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.
REF evaluated predictive filtering to enable ultrasoundguided robotic tracking of cardiac motions for potential use in ablation.
Quasiperiodic predictive filtering for robot-assisted beating heart surgery
2008 IEEE International Conference on Robotics and Automation
2008 IEEE International Conference on Robotics and Automation
Engineering Computer Science