Title :
Compensation of physiological motion using linear predictive force control
Author :
Dominici, Michel ; Poignet, Philippe ; Dombre, Etienne
Author_Institution :
LIRMM-UMR CNRS, Univ. of Montpellier II, Montpellier
Abstract :
This paper proposes a new approach to compensate the physiological motion, induced by respiration and heart beating, for robotized minimally invasive cardiac surgery. The control algorithm, based on a linear predictive control, uses the effort information applied on the heart by the instrument.
Keywords :
force control; medical control systems; motion compensation; physiology; predictive control; surgery; heart beating; invasive cardiac surgery; linear predictive force control; physiological motion compensation; respiration; Force; Heart; Prediction algorithms; Predictive models; Robots; Surgery; Tracking;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4651011
