Shared Control for Motion Compensation in Robotic Surgery

This research work focuses on developing a unifying framework for motion compensation control in robotic beating eart surgery, seamlessly combining the three tasks of motion synchronization, image stabilization and shared control. An initial version of the system considers the case of a planar 1-manifold, performing a strip-wise affine map to achieve image stabilization onto a canonical space, where shared control emerges naturally. A prototype teleoperation system is also under development. Experiments with medically trained users  are currently ongoing to assess the positive effect of motion compensation.