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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| Published in | 2008 IEEE International Conference on Robotics and Automation pp. 3875 - 3880 |
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| Main Authors | , , |
| Format | Conference Proceeding |
| Language | English |
| Published |
IEEE
01.05.2008
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| Subjects | |
| Online Access | Get full text |
| ISBN | 1424416469 9781424416462 |
| ISSN | 1050-4729 |
| DOI | 10.1109/ROBOT.2008.4543806 |
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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. |
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| AbstractList | 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. |
| Author | Howe, R.D. Yuen, S.G. Novotny, P.M. |
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| Snippet | Beating heart procedures promise significant health benefits to patients but the fast motion of the heart poses a serious challenge to the surgeon. Robotic... |
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| SubjectTerms | cardiac surgery Filtering Filters Heart Motion measurement Noise measurement Robot motion Surgery Surges Time measurement Ultrasonic imaging Ultrasound visual servoing |
| Title | Quasiperiodic predictive filtering for robot-assisted beating heart surgery |
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