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Current trends in robotic cardiac surgery presage for allowing physiological motion compensation in beating-heart surgery. However, interacting with fast moving soft organs by means of stiff instruments/robots is challenging. This paper concerns comanipulation with a hand-held instrument, the goal being to allow the surgeon to perform low frequency motions that correspond to the surgical task while a distal part of the instrument actively moves in synchronism with the heart motion in order to guarantee that the contact is maintained. This paper explores the difficulties of implementing owimpedance control on a novel hand-held motion compensation instrument. A force feedback control strategy is proposed and evaluated experimentally on a simulated surgical scene. Taking advantage of the sensory capacities of the prototype resented, a successful modulation of the dynamics of interaction is reached. Conclusive results on the performances of the system and possibilities of future improvements are given.

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