Cutting control of deformable objects is of great importance in varied application fields such
as surgical robot and food processing industry. However, complex physical properties of
deformable objects and time-variant topology during cutting make automatic cutting
operation control a big challenge. This paper proposed a vision-based cutting control
method that predicts the object's deformation and plans cutting path online. Material
parameters of the deformation model are treated as unknown parameters to be estimated …

Automatic cutting is an essential task in the field ofrobot-assisted surgery. In this article, a
novel vision-based cutting control algorithm is proposed to cut a deformable object along the
predesigned path with specified cutting depth. The method to model soft tissue considering
viscoelasticity is developed, and unknown parameters of the deformation model are
estimated online by introducing the visual feedback of feature points. According to the
position of trajectory points after deformation, we illustrate how to generate the desired pose …