Heart Motion Uncertainty Compensation Prediction Method for Robot Assisted Beating Heart Surgery – Master–slave Kalman Filters Approach

@article{Liang2014HeartMU,
  title={Heart Motion Uncertainty Compensation Prediction Method for Robot Assisted Beating Heart Surgery – Master–slave Kalman Filters Approach},
  author={Fan Liang and Yang Yu and Shigang Cui and Lu Zhao and Xingli Wu},
  journal={Journal of Medical Systems},
  year={2014},
  volume={38},
  pages={1-12}
}
Robot Assisted Coronary Artery Bypass Graft (CABG) allows the heart keep beating in the surgery by actively eliminating the relative motion between point of interest (POI) on the heart surface and surgical tool. The inherited nonlinear and diverse nature of beating heart motion gives a huge obstacle for the robot to meet the demanding tracking control requirements. In this paper, we novelty propose a Master–slave Kalman Filter based on beating heart motion Nonlinear Adaptive Prediction (NAP… CONTINUE READING

References

Publications referenced by this paper.
Showing 1-10 of 36 references

The Effect of Textile-Based Inductive Coil Sensor Positions for Heart RateMonitoring

H. Koo, Lee, +9 authors J.-W
JMed Syst 38:1–12, • 2014

A Quadratic Nonlinear Prediction-Based Heart Motion Model Following Control Algorithm in Robotic-Assisted Beating Heart Surgery

X. M. Fan Liang
Int J Adv Robot Syst, • 2013
View 1 Excerpt

Adaptive UKF Algorithm and its Application for Rotorcraft UAV Actuator Failure Estimation

D. S. Juntong Qi, Chong Wu, Jianda Han, Tianran Wang, KF-based
Int J Adv Robot Syst, • 2012
View 1 Excerpt

Similar Papers

Loading similar papers…