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dc.contributor.authorHowe, Robert D.
dc.contributor.authorYuen, Shelten G.
dc.contributor.authorKettler, Daniel T.
dc.contributor.authorNotovny, Paul M.
dc.contributor.authorPlowes, Richard D.
dc.date.accessioned2015-09-02T19:44:09Z
dc.date.issued2009
dc.identifier.citationYuen, S. G., D. T. Kettler, P. M. Novotny, R. D. Plowes, and R. D. Howe. 2009. “Robotic Motion Compensation for Beating Heart Intracardiac Surgery.” The International Journal of Robotics Research 28 (10) (May 19): 1355–1372. doi:10.1177/0278364909104065.en_US
dc.identifier.issn0278-3649en_US
dc.identifier.urihttp://nrs.harvard.edu/urn-3:HUL.InstRepos:22085977
dc.description.abstract3D ultrasound imaging has enabled minimally invasive, beating heart intracardiac procedures. However, rapid heart motion poses a serious challenge to the surgeon that is compounded by significant time delays and noise in 3D ultrasound. This paper investigates the concept of using a one-degree-of-freedom motion compensation system to synchronize with tissue motions that may be approximated by 1D motion models. We characterize the motion of the mitral valve annulus and show that it is well approximated by a 1D model. The subsequent development of a motion compensation instrument (MCI) is described, as well as an extended Kalman filter (EKF) that compensates for system delays. The benefits and robustness of motion compensation are tested in user trials under a series of non-ideal tracking conditions. Results indicate that the MCI provides an approximately 50% increase in dexterity and 50% decrease in force when compared with a solid tool, but is sensitive to time delays. We demonstrate that the use of the EKF for delay compensation restores performance, even in situations of high heart rate variability. The resulting system is tested in an in vitro 3D ultrasound-guided servoing task, yielding accurate tracking (1.15 mm root mean square) in the presence of noisy, time-delayed 3D ultrasound measurements.en_US
dc.description.sponsorshipEngineering and Applied Sciencesen_US
dc.language.isoen_USen_US
dc.publisherSAGE Publicationsen_US
dc.relation.isversionofdoi:10.1177/0278364909104065en_US
dash.licenseOAP
dc.subjectmedical roboticsen_US
dc.subjectmotion compensationen_US
dc.subjectultrasounden_US
dc.titleRobotic Motion Compensation for Beating Heart Intracardiac Surgeryen_US
dc.typeJournal Articleen_US
dc.description.versionAccepted Manuscripten_US
dc.relation.journalThe International Journal of Robotics Researchen_US
dash.depositing.authorHowe, Robert D.
dc.date.available2015-09-02T19:44:09Z
dc.identifier.doi10.1177/0278364909104065*
dash.authorsorderedfalse
dash.contributor.affiliatedHowe, Robert


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