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2011 IEEE 37th Annual Northeast Bioengineering Conference (NEBEC)
The variation of intrapericardial pressure due to the respiration and cardiac cycles greatly affects the locomotion efficiency of HeartLander, a minimally invasive surgical robot which adheres to and moves over the surface of the heart. This paper presents work which would allow HeartLander to improve motion efficiency by synchronizing its movement with the physiological cycles using a magnetic tracker. Using models of the respiratory and cardiac cycles generated using Kalman filteringdoi:10.1109/nebc.2011.5778630 fatcat:zf3bogja75c35hwxlfcdatmuva