PMID- 24612709
OWN - NLM
STAT- MEDLINE
DCOM- 20150511
LR  - 20140627
IS  - 1872-7565 (Electronic)
IS  - 0169-2607 (Linking)
VI  - 116
IP  - 2
DP  - 2014 Sep
TI  - Viscoelastic model based force control for soft tissue interaction and its 
      application in physiological motion compensation.
PG  - 52-67
LID - S0169-2607(14)00031-5 [pii]
LID - 10.1016/j.cmpb.2014.01.017 [doi]
AB  - 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.
CI  - Copyright (c) 2014 Elsevier Ireland Ltd. All rights reserved.
FAU - Moreira, Pedro
AU  - Moreira P
AD  - LIRMM, UMR 5506, CNRS-Universite Montpellier 2, 161 Rue Ada, 34095 Montpellier 
      Cedex 05, France. Electronic address: pedrolfm@ieee.org.
FAU - Zemiti, Nabil
AU  - Zemiti N
AD  - LIRMM, UMR 5506, CNRS-Universite Montpellier 2, 161 Rue Ada, 34095 Montpellier 
      Cedex 05, France.
FAU - Liu, Chao
AU  - Liu C
AD  - LIRMM, UMR 5506, CNRS-Universite Montpellier 2, 161 Rue Ada, 34095 Montpellier 
      Cedex 05, France.
FAU - Poignet, Philippe
AU  - Poignet P
AD  - LIRMM, UMR 5506, CNRS-Universite Montpellier 2, 161 Rue Ada, 34095 Montpellier 
      Cedex 05, France.
LA  - eng
PT  - Journal Article
PT  - Research Support, Non-U.S. Gov't
DEP - 20140203
PL  - Ireland
TA  - Comput Methods Programs Biomed
JT  - Computer methods and programs in biomedicine
JID - 8506513
SB  - IM
MH  - Animals
MH  - Biomechanical Phenomena
MH  - Biophysical Phenomena
MH  - Computer Simulation
MH  - Elasticity
MH  - Humans
MH  - *Models, Biological
MH  - Movement
MH  - Myocardial Contraction
MH  - Respiratory Mechanics
MH  - Robotic Surgical Procedures
MH  - *Robotics
MH  - Viscosity
OTO - NOTNLM
OT  - Beating heart surgery
OT  - Force control
OT  - Physiological motion compensation
OT  - Robotically-assisted surgery
OT  - Soft tissue modeling
EDAT- 2014/03/13 06:00
MHDA- 2015/05/12 06:00
CRDT- 2014/03/12 06:00
PHST- 2013/07/29 00:00 [received]
PHST- 2013/10/14 00:00 [revised]
PHST- 2014/01/27 00:00 [accepted]
PHST- 2014/03/12 06:00 [entrez]
PHST- 2014/03/13 06:00 [pubmed]
PHST- 2015/05/12 06:00 [medline]
AID - S0169-2607(14)00031-5 [pii]
AID - 10.1016/j.cmpb.2014.01.017 [doi]
PST - ppublish
SO  - Comput Methods Programs Biomed. 2014 Sep;116(2):52-67. doi: 
      10.1016/j.cmpb.2014.01.017. Epub 2014 Feb 3.