Soft tissue force control using active observers and viscoelastic interaction model
Identifieur interne : 000475 ( Hal/Curation ); précédent : 000474; suivant : 000476Soft tissue force control using active observers and viscoelastic interaction model
Auteurs : Pedro Moreira [France] ; Chao Liu [France] ; Nabil Zemiti [France] ; Philippe Poignet [France]Source :
Abstract
Controlling the interaction between the robot and living soft tissues has became an important issue as the number of robots inside the operating room increases. Many research works have been done in order to control this interaction. Nowadays, researches are running in force control for helping surgeons in medical procedures such as motion compensation in beating heart surgeries and tele-operation systems with haptic feedback. The viscoelasticity property of the interaction between organ tissue and robotic instrument further complicates the force control design which is much easier in other applications by assuming the interaction model to be elastic (industry, stiff object manipulation, etc.). In order to increase the performance of a model based force control, this work presents a 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 and compared with a control scheme based on a classical elastic model through experiments, showing that a more realistic model can increases the performance of the force control.
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DOI: 10.1109/ICRA.2012.6224958
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Many research works have been done in order to control this interaction. Nowadays, researches are running in force control for helping surgeons in medical procedures such as motion compensation in beating heart surgeries and tele-operation systems with haptic feedback. The viscoelasticity property of the interaction between organ tissue and robotic instrument further complicates the force control design which is much easier in other applications by assuming the interaction model to be elastic (industry, stiff object manipulation, etc.). In order to increase the performance of a model based force control, this work presents a 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 and compared with a control scheme based on a classical elastic model through experiments, showing that a more realistic model can increases the performance of the force control.</div></front></TEI><hal api="V3"><titleStmt><title xml:lang="en">Soft tissue force control using active observers and viscoelastic interaction model</title><author role="aut"><persName><forename type="first">Pedro</forename><surname>Moreira</surname></persName><email>Pedro.Moreira@lirmm.fr</email><idno type="halauthor">830374</idno><affiliation ref="#struct-388165"></affiliation></author><author role="aut"><persName><forename type="first">Chao</forename><surname>Liu</surname></persName><email>liu@lirmm.fr</email><ptr type="url" target="http://www.lirmm.fr/~liu"></ptr><idno type="halauthor">830373</idno><affiliation ref="#struct-388165"></affiliation></author><author role="aut"><persName><forename type="first">Nabil</forename><surname>Zemiti</surname></persName><email>Nabil.Zemiti@lirmm.fr</email><ptr type="url" target="http://www.lirmm.fr/~zemiti"></ptr><idno type="idhal">nabil-zemiti</idno><idno type="halauthor">830377</idno><affiliation ref="#struct-388165"></affiliation></author><author role="aut"><persName><forename type="first">Philippe</forename><surname>Poignet</surname></persName><email>poignet@lirmm.fr</email><ptr type="url" target="http://www.lirmm.fr/~poignet/"></ptr><idno type="idhal">philippe-poignet</idno><idno type="halauthor">839394</idno><affiliation ref="#struct-388165"></affiliation></author><editor role="depositor"><persName><forename>Pedro</forename><surname>Moreira</surname></persName><email>pedrolfm@gmail.com</email></editor></titleStmt><editionStmt><edition n="v1" type="current"><date type="whenSubmitted">2013-01-21 18:13:47</date><date type="whenWritten">2011-09-15</date><date type="whenModified">2016-03-21 17:38:35</date><date type="whenReleased">2013-01-24 10:53:31</date><date type="whenProduced">2012-05-15</date></edition><respStmt><resp>contributor</resp><name key="179750"><persName><forename>Pedro</forename><surname>Moreira</surname></persName><email>pedrolfm@gmail.com</email></name></respStmt></editionStmt><publicationStmt><distributor>CCSD</distributor><idno type="halId">lirmm-00779205</idno><idno type="halUri">http://hal-lirmm.ccsd.cnrs.fr/lirmm-00779205</idno><idno type="halBibtex">moreira:lirmm-00779205</idno><idno type="halRefHtml">ICRA'2012: International Conference on Robotics and Automation, May 2012, United States. pp.4660-4666, 2012, <http://www.icra2012.org/>. <10.1109/ICRA.2012.6224958></idno><idno type="halRef">ICRA'2012: International Conference on Robotics and Automation, May 2012, United States. pp.4660-4666, 2012, <http://www.icra2012.org/>. <10.1109/ICRA.2012.6224958></idno></publicationStmt><seriesStmt><idno type="stamp" n="CNRS">CNRS - Centre national de la recherche scientifique</idno><idno type="stamp" n="DEXTER" p="LIRMM">Conception et commande de robots pour la manipulation</idno><idno type="stamp" n="LIRMM">Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier</idno><idno type="stamp" n="TDS-MACS">Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes</idno></seriesStmt><notesStmt><note type="audience" n="2">International</note><note type="invited" n="0">No</note><note type="popular" n="0">No</note><note type="peer" n="1">Yes</note><note type="proceedings" n="1">Yes</note></notesStmt><sourceDesc><biblStruct><analytic><title xml:lang="en">Soft tissue force control using active observers and viscoelastic interaction model</title><author role="aut"><persName><forename type="first">Pedro</forename><surname>Moreira</surname></persName><email>Pedro.Moreira@lirmm.fr</email><idno type="halAuthorId">830374</idno><affiliation ref="#struct-388165"></affiliation></author><author role="aut"><persName><forename type="first">Chao</forename><surname>Liu</surname></persName><email>liu@lirmm.fr</email><ptr type="url" target="http://www.lirmm.fr/~liu"></ptr><idno type="halAuthorId">830373</idno><affiliation ref="#struct-388165"></affiliation></author><author role="aut"><persName><forename type="first">Nabil</forename><surname>Zemiti</surname></persName><email>Nabil.Zemiti@lirmm.fr</email><ptr type="url" target="http://www.lirmm.fr/~zemiti"></ptr><idno type="idHal">nabil-zemiti</idno><idno type="halAuthorId">830377</idno><affiliation ref="#struct-388165"></affiliation></author><author role="aut"><persName><forename type="first">Philippe</forename><surname>Poignet</surname></persName><email>poignet@lirmm.fr</email><ptr type="url" target="http://www.lirmm.fr/~poignet/"></ptr><idno type="idHal">philippe-poignet</idno><idno type="halAuthorId">839394</idno><affiliation ref="#struct-388165"></affiliation></author></analytic><monogr><idno type="isbn">978-1-4673-1403-9</idno><meeting><title>ICRA'2012: International Conference on Robotics and Automation</title><date type="start">2012-05-15</date><date type="end">2012-05-18</date><country key="US">United States</country></meeting><imprint><biblScope unit="pp">4660-4666</biblScope><date type="datePub">2012-06-28</date></imprint></monogr><idno type="doi">10.1109/ICRA.2012.6224958</idno><ref type="publisher">http://www.icra2012.org/</ref></biblStruct></sourceDesc><profileDesc><langUsage><language ident="en">English</language></langUsage><textClass><classCode scheme="halDomain" n="spi.auto">Engineering Sciences [physics]/Automatic</classCode><classCode scheme="halTypology" n="COMM">Conference papers</classCode></textClass><abstract xml:lang="en">Controlling the interaction between the robot and living soft tissues has became an important issue as the number of robots inside the operating room increases. Many research works have been done in order to control this interaction. Nowadays, researches are running in force control for helping surgeons in medical procedures such as motion compensation in beating heart surgeries and tele-operation systems with haptic feedback. The viscoelasticity property of the interaction between organ tissue and robotic instrument further complicates the force control design which is much easier in other applications by assuming the interaction model to be elastic (industry, stiff object manipulation, etc.). In order to increase the performance of a model based force control, this work presents a 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 and compared with a control scheme based on a classical elastic model through experiments, showing that a more realistic model can increases the performance of the force control.</abstract></profileDesc></hal></record>Pour manipuler ce document sous Unix (Dilib)
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