E. Erdem Tuna

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Robotic assisted beating heart surgery aims to allow surgeons to operate on a beating heart without stabilizers as if the heart is stationary. The robot actively cancels heart motion by closely following a point of interest (POI) on the heart surface-a process called Active Relative Motion Canceling (ARMC). Due to the high bandwidth of the POI motion, it is(More)
In robotic assisted beating heart surgery, the goal is to develop a robotic system that can actively cancel heart motion by closely following a point of interest (POI) on the heart surface, a process called Active Relative Motion Canceling (ARMC). In order to track and cancel POI motion precisely, control algorithms require good quality heart motion data.(More)
In robotic assisted beating heart surgery, the control architecture for heart motion tracking has stringent requirements in terms of bandwidth of the motion that needs to be tracked. In order to achieve sufficient tracking accuracy, feed-forward control algorithms, which rely on estimations of upcoming heart motion, have been proposed in the literature.(More)
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