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Related Experiment Video

Updated: May 2, 2026

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion

Subject-specific Musculoskeletal Model for Studying Bone Strain During Dynamic Motion

Published on: April 11, 2018

Viscoelastic model based force control for soft tissue interaction and its application in physiological motion

Pedro Moreira¹, Nabil Zemiti¹, Chao Liu¹

¹LIRMM, UMR 5506, CNRS-Université Montpellier 2, 161 Rue Ada, 34095 Montpellier Cedex 05, France.

Computer Methods and Programs in Biomedicine

|March 12, 2014

Summary

This study introduces a new force control system for robots interacting with soft tissues, improving surgical precision. The active observer (AOB) effectively compensates for physiological movements like breathing and heartbeats.

Keywords:

Beating heart surgery Force control Physiological motion compensation Robotically-assisted surgery Soft tissue modeling

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Area of Science:

Robotics
Medical Engineering
Control Systems

Background:

Robotic systems in surgery require precise control for interacting with delicate soft tissues.
Existing force control methods aim to assist surgeons but need enhancement for dynamic environments.

Purpose of the Study:

To develop and validate a novel force control scheme for robot-tissue interaction.
To improve the performance and stability of robotic surgical systems in the presence of physiological motion.

Main Methods:

A new force control scheme utilizing an Active Observer (AOB) based on a viscoelastic interaction model was developed.
Theoretical stability analysis was performed.
In vitro experiments were conducted, including simulations of breathing and beating heart disturbances.

Main Results:

The proposed force control scheme demonstrated stable behavior in both static and dynamic (moving) environments.
The viscoelastic AOB achieved an 87% compensation ratio for breathing motion.
The system achieved a 79% compensation ratio for beating heart motion.

Conclusions:

The novel force control scheme using a viscoelastic Active Observer is effective for robot-soft tissue interactions.
The system offers significant compensation for physiological motion, enhancing safety and performance in surgical robotics.