Compensation for 3D physiological motion in robotic-assisted surgery using a predictive force controller. Experimental results

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 the heart by the instrument. Experimental evaluation highlights the performance of the algorithm for compensating 3D physiological motion.