Yuen, Shelten G.Novotny, PaulHowe, Robert2015-09-022008Yuen, 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.978-1-4244-1646-21050-4729http://nrs.harvard.edu/urn-3:HUL.InstRepos:22085975Beating 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.en-USConference Paper2015-09-0210.1109/ROBOT.2008.4543806