Physiological motion compensation in robotized surgery using force feedback control

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2007, Pages 1881-1886

  Cagneau, Barthélemy ^a   Zemiti, Nabil ^a   Bellot, Delphine ^a   Morel, Guillaume ^a  

^a SORBONNE UNIVERSITÉ   (France)

Author keywords

[No Author keywords available]

Indexed keywords

BANDWIDTH; FEEDBACK CONTROL; FORCE CONTROL; MOTION COMPENSATION; PHYSIOLOGICAL MODELS; SURGERY;

CYCLIC DISTURBANCES; INNER FORCE FEEDBACK CONTROL LOOP; ITERATIVE LEARNING CONTROL (ILC); ROBOTIZED SURGERY;

ROBOTICS;

EID: 36349011359     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2007.363596     Document Type: Conference Paper

References (12)

1. A. Schweikard, G. Glosser, M. Bodduluri, M.J. Murphy and J.R. Adler, "Robotic motion compensation for respiratory movement during radiosurgery", Computer Aided Surgery, vol. 5, no. 4, pp. 263-277, 2000
2. C. Riviere, A. Thakral, I.I. Iordachita, G. Mitroi and D. Stoianovici, "Predicting respiratory motion for active canceling during percutaneous needle insertion" Proc. 23rd Annual Int. Conf. IEEE Engineering in Medicine and Biology Society, vol. 4, pp 3477-3480, 2001
3. Y. Nakamura, K. Kishi and H. Kawakami, "Heartbeat synchronisation for robotic cardiac surgery" Proc. of IEEE International Conference on Robotic and Automation, ICRA'01, vol.2, pp 2014-2019, 2001
4. J. Gangloff, R. Ginhoux, M. de Mathelin, L. Soler and J. Mares, "Model Predictive Control for Compensation of Cyclic Organ Motions in Teleoperated Laparoscopic Surgery", IEEE Trans. on Control Systems Technology, vol. 14, no. 2, pp 235-246, March 2006
5. A. Krupa, J. Gangloff, C. Doignon, M. de Mathelin, G. Morel, J. Leroy, L. Soler and J. Marescaux, "Autonomous 3D positionning of surgical instruments in rototized laparoscopic surgery using visual servoing" IEEE Transactions on Robotics and Automation, Special Issue on Medical Robotics, Vol. 19, no. 5, pp 842-853, 2003
6. T. Ortmaier. Motion Compensation in Minimally Invasive Robotic Surgery. PhD thesis, Technische Universität München, March 2003.
7. O. Bebek and M.C. Cavusoglu, "Predictive Control Algorithms Using Biological Signals for Actve Relative Motion Caceling in Robotic Assisted Heart Surgery", Proceedings of the IEEE International Conference on Robotics and Automation, Orlando (Florida), pp 237-244, May 2006
8. N. Zemiti, T. Ortmaier, M. Vitrani and G. Morel, "A Force Controlled Laparoscopic Surgical Robot without Distal Force Sensing", Proc. of ISER'04 : 9th International Symposium on Experimental Robotics, Singapore, 2004
9. N. Zemiti, G. Morel, A. Micaelli, B. Cagneau and D. Bellot, "A Passive Formulation of Force Control for Kinematically Constrained Manipulators", Proceedings of the IEEE International Conference on Robotics and Automation, Orlando (Florida), pp 2238-2243, May 2006
10. R. W. Longman, "Iterative Learning Control and Repetitive Control for Engineering Practice", Int. J. Control, vol. 73, no. 10, pp 930-954, 2000
11. B. Zhang, D. Wang and Y. Ye, "Experimental Study of TimeFrequency Based ILC", 8th Int. Conference on Control, Automation, Robotics and Vision, Kunming (China), vol. 1, pp 619-624, December 2004
12. S. Mallat, "A Wavelet Tour of Signal Processing", 2nd Edition, Academic Press,1999