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ICRA
2008
IEEE

Prediction of heartbeat motion with a generalized adaptive filter

9 years 4 months ago
Prediction of heartbeat motion with a generalized adaptive filter
— In order to perform coronary artery bypass graft surgery, a stationary heart is necessary. A human cannot achieve manual tracking of the complex heartbeat motion. Robotics technology can overcome such limitations. In the robotic-assisted beating heart surgery, the robot actively cancels heart motion by closely following a point of interest on the heart surface—a process called Active Relative Motion Canceling. As a result, surgeon can operate on the beating heart as if it is stationary. In this paper, a generalized estimation algorithm, that uses an adaptive filter to generate future position estimates is studied. The predictor is parameterized on-line and adaptively to minimize the prediction error in the mean-square sense. The predictor is evaluated using a 3-degreeof-freedom test-bed system and prerecorded heart motion data.
Timothy J. Franke, Ozkan Bebek, Murat Cenk Cavusog
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Timothy J. Franke, Ozkan Bebek, Murat Cenk Cavusoglu
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