Active filtering of physiological motion in robotized surgery using predictive control

@article{Ginhoux2005ActiveFO,
  title={Active filtering of physiological motion in robotized surgery using predictive control},
  author={Romuald Ginhoux and Jacques Gangloff and Michel de Mathelin and Luc Soler and Maria Mara Arenas Sanchez and Jacques Marescaux},
  journal={IEEE Transactions on Robotics},
  year={2005},
  volume={21},
  pages={67-79}
}
This work presents a predictive-control approach to active mechanical filtering of complex, periodic motions of organs induced by respiration or heart beating in robotized surgery. Two different predictive-control schemes are proposed for the compensation of respiratory motions or cardiac motions. For respiratory motions, the periodic property of the disturbance has been included into the input-output model of the controlled system so as to have the robotic system learn and anticipate… CONTINUE READING

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