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ICRA
2008
IEEE

Quasiperiodic predictive filtering for robot-assisted beating heart surgery

9 years 4 months ago
Quasiperiodic predictive filtering for robot-assisted beating heart surgery
— Beating heart procedures promise significant health benefits to patients but the fast motion of the heart poses a serious challenge to the surgeon. Robotic motion synchronization to heart movements could facilitate these surgeries, although for intracardiac procedures this requires the development of a predictive filter to compensate for the measurement noise and time delay present in 3D ultrasound imaging. In this paper, we present a quasiperiodic cardiac motion model and apply the extended Kalman filter to estimation of its parameters in real-time. We experimentally demonstrate high accuracy robot tracking to heart motion using this filter.
Shelten G. Yuen, Paul M. Novotny, Robert D. Howe
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Shelten G. Yuen, Paul M. Novotny, Robert D. Howe
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