Quasiperiodic predictive filtering for robot-assisted beating heart surgery

  title={Quasiperiodic predictive filtering for robot-assisted beating heart surgery},
  author={Shelten G. Yuen and Paul M. Novotny and Robert D. Howe},
  journal={2008 IEEE International Conference on Robotics and Automation},
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… CONTINUE READING
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