Quasiperiodic predictive filtering for robot-assisted beating heart surgery

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Quasiperiodic predictive filtering for robot-assisted beating heart surgery

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Title: Quasiperiodic predictive filtering for robot-assisted beating heart surgery
Author: Novotny, Paul Martin; Howe, Robert D.; Yuen, Shelten G.

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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.
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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.
Published Version: doi:10.1109/ROBOT.2008.4543806
Other Sources: http://biorobotics.harvard.edu/pubs/2008/ref_conf/yuen_ICRA_2008.pdf
Terms of Use: This article is made available under the terms and conditions applicable to Open Access Policy Articles, as set forth at http://nrs.harvard.edu/urn-3:HUL.InstRepos:dash.current.terms-of-use#OAP
Citable link to this page: http://nrs.harvard.edu/urn-3:HUL.InstRepos:22085975
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