Compensation of Physiological Motion using Linear Predictive Force Control

Michel Dominici; Philippe Poignet; Etienne Dombre

doi:10.1109/IROS.2008.4651011

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Compensation of Physiological Motion using Linear Predictive Force Control

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Compensation of Physiological Motion using Linear Predictive Force Control

Michel Dominici, Philippe Poignet et Etienne Dombre

IROS 2008 - IEEE/RSJ International Conference on Intelligent RObots and Systems, pp.1173-1178

IROS 2008 - IEEE/RSJ International Conference on Intelligent RObots and Systems (Nice, France, 22/09/2008–26/09/2008)

09/2008

DOI: https://doi.org/10.1109/IROS.2008.4651011

Résumé

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.

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Détails

Titre: Compensation of Physiological Motion using Linear Predictive Force Control
Créateurs - sans rôle: Michel Dominici - Université de Montpellier, Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
Philippe Poignet - Université de Montpellier
Etienne Dombre - Université de Montpellier
Détails de publication: IROS 2008 - IEEE/RSJ International Conference on Intelligent RObots and Systems, pp.1173-1178
Colloque: IROS 2008 - IEEE/RSJ International Conference on Intelligent RObots and Systems (Nice, France, 22/09/2008–26/09/2008)
Identifiants: 9945178309311
Unité académique: Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier - LIRMM
Langue: English
Type de ressource: Conference proceeding
Champs locaux: lirmm-00286411