SURGICAL
Compensation of physiological motion using linear predictive force control
Michel Dominici, Philippe Poignet, Etienne Dombre
- Year
- 2008
- Citations
- 16
Abstract
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.
Keywords
Compensation (psychology)Model predictive controlControl theory (sociology)Motion controlMotion (physics)Computer scienceControl (management)Motion compensationArtificial intelligenceControl engineering
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