioning

confidence: 99%

Cascade force control for autonomous beating heart motion compensation

Dominici

Cortesão

2015

Control Engineering Practice

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“…The force control architectures developed in [10] and [9] are based on a force feedback and linear controllers. These architectures were performed in task space and tested in simulation.…”

Section: Comparison With Other Control Architecturesmentioning

confidence: 99%

“…The obtained simulation of this control approach shows good compensation of sinusoidal and non-sinusoidal physiological motions. In [10], Dominici et al proposed a predictive force control for compensating physiological motions based on a process model to predict future plant behavior using past and current forces applied values. Simulation results show the efficiency of the proposed control approach to compensate heart motion along Z axis.…”

Section: Introduction and Related Workmentioning

confidence: 99%

Adaptive force feedback control for 3D compensation of physiological motion in beating heart surgery

Zarrouk

Chemori

Poignet

2010

2010 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In this paper the problem of 3D physiological motion compensation in beating heart surgery is resolved by an adaptive control architecture based on Model Reference Adaptive Control (MRAC). The proposed control architecture uses the measures of the contact efforts applied by the surgical tool on the heart to assure force feedback. No apriori information about motion characteristics is necessary. It includes a nonlinear feedback linearizing the robot dynamics and a velocity loop. Simulation results are presented to show the effectiveness of the proposed control architecture for 3D compensation of physiological motions in beating heart surgery. Furthermore, its robustness toward uncertainties on dynamic parameters and environment stiffness is shown.

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“…If changes often occur because of the operator motions, the previous controller does not seem to be efficient enough. Dominici et al [9] propose a teleoperation system with a position-force structure in order to compensate for heart motions. Disturbance rejection is performed using a model predictive controller.…”

Section: Introductionmentioning

confidence: 99%

Robot Interaction Control in Medicine and Surgery: Original Results and Open Problems

Bayle

Joinie-Maurin

Barbé

et al. 2013

Computational Surgery and Dual Training

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In robot-assisted medical procedures, the control of interactions between tools and tissues has recently raised much interest. In this chapter, we give an original perspective to this subject. In Sect. 11.1, we discuss the pros and cons of force feedback for medical applications. We also highlight some original works and point out open problems that would deserve more interest. Then, in Sects. 11.2 and 11.3, we focus on two of our recent contributions to the field of force feedback teleoperation for medical procedures: the automatic detection of haptic events and the compensation of physiological motions. In robot-assisted medical procedures, the control of interactions between tools and tissues has recently raised much interest. In this chapter, we give an original perspective to this subject. In Sect. 11.1, we discuss the pros and cons of force feedback for medical applications. We also highlight some original works and point out open problems that would deserve more interest. Then, in Sects. 11.2 and 11.3, we focus on two of our recent contributions to the field of force feedback teleoperation for medical procedures: the automatic detection of haptic events and the compensation of physiological motions. Keywords

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Compensation of physiological motion using linear predictive force control

Cited by 13 publications

References 7 publications

Cascade force control for autonomous beating heart motion compensation

Cascade force control for autonomous beating heart motion compensation

Adaptive force feedback control for 3D compensation of physiological motion in beating heart surgery

Robot Interaction Control in Medicine and Surgery: Original Results and Open Problems

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