Heart Motion Compensation for Robotic-Assisted Surgery Predictive Approach vs. Active Observer

摘要：

In beating-heart surgeries, two natural disturbances affect surgeon’s skills: respiration and heartbeats. Heart motions are too dynamic to be manually compensated, therefore robotic-assisted surgery has the potential to improve surgical tasks, especially those requiring high precision such as needle insertion or suturing. In our approach only force data are used to autonomously compensate physiological motions. Two force control architectures are confronted and experimentally compared, using a lightweight 7 DOF WAM arm. One is based on linear predictive control, which uses a mathematical model to predict the system behavior. The other one is based on modelreference adaptive control with stochastic active observers.

作者: Michel Dominici Rui Cortes(a)o Crist(o)v(a)o Sousa

作者单位: University of Coimbra,Institute of Systems and Robotics,3030 Coimbra,Portugal

会议类型: 国际会议

会议名称: 2011 IEEE International Conference on Robotics and Automation(2011年IEEE世界机器人与自动化大会 ICRA 2011)

会议地点: 上海

会议语种:英文

页码: 6252-6257

在线出版日期: 2011-05-09（万方平台首次上网日期，不代表论文的发表时间）