NDLI: An impedance control strategy for a hand-held instrument to compensate for physiological motion

Content Provider	IEEE Xplore Digital Library
Author	Florez, J.M. Szewczyk, J. Morel, G.
Copyright Year	2012
Description	Author affiliation: Institut de Systèmes Intelligents et de Robotique - Université Pierre et Marie Curie - Paris 6 - CNRS, France (Florez, J.M.; Szewczyk, J.; Morel, G.)
Abstract	Current trends in robotic cardiac surgery presage for allowing physiological motion compensation in beating-heart surgery. However, interacting with fast moving soft organs by means of stiff instruments/robots is challenging. This paper concerns comanipulation with a hand-held instrument, the goal being to allow the surgeon to perform low frequency motions that correspond to the surgical task while a distal part of the instrument actively moves in synchronism with the heart motion in order to guarantee that the contact is maintained. This paper explores the difficulties of implementing low-impedance control on a novel hand-held motion compensation instrument. A force feedback control strategy is proposed and evaluated experimentally on a simulated surgical scene. Taking advantage of the sensory capacities of the prototype presented, a successful modulation of the dynamics of interaction is reached. Conclusive results on the performances of the system and possibilities of future improvements are given.
Starting Page	1952
Ending Page	1957
File Size	427323
Page Count	6
File Format	PDF
ISBN	9781467314039
ISSN	10504729
e-ISBN	9781467314053
e-ISBN	9781467314046
DOI	10.1109/ICRA.2012.6225103
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-05-14
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Force Instruments Impedance Force feedback Surgery Robot sensing systems Robotic Surgery Impedance Control Hand-held Instrument Physiological Motion Compensation
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

Motion compensation for robotic-assisted surgery with force feedback

A novel dual force sensing instrument with cooperative robotic assistant for vitreoretinal surgery

Physiological Motion Compensation in Robotized Surgery using Force Feedback Control

Asymmetric force feedback control framework for teleoperated robot-assisted surgery

The DLR MiroSurge - A robotic system for surgery

Tracking adaptive impedance robot control with visual feedback

Shared control for motion compensation in robotic beating heart surgery

Robot-assisted lung motion compensation during needle insertion

Vision-tactile-force integration and robot physical interaction

An impedance control strategy for a hand-held instrument to compensate for physiological motion

Similar Documents

Motion compensation for robotic-assisted surgery with force feedback

A novel dual force sensing instrument with cooperative robotic assistant for vitreoretinal surgery

Physiological Motion Compensation in Robotized Surgery using Force Feedback Control

Asymmetric force feedback control framework for teleoperated robot-assisted surgery

The DLR MiroSurge - A robotic system for surgery

Tracking adaptive impedance robot control with visual feedback

Shared control for motion compensation in robotic beating heart surgery

Robot-assisted lung motion compensation during needle insertion

Vision-tactile-force integration and robot physical interaction

An impedance control strategy for a hand-held instrument to compensate for physiological motion