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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 extendeddoi:10.1109/robot.2008.4543806 dblp:conf/icra/YuenNH08 fatcat:szykovsze5hcnlxrk33zvh5o7y