Quasiperiodic predictive filtering for robot-assisted beating heart surgery

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 o...

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Bibliographic Details
Published in2008 IEEE International Conference on Robotics and Automation pp. 3875 - 3880
Main Authors Yuen, S.G., Novotny, P.M., Howe, R.D.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.05.2008
Subjects
cardiac surgery
Filtering
Filters
Heart
Motion measurement
Noise measurement
Robot motion
Surgery
Surges
Time measurement
Ultrasonic imaging
Ultrasound
visual servoing
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ISBN1424416469
9781424416462
ISSN1050-4729
DOI10.1109/ROBOT.2008.4543806

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Summary: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.
ISBN:1424416469
9781424416462
ISSN:1050-4729
DOI:10.1109/ROBOT.2008.4543806