HapticV1, Main, Exploration, bibRecord, 000C78

Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation.

Identifieur interne : 000C78 ( Main/Exploration ); précédent : 000C77; suivant : 000C79

Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation.

Auteurs : Pedro Moreira [France] ; Nabil Zemiti [France] ; Chao Liu [France] ; Philippe Poignet [France]

Source :

Computer methods and programs in biomedicine [ 1872-7565 ] ; 2014.

RBID : pubmed:24612709

English descriptors

KwdEn :
- Animals, Biomechanical Phenomena, Biophysical Phenomena, Computer Simulation, Elasticity, Humans, Models, Biological, Movement, Myocardial Contraction, Respiratory Mechanics, Robotic Surgical Procedures, Robotics, Viscosity.
MESH :
- Animals, Biomechanical Phenomena, Biophysical Phenomena, Computer Simulation, Elasticity, Humans, Models, Biological, Movement, Myocardial Contraction, Respiratory Mechanics, Robotic Surgical Procedures, Robotics, Viscosity.

Abstract

Controlling the interaction between robots and living soft tissues has become an important issue as the number of robotic systems inside the operating room increases. Many researches have been done on force control to help surgeons during medical procedures, such as physiological motion compensation and tele-operation systems with haptic feedback. In order to increase the performance of such controllers, this work presents a novel force control scheme using Active Observer (AOB) based on a viscoelastic interaction model. The control scheme has shown to be stable through theoretical analysis and its performance was evaluated by in vitro experiments. In order to evaluate how the force control scheme behaves under the presence of physiological motion, experiments considering breathing and beating heart disturbances are presented. The proposed control scheme presented a stable behavior in both static and moving environment. The viscoelastic AOB presented a compensation ratio of 87% for the breathing motion and 79% for the beating heart motion.

DOI: 10.1016/j.cmpb.2014.01.017
PubMed: 24612709

Affiliations:

Le document en format XML

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<front><div type="abstract" xml:lang="en">Controlling the interaction between robots and living soft tissues has become an important issue as the number of robotic systems inside the operating room increases. Many researches have been done on force control to help surgeons during medical procedures, such as physiological motion compensation and tele-operation systems with haptic feedback. In order to increase the performance of such controllers, this work presents a novel force control scheme using Active Observer (AOB) based on a viscoelastic interaction model. The control scheme has shown to be stable through theoretical analysis and its performance was evaluated by in vitro experiments. In order to evaluate how the force control scheme behaves under the presence of physiological motion, experiments considering breathing and beating heart disturbances are presented. The proposed control scheme presented a stable behavior in both static and moving environment. The viscoelastic AOB presented a compensation ratio of 87% for the breathing motion and 79% for the beating heart motion.</div>
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Serveur d'exploration sur les dispositifs haptiques

Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation.

Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation.

Source :

English descriptors

Abstract

Links toward previous steps (curation, corpus...)

Le document en format XML

Pour manipuler ce document sous Unix (Dilib)

Pour mettre un lien sur cette page dans le réseau Wicri

Pour générer des pages wiki

	Serveur d'exploration sur les dispositifs haptiques
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