title: Viscoelastic model based force control for soft tissue interaction and its application in physiological motion compensation.
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.
authors.affiliation: LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada, 34095 Montpellier Cedex 05, France. Electronic address: pedrolfm@ieee.org.
authors.forename: Pedro
authors.initials: P
authors.lastname: Moreira
authors.affiliation: LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada, 34095 Montpellier Cedex 05, France.
authors.forename: Nabil
authors.initials: N
authors.lastname: Zemiti
authors.affiliation: LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada, 34095 Montpellier Cedex 05, France.
authors.forename: Chao
authors.initials: C
authors.lastname: Liu
authors.affiliation: LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada, 34095 Montpellier Cedex 05, France.
authors.forename: Philippe
authors.initials: P
authors.lastname: Poignet
mesh_terms: D000818:Animals; D001696:Biomechanical Phenomena; D055592:Biophysical Phenomena; D003198:Computer Simulation; D004548:Elasticity; D006801:Humans; D008954:Models, Biological; D009068:Movement; D009200:Myocardial Contraction; D015656:Respiratory Mechanics; D065287:Robotic Surgical Procedures; D012371:Robotics; D014783:Viscosity
keywords: Beating heart surgery; Force control; Physiological motion compensation; Robotically-assisted surgery; Soft tissue modeling