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An analysis of stability and transparency of a force feedback teleoperation system for cutting-edge robotic surgery is presented. Previous works in teleoperated robotic surgery do not consider the real behavior of the environment, which was supposed to be only elastic. However, new surgical procedures in which the environment dynamics plays a crucial role start emerging as a result of technological...
In this paper the problem of 3D physiological motion compensation in beating heart surgery is resolved by an adaptive control architecture based on Model Reference Adaptive Control (MRAC). The proposed control architecture uses the measures of the contact efforts applied by the surgical tool on the heart to assure force feedback. No apriori information about motion characteristics is necessary. It...
A robust cascade strategy is proposed and tested on an electropneumatic testbed for parallel robotic applications. It is applied on Pneumatic Artificial Muscles (PAMs). Nonlinear models are developed and presented. By specifying the pressure average between the two muscles, it is possible to control the torque by controlling the pressure in each muscle. A constrained LMI based H∞ controller is synthesized...
This paper presents a predictive force control approach to compensate for the physiological motion induced by both respiratory and heart beating motions during cardiac surgery. It focuses on the design and implementation of the control algorithm in the context of robotized minimally invasive surgery. The controller is based on a linear predictive control loop using the force information applied on...
This paper introduces some issues related to the development of robotics for endoluminal surgery from control point of view. Endoluminal surgery are incisionless procedures performed through natural orifices within the natural pathways. New devices are then required to achieve these new surgical procedures. Besides the development of new devices, control issues arise in both technological and theoretical...
This paper proposes a new approach to compensate the physiological motion, induced by respiration and heart beating, for robotized minimally invasive cardiac surgery. The control algorithm, based on a linear predictive control, uses the effort information applied on the heart by the instrument.
This paper models recent data in the field of postural coordination showing the existence of self-organized postural states, and transition between them, underlying supra-postural tracking movements. The proposed biomechanical model, capitalizing on stability and optimization criteria, captures the complex postural behaviors observed in humans and can be used to implement efficient balance control...
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