Physiological Motion Compensation in Robotized Surgery using Force Feedback Control

Cagneau, Barthelemy; Zemiti, Nabil; Bellot, D.; Morel, Guillaume

doi:10.1109/robot.2007.363596

Cited by 43 publications

(29 citation statements)

References 12 publications

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“…For example, Cagneau et al developed a force control approach using iterative learning control (ILC) that has the advantage of not requiring a model of the contact interaction [82]. The inherent issue of this approach is lack of [64]; (C) A scanning device using hydraulic micro-balloons: reprinted with IEEE permission from [76]; (D) A distal scanner using the conic-spiraleur mechanism: reprinted with IEEE permission from [77]; (E) A rigid concentric tube scanning mechanism to facilitate large area mosaicking: reprinted with IEEE permission from [79]; (F) A miniature linkage scanning device for microscopic imaging of the walls of the cavity created during breast conserving surgery: adapted from [80], © Springer-Verlag Berlin Heidelberg 2015.…”

Section: Force Control Systemsmentioning

confidence: 99%

Endomicroscopy for Computer and Robot Assisted Intervention

Zuo

Yang

2017

IEEE Rev. Biomed. Eng.

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Abstract-Endomicroscopy is a new technique that allows human tissue to be characterized in vivo, and in situ, circumventing the need for conventional biopsy and histology. Despite increased application and growing research interests in this area, the clinical application of endomicroscopy, however, is limited by difficulties in ergonomic control, consistent probe-tissue contact, large area surveillance and retargeting. Recently, advances in high-speed imaging, mosaicing and robotics have aimed to address these difficulties. The development of robot-assisted devices in particular has shown great promises in extending the clinical potential of endomicroscopy. Issues related to miniaturization, adaptation to tissue deformation, control stability, force and position compensation, cost and sterility are being pursued by both research and commercial communities. In this paper, recent clinical and technical developments in different aspects of computer and robotic assisted endomicroscopy interventions including instrumentation, multiscale integration, and high-speed imaging techniques are presented. We further address emerging trends and new research opportunities towards more widespread clinical acceptance of robotically assisted endomicroscopy technologies.

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Section: Force Control Systemsmentioning

confidence: 99%

Endomicroscopy for Computer and Robot Assisted Intervention

Zuo

Yang

2017

IEEE Rev. Biomed. Eng.

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“…However, these architectures have to deal with higher sensor noise (e.g., for low contact forces, the noise is often bigger than the signal) and no physiological motion information can be obtained before contact. Cagneau, Zemiti, Bellot, and Morel (2007) have proposed a force feedback control scheme to compensate the periodic motion of organs. Iterative learning control was implemented as an outer loop to reject periodic disturbances, reducing bad transients during the learning phase.…”

Section: Related Workmentioning

confidence: 99%

Cascade force control for autonomous beating heart motion compensation

Dominici

Cortesão

2015

Control Engineering Practice

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“…physiological perturbation e : measured ecg signal In previous work, [21], the authors show that the inner loop alone is well suited for robotic surgery due to its stability and robustness to changes in nature and geometry of contacts but it is unable to finely reject periodic disturbances with large magnitude [5]. The outer predictive control loop is set to overcome this limitation.…”

Section: A Error Feedback Force Control Scheme With Anticipation Termmentioning

confidence: 99%

“…In this case, contrarily to [4], the goal is not to stabilize the heart thanks to motion cancellation, but to apply a controlled force to the beating heart while following its motion. This idea was for example developed in [5] using ILC, which has the advantage of not requiring a model of the contact interaction but, again, exhibits low robustness to irregularities. Predictive force control for beating heart surgery has been proposed in [6], but in this paper, a linear model is assumed for the interaction.…”

Section: Introductionmentioning

confidence: 99%

LWPR-model based predictive force control for serial comanipulation in beating heart surgery

Florez

Bellot

Morel

2011

2011 IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)

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Robotic assistance to beating heart surgery requires high performance cardiac motion compensation in order to provide the surgeon with enhanced precision capacity. In this paper, serial comanipulation is considered, where a surgeon handles an active instrument which is in contact with the beating heart. The surgeon's hand is in charge of low frequency motions that correspond to the surgical task while the active part of the instrument moves in synchronism with the heart motion in order to guarantee that the contact is maintained thanks to the application of a controlled force. The paper introduces a 1 DOF hand-held prototype designed for active compensation of cardiac motion by the mean of force control. It then focuses on control aspects. Here, a crucial problem occurs: there is a lack of a parametric model describing the interaction between the surgical instrument and the heart that would provide enough precision for prediction. To cope with this problem, a "black box" algorithm is used as a model. Namely, the robot low level controller and the beating heart are modeled thanks to a Locally Weighted Projection Regression (LWPR). The paper discusses how this technique can be used in the context of predictive force control and shows conclusive simulation results.

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Physiological Motion Compensation in Robotized Surgery using Force Feedback Control

Cited by 43 publications

References 12 publications

Endomicroscopy for Computer and Robot Assisted Intervention

Endomicroscopy for Computer and Robot Assisted Intervention

Cascade force control for autonomous beating heart motion compensation

LWPR-model based predictive force control for serial comanipulation in beating heart surgery

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