Publication: Quasiperiodic predictive filtering for robot-assisted beating heart surgery
Open/View Files
Date
2008
Published Version
Journal Title
Journal ISSN
Volume Title
Publisher
Institute of Electrical and Electronics Engineers
The Harvard community has made this article openly available. Please share how this access benefits you.
Citation
Yuen, Shelten G., Paul M. Novotny, and Robert D. Howe. 2008. Quasiperiodic predictive filtering for robot-assisted
beating heart surgery. In Proceedings, IEEE International Conference on Robotics and Automation: May 19-23, 2008, Pasadena, CA, 3875-3880. Pitscataway, NJ: IEEE Xplore.
Research Data
Abstract
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.
Description
Other Available Sources
Keywords
Terms of Use
This article is made available under the terms and conditions applicable to Open Access Policy Articles (OAP), as set forth at Terms of Service