Quasiperiodic predictive filtering for robot-assisted beating heart surgery

Shelten G. Yuen, Paul M. Novotny, Robert D. Howe
2008 2008 IEEE International Conference on Robotics and Automation  
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
more » ... ply 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.
doi:10.1109/robot.2008.4543806 dblp:conf/icra/YuenNH08 fatcat:szykovsze5hcnlxrk33zvh5o7y