DocumentCode :
260033
Title :
Cascade robot force control architecture for autonomous beating heart motion compensation with model predictive control and active observer
Author :
Dominici, Michel ; Cortesao, Rui
Author_Institution :
Inst. of Syst. & Robot., Univ. of Coimbra, Coimbra, Portugal
fYear :
2014
fDate :
12-15 Aug. 2014
Firstpage :
745
Lastpage :
751
Abstract :
Nowadays, robotic-assisted surgery does not allow beating heart surgery with autonomous motion compensation functionalities. This paper tackles this problem, based on a robotic control architecture that relies on force feedback. The algorithm merges two cascade loops. The inner one is based on the Kalman active observer (AOB), performing model-reference adaptive control to impose a well-defined stable plant. The outer one, based on a model predictive control (MPC) approach, generates control references for beating heart motion compensation. Two robots are used in the experiments. A lightweight 4-DoF surgical robot generates desired surgical forces and a 3-DoF robot equipped with an ex vivo heart at the end-effector reproduces realistic heart motion. Additionally, robustness to cardiac stiffness mismatches is analyzed.
Keywords :
Kalman filters; cardiology; cascade control; end effectors; force control; force feedback; medical robotics; model reference adaptive control systems; motion compensation; observers; predictive control; surgery; AOB; Kalman active observer; MPC; autonomous beating heart motion compensation; cardiac stiffness mismatches robustness; cascade robot force control architecture; end-effector; ex vivo heart; force feedback; model predictive control; model-reference adaptive control; robotic-assisted surgery; surgical forces; surgical robot; Computer architecture; Force; Heart; Motion compensation; Robot sensing systems; Surgery;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Biomedical Robotics and Biomechatronics (2014 5th IEEE RAS & EMBS International Conference on
Conference_Location :
Sao Paulo
ISSN :
2155-1774
Print_ISBN :
978-1-4799-3126-2
Type :
conf
DOI :
10.1109/BIOROB.2014.6913867
Filename :
6913867
Link To Document :
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