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Compensation des mouvements physiologiques en chirurgie robotisée par commande prédictive

Romuald Ginhoux 1
1 CALVI - Scientific computation and visualization
IRMA - Institut de Recherche Mathématique Avancée, LSIIT - Laboratoire des Sciences de l'Image, de l'Informatique et de la Télédétection, Inria Nancy - Grand Est, IECL - Institut Élie Cartan de Lorraine
Abstract : There are numerous commercial robotic systems for the assistance of surgical procedures today. Interventions in orthopaedics, neurology, laparoscopic or cardiac surgery may be assisted by computerized mechanical systems. From the first assistance robots which were derived from industrial robots, to current robots, systems for computer-aided surgery have been developping to give large advantages and improved operating conditions to patients and surgeons. This PhD thesis focuses on the surgeon's assistance in robotized minimally invasise surgery. The problem is to have a surgical robot mechanically compensate for the physiological motions of the operated organ or tissue, in order to provide the surgeon with a virtual motionless scene. Physiological motions are disturbances for the surgeon working with a tele-manipulated robot, since he or she has to manually compensate for them when precise gestures have to be executed on the top of an organ or tissue, by manually following the motions when possible. This currently limits the development of, among others, beating heart interventions. The aim of this thesis is to propose a control system that allows a robot to move in a synchronized manner with the organ and therefore follow its motion. This work considers physiological motions that are due to respiratory movements and heart beats. These are periodic with a period that does not change during the procedure. The framework of high-speed, direct visual servoing is used to control the robot motions with help of an endoscopic observation camera taking up to 500 images per second. The robot is controlled in real time using predictive control laws into which simple internal models of the robot and the motions to filter have been included. Two sets of experimental results are presented to illustrate the proposed approach. Compensation of the respiratory motion is considered using the Aesop surgical robot of Computer Motion, Inc. (USA). Beating heart tracking is showed using a prototype of a medical robot from Sinters SA (Toulouse). Laboratory experiments as well as tests in in-vivo surgical conditions have been carried out for both setups.
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Contributor : Romuald Ginhoux <>
Submitted on : Friday, February 20, 2004 - 3:03:35 PM
Last modification on : Tuesday, March 2, 2021 - 5:12:04 PM
Long-term archiving on: : Friday, April 2, 2010 - 7:49:37 PM


  • HAL Id : tel-00004633, version 1


Romuald Ginhoux. Compensation des mouvements physiologiques en chirurgie robotisée par commande prédictive. Automatique / Robotique. Université Louis Pasteur - Strasbourg I, 2003. Français. ⟨tel-00004633⟩



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