An impedance control strategy for a hand-held instrument to compensate for physiological motion

Abstract

Current trends in robotic cardiac surgery presage for allowing physiological motion compensation in beating-heart surgery. However, interacting with fast moving soft organs by means of stiff instruments/robots is challenging. This paper concerns comanipulation with a hand-held instrument, the goal being to allow the surgeon to perform low frequency motions that correspond to the surgical task while a distal part of the instrument actively moves in synchronism with the heart motion in order to guarantee that the contact is maintained. This paper explores the difficulties of implementing lowimpedance control on a novel hand-held motion compensation instrument. A force feedback control strategy is proposed and evaluated experimentally on a simulated surgical scene. Taking advantage of the sensory capacities of the prototype presented, a successful modulation of the dynamics of interaction is reached. Conclusive results on the performances of the system and possibilities of future improvements are given.

Endomicroscopy for Computer and Robot Assisted Intervention

“…Particularly, the locally weighted projection regression (LWPR) control strategy [85] and impedance control approach [86] are capable of maintaining stable contacts between the targets and probe. LWPR is a function approximator that provides accurate approximation in high dimensional spaces.…”

“…Further developments and improvements are necessary before application in practice. Reference [86] proposes a conventional impedance control law to enable a novel hand-held instrument to apply a constant force over a fast moving target. This strategy reduced the RMS error in the studied bandwidth as much as 60%.…”

COVID-19 Pandemic Spurs Medical Telerobotic Systems: A Survey of Applications Requiring Physiological Organ Motion Compensation

“…The goal of impedance control is to regulate the dynamic relationship to achieve the requirements of automatically compensating for the organ motion while keeping the interaction force in a safe range. Florez et al (2012) proposed a method that uses an impedance control on a handheld robotic instrument to compensate for physiological motion. The handheld system allows the human to perform low-frequency motions that correspond to the task.…”

Hybrid position/force control of an active handheld micromanipulator for membrane peeling

“…Force feedback has been developed through auditory cues to the surgeon based on measurements provided by a miniature force sensor . Several handheld force‐controlled devices with one degree of freedom (1DOF) have been developed to provide consistent tissue contact for a variety of applications, including confocal laser endomicroscopy and beating‐heart intracardiac surgery . Multi‐degree‐of‐freedom force compensation has been noted as a future opportunity for handheld medical robots ; the present paper describes such an approach for minimization of retinal damage during membrane peeling.…”