Model predictive control for compensation of cyclic organ motions in teleoperated laparoscopic surgery

Gangloff, Jacques; Ginhoux, R.; Mathelin, Michel de; Soler, Luc; Marescaux, Jacques

doi:10.1109/tcst.2005.863650

Cited by 61 publications

(34 citation statements)

References 21 publications

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“…For more complex motions, other predictive controllers should be considered, such as, for instance, a repetitive predictive controller R-GPC [23] if the period of the disturbance is known.…”

Section: Tracking Task With a 2-d Probe: First Ex Vivo Resultsmentioning

confidence: 99%

Intensity-Based Ultrasound Visual Servoing: Modeling and Validation With 2-D and 3-D Probes

Nadeau

Krupa

2013

IEEE Trans. Robot.

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Abstract-In this paper, we present an ultrasound (US) visual servoing to control a robotic system equipped with a US probe. To avoid the difficult and time-consuming image segmentation process, we develop a new approach taking as visual input directly the intensity of the image pixels. The analytic form of the interaction matrix that relates the variation of the intensity features to the motion of the probe is established and used to control the six degrees of freedom (dof) of the robotic system. Our approach is applied with a 2-D and a 3-D US probe, and the results that are obtained with both sensors are compared in simulation. The 2-D probe shows good performances for tracking tasks and the 3-D one, which ensures a larger domain of convergence, is more particularly used for positioning tasks. The intensity-based approach is validated through experimental results performed with a realistic abdominal phantom and with animal soft tissue.Index Terms-Intensity-based control, robotic system, ultrasound (US), visual servoing.

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Section: Tracking Task With a 2-d Probe: First Ex Vivo Resultsmentioning

confidence: 99%

Intensity-Based Ultrasound Visual Servoing: Modeling and Validation With 2-D and 3-D Probes

Nadeau

Krupa

2013

IEEE Trans. Robot.

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“…In the case of periodic disturbances with a known fixed period, Gangloff et al [12] proposed to consider a repetitive noise model by modifying this operator as follows:…”

Section: Predictive Controllermentioning

confidence: 99%

“…The second controller GPC 2 includes the repetitive noise model previously defined to cancel the disturbance effect on the output vector. The cost function minimized by the R-GPC approach is therefore composed of the cost functions of GPC 1 and GPC 2 as detailed in [12]:…”

Section: Predictive Controllermentioning

confidence: 99%

Automatic Tracking of an Organ Section with an Ultrasound Probe: Compensation of Respiratory Motion

Nadeau

Krupa

Gangloff

2011

Lecture Notes in Computer Science

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Abstract. In minimally invasive surgery or needle insertion procedures, the ultrasound imaging can easily and safely be used to visualize the target to reach. However the manual stabilization of the view of this target, which undergoes the physiological motions of the patient, can be a challenge for the surgeon. In this paper, we propose to perform this stabilization with a robotic arm equipped with a 2D ultrasound probe. The six degrees of freedom of the probe are controlled by an image-based approach, where we choose as visual feedback the image intensity. The accuracy of the control law is ensured by the consideration of the periodicity of the physiological motions in a predictive controller. Tracking tasks performed on a realistic abdominal phantom validate the proposed approach and its robustness to deformation is assessed on a gelatin-made deformable phantom.

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“…Periodic disturbances are for instance encountered in the track-following servo system of disk drives (Chen, Ding, Xiu, Ooi, and Tan 2001;Chen, Moore, Yu, and Zhang 2006), power electronics (Zhou and Wang 2001;Botteron and Pinheiro 2006), steel casting (Manayathara, Tsao, Bentsman, and Ross 1996) and robotised laparoscopic surgery (Gangloff, Ginhoux, de Mathelin, Soler, and Marescaux 2006). Periodic reference trajectories, on the other hand, occur in noncircular machining (Kim, Li, and Tsao 2004), electronic cam motion generation (Kim and Tsao 2000) and robots performing repetitive tasks (Kasac, Navokovic, Majetic, and Brezak 2008).…”

Section: Introductionmentioning

confidence: 99%

Optimal feedforward controller design for periodic inputs

Pipeleers

Swevers

2010

International Journal of Control

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This article presents an optimal design methodology for feedforward controllers that face periodic reference/ disturbance inputs. The feedforward controller is parametrised as a finite impulse response filter, and its parameters are computed to minimise the worst-case tracking error in the presence of uncertainty on the input period and the plant model. Numerical results indicate that for nonminimum-phase systems exploiting the periodic input characteristics in the feedforward controller design is worthwhile, and reveal the superiority of the developed design methodology with respect to current design approaches when period-time and/or plant uncertainty is present.

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Model predictive control for compensation of cyclic organ motions in teleoperated laparoscopic surgery

Cited by 61 publications

References 21 publications

Intensity-Based Ultrasound Visual Servoing: Modeling and Validation With 2-D and 3-D Probes

Intensity-Based Ultrasound Visual Servoing: Modeling and Validation With 2-D and 3-D Probes

Automatic Tracking of an Organ Section with an Ultrasound Probe: Compensation of Respiratory Motion

Optimal feedforward controller design for periodic inputs

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