Force feedback teleoperation with physiological motion compensation

In medical and surgical robotized applications one of the most recurrent problems is the physiological motion of the patient. Specifically, respiratory motion can have a large amplitude and thus prevent accurate gestures. So, for a robot which interacts with a patient, it is obvious that being able to compensate physiological motion would be interesting. In this work, the hypothesis that motion is cyclic has been made. The task we deal with is the case in which the slave robot is in contact with the environment. In our team, a predictive controller which includes a repetitive model of the disturbance has already been used in the case of an a-priori known reference and without contact. The aim of this work is to study the efficiency of this controller in a teleoperation scheme with a cyclic environment and a contact task.