Cart (Loading....) | Create Account
Close category search window
 

Physiological motion rejection in flexible endoscopy using visual servoing and repetitive control : Improvements on non-periodic reference tracking and non-periodic disturbance rejection

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

4 Author(s)
Ott, L. ; LSIIT, Strasbourg I Univ., Strasbourg, France ; Nageotte, F. ; Zanne, P. ; de Mathelin, M.

Flexible endoscopes are used in many surgical procedures and diagnostic exams. They have also been used recently for new surgical procedures using natural orifices called NOTES. While these procedures are really promising for the patients, they are really awkward for the surgeons. In order to assist the surgeon, physiological motion cancellation has been successfully applied on a robotized endoscope in L. Ott, et al., (May 19-23, 2008), by using a prototype repetitive controller (PRC) and a repetitive generalized predictive controller (R-GPC). Both controllers showed to be powerful tools to cancel periodic disturbances but with poor transient response to non-periodic disturbances. Contrary to the R-GPC, the PRC is unsuitable for handling non-periodic reference changes. We propose in this paper, as a first improvement, a model-based control scheme using the PRC which allows to decouple the reference tracking from the periodic output disturbance rejection. The response to nonperiodic disturbance is also improved by this technique but a repetition appears caused by the repetitive controller. As a second improvement, a switching control scheme is proposed to avoid the repetition.

Published in:

Robotics and Automation, 2009. ICRA '09. IEEE International Conference on

Date of Conference:

12-17 May 2009

Need Help?


IEEE Advancing Technology for Humanity About IEEE Xplore | Contact | Help | Terms of Use | Nondiscrimination Policy | Site Map | Privacy & Opting Out of Cookies

A not-for-profit organization, IEEE is the world's largest professional association for the advancement of technology.
© Copyright 2014 IEEE - All rights reserved. Use of this web site signifies your agreement to the terms and conditions.