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Télé-opération avec retour d'effort pour la chirugie mini-invasive

Abstract : This work concerns robotic assisted minimally invasive surgery. Nowadays, dedicated robotized systems do not include force feedback to the surgeon. Here, a force feedback teleoperation system is proposed. It is based on a position - position architecture and a slave robot force controller. The architecture enables teleoperation in free space as well as interactions with soft environment. The first contribution is the online environment stiffness estimation to guarantee stability of the system in contact with stiff object. Without considering a contact position, the parameter estimation strategy uses an extended Kalman filter technique with robot modeling errors compensation. The second contribution is the transparency and stability analysis of the force feedback teleoperation system. Based on the transparency and stability trade off, the architecture parameters are updated to guarantee a desired transparency. Experimental results using ex-vivo tissues, have shown good performances in contact with soft and stiff surfaces and for a teleoperated needle insertion task. The force feedback teleoperation scheme is then adapted to the minimally invasive surgery constraints. The first one is the trocar constraint. A secondary task is performed by a virtual null space robot, which attempts to have always the trocar position on the medical instrument. The second considered constraint is the physiological motion compensation during beating heart surgery. A force disturbance rejection control law is performed to compensate the environnement motion. Experimental results have shown the relevance and the effectiveness of the proposed strategies.
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Contributor : Walid Zarrad <>
Submitted on : Thursday, March 13, 2008 - 12:04:54 PM
Last modification on : Monday, October 19, 2020 - 11:12:00 AM
Long-term archiving on: : Thursday, May 20, 2010 - 10:01:40 PM


  • HAL Id : tel-00263824, version 1



Walid Zarrad. Télé-opération avec retour d'effort pour la chirugie mini-invasive. Automatique / Robotique. Université Montpellier II - Sciences et Techniques du Languedoc, 2007. Français. ⟨tel-00263824⟩



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