Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation
Identifieur interne : 001523 ( Main/Exploration ); précédent : 001522; suivant : 001524Viscoelastic 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 : (Print) [ 0169-2607 ] ; 2014.
Descripteurs français
- Pascal (Inist)
- Robotique, Application médicale, Interface utilisateur, Viscoélasticité, Battement, Commande force, Partie molle, Physiologie, Robot, Bloc opératoire, Chirurgie, Téléopération, Sensibilité tactile, Observateur, Modélisation, Cardiologie, Mouvement respiratoire, Etude expérimentale, In vitro, ., Compensation mouvement, Codage vidéo.
- Wicri :
- topic : Robotique, Chirurgie, Observateur.
English descriptors
- KwdEn :
- mix :
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.
Url:
Affiliations:
- France
- Languedoc-Roussillon, Languedoc-Roussillon-Midi-Pyrénées
- Montpellier
- Université Montpellier 2
Links toward previous steps (curation, corpus...)
- to stream PascalFrancis, to step Corpus: 000053
- to stream PascalFrancis, to step Curation: 001208
- to stream PascalFrancis, to step Checkpoint: 000003
- to stream Main, to step Merge: 001529
- to stream Hal, to step Corpus: 000572
- to stream Hal, to step Curation: 000572
- to stream Hal, to step Checkpoint: 000095
- to stream Main, to step Merge: 001609
- to stream Main, to step Curation: 001523
Le document en format XML
<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en" level="a">Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation</title><author><name sortKey="Moreira, Pedro" sort="Moreira, Pedro" uniqKey="Moreira P" first="Pedro" last="Moreira">Pedro Moreira</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada</s1><s2>34095 Montpellier</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Languedoc-Roussillon-Midi-Pyrénées</region><region type="old region" nuts="2">Languedoc-Roussillon</region><settlement type="city">Montpellier</settlement></placeName><orgName type="university">Université Montpellier 2</orgName></affiliation></author><author><name sortKey="Zemiti, Nabil" sort="Zemiti, Nabil" uniqKey="Zemiti N" first="Nabil" last="Zemiti">Nabil Zemiti</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada</s1><s2>34095 Montpellier</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Languedoc-Roussillon-Midi-Pyrénées</region><region type="old region" nuts="2">Languedoc-Roussillon</region><settlement type="city">Montpellier</settlement></placeName><orgName type="university">Université Montpellier 2</orgName></affiliation></author><author><name sortKey="Chao Liu" sort="Chao Liu" uniqKey="Chao Liu" last="Chao Liu">CHAO LIU</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada</s1><s2>34095 Montpellier</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Languedoc-Roussillon-Midi-Pyrénées</region><region type="old region" nuts="2">Languedoc-Roussillon</region><settlement type="city">Montpellier</settlement></placeName><orgName type="university">Université Montpellier 2</orgName></affiliation></author><author><name sortKey="Poignet, Philippe" sort="Poignet, Philippe" uniqKey="Poignet P" first="Philippe" last="Poignet">Philippe Poignet</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada</s1><s2>34095 Montpellier</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Languedoc-Roussillon-Midi-Pyrénées</region><region type="old region" nuts="2">Languedoc-Roussillon</region><settlement type="city">Montpellier</settlement></placeName><orgName type="university">Université Montpellier 2</orgName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">INIST</idno><idno type="inist">14-0186603</idno><date when="2014">2014</date><idno type="stanalyst">PASCAL 14-0186603 INIST</idno><idno type="RBID">Pascal:14-0186603</idno><idno type="wicri:Area/PascalFrancis/Corpus">000053</idno><idno type="wicri:Area/PascalFrancis/Curation">001208</idno><idno type="wicri:Area/PascalFrancis/Checkpoint">000003</idno><idno type="wicri:doubleKey">0169-2607:2014:Moreira P:viscoelastic:model:based</idno><idno type="wicri:Area/Main/Merge">001529</idno><idno type="wicri:source">HAL</idno><idno type="RBID">Hal:lirmm-00940940</idno><idno type="url">http://hal-lirmm.ccsd.cnrs.fr/lirmm-00940940</idno><idno type="wicri:Area/Hal/Corpus">000572</idno><idno type="wicri:Area/Hal/Curation">000572</idno><idno type="wicri:Area/Hal/Checkpoint">000095</idno><idno type="wicri:doubleKey">0169-2607:2014:Moreira P:viscoelastic:model:based</idno><idno type="wicri:Area/Main/Merge">001609</idno><idno type="wicri:Area/Main/Curation">001523</idno><idno type="wicri:Area/Main/Exploration">001523</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a">Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation</title><author><name sortKey="Moreira, Pedro" sort="Moreira, Pedro" uniqKey="Moreira P" first="Pedro" last="Moreira">Pedro Moreira</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada</s1><s2>34095 Montpellier</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Languedoc-Roussillon-Midi-Pyrénées</region><region type="old region" nuts="2">Languedoc-Roussillon</region><settlement type="city">Montpellier</settlement></placeName><orgName type="university">Université Montpellier 2</orgName></affiliation></author><author><name sortKey="Zemiti, Nabil" sort="Zemiti, Nabil" uniqKey="Zemiti N" first="Nabil" last="Zemiti">Nabil Zemiti</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada</s1><s2>34095 Montpellier</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Languedoc-Roussillon-Midi-Pyrénées</region><region type="old region" nuts="2">Languedoc-Roussillon</region><settlement type="city">Montpellier</settlement></placeName><orgName type="university">Université Montpellier 2</orgName></affiliation></author><author><name sortKey="Chao Liu" sort="Chao Liu" uniqKey="Chao Liu" last="Chao Liu">CHAO LIU</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada</s1><s2>34095 Montpellier</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Languedoc-Roussillon-Midi-Pyrénées</region><region type="old region" nuts="2">Languedoc-Roussillon</region><settlement type="city">Montpellier</settlement></placeName><orgName type="university">Université Montpellier 2</orgName></affiliation></author><author><name sortKey="Poignet, Philippe" sort="Poignet, Philippe" uniqKey="Poignet P" first="Philippe" last="Poignet">Philippe Poignet</name><affiliation wicri:level="4"><inist:fA14 i1="01"><s1>LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada</s1><s2>34095 Montpellier</s2><s3>FRA</s3><sZ>1 aut.</sZ><sZ>2 aut.</sZ><sZ>3 aut.</sZ><sZ>4 aut.</sZ></inist:fA14><country>France</country><placeName><region type="region" nuts="2">Languedoc-Roussillon-Midi-Pyrénées</region><region type="old region" nuts="2">Languedoc-Roussillon</region><settlement type="city">Montpellier</settlement></placeName><orgName type="university">Université Montpellier 2</orgName></affiliation></author></analytic><series><title level="j" type="main">Computer methods and programs in biomedicine : (Print)</title><title level="j" type="abbreviated">Comput. methods programs biomed. : (Print)</title><idno type="ISSN">0169-2607</idno><imprint><date when="2014">2014</date></imprint></series></biblStruct></sourceDesc><seriesStmt><title level="j" type="main">Computer methods and programs in biomedicine : (Print)</title><title level="j" type="abbreviated">Comput. methods programs biomed. : (Print)</title><idno type="ISSN">0169-2607</idno></seriesStmt></fileDesc><profileDesc><textClass><keywords scheme="KwdEn" xml:lang="en"><term>Beat</term><term>Cardiology</term><term>Experimental study</term><term>Force control</term><term>In vitro</term><term>Medical application</term><term>Modeling</term><term>Motion compensation</term><term>Observer</term><term>Operating room</term><term>Physiology</term><term>Remote operation</term><term>Respiratory movement</term><term>Robot</term><term>Robotics</term><term>Soft tissue</term><term>Surgery</term><term>Tactile sensitivity</term><term>User interface</term><term>Video coding</term><term>Viscoelasticity</term></keywords><keywords scheme="Pascal" xml:lang="fr"><term>Robotique</term><term>Application médicale</term><term>Interface utilisateur</term><term>Viscoélasticité</term><term>Battement</term><term>Commande force</term><term>Partie molle</term><term>Physiologie</term><term>Robot</term><term>Bloc opératoire</term><term>Chirurgie</term><term>Téléopération</term><term>Sensibilité tactile</term><term>Observateur</term><term>Modélisation</term><term>Cardiologie</term><term>Mouvement respiratoire</term><term>Etude expérimentale</term><term>In vitro</term><term>.</term><term>Compensation mouvement</term><term>Codage vidéo</term></keywords><keywords scheme="Wicri" type="topic" xml:lang="fr"><term>Robotique</term><term>Chirurgie</term><term>Observateur</term></keywords><keywords scheme="mix" xml:lang="en"><term>Force control</term><term>beating heart surgery</term><term>medical robotics</term><term>motion compensation</term><term>soft tissue modeling</term></keywords></textClass></profileDesc></teiHeader><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></front></TEI><affiliations><list><country><li>France</li></country><region><li>Languedoc-Roussillon</li><li>Languedoc-Roussillon-Midi-Pyrénées</li></region><settlement><li>Montpellier</li></settlement><orgName><li>Université Montpellier 2</li></orgName></list><tree><country name="France"><region name="Languedoc-Roussillon-Midi-Pyrénées"><name sortKey="Moreira, Pedro" sort="Moreira, Pedro" uniqKey="Moreira P" first="Pedro" last="Moreira">Pedro Moreira</name></region><name sortKey="Chao Liu" sort="Chao Liu" uniqKey="Chao Liu" last="Chao Liu">CHAO LIU</name><name sortKey="Poignet, Philippe" sort="Poignet, Philippe" uniqKey="Poignet P" first="Philippe" last="Poignet">Philippe Poignet</name><name sortKey="Zemiti, Nabil" sort="Zemiti, Nabil" uniqKey="Zemiti N" first="Nabil" last="Zemiti">Nabil Zemiti</name></country></tree></affiliations></record>Pour manipuler ce document sous Unix (Dilib)
EXPLOR_STEP=$WICRI_ROOT/Ticri/CIDE/explor/HapticV1/Data/Main/Exploration
HfdSelect -h $EXPLOR_STEP/biblio.hfd -nk 001523 | SxmlIndent | more
Ou
HfdSelect -h $EXPLOR_AREA/Data/Main/Exploration/biblio.hfd -nk 001523 | SxmlIndent | more
Pour mettre un lien sur cette page dans le réseau Wicri
{{Explor lien
|wiki= Ticri/CIDE
|area= HapticV1
|flux= Main
|étape= Exploration
|type= RBID
|clé= Pascal:14-0186603
|texte= Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation
}}
| This area was generated with Dilib version V0.6.23. |  |