By Topic

Improved prediction of heart motion using an adaptive filter for robot assisted beating heart surgery

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$33 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Timothy J. Franke ; Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, Ohio, 44106-7221, USA ; Ozkan Bebek ; M. Cenk Cavusoglu

Robot assisted heart surgery allows surgeons to operate on a heart while it is still beating as if it had been stopped. 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 necessary to supply the controller with an estimate of the immediate future of the POI over a prediction horizon. In this paper, a prediction algorithm, using an adaptive filter to generate future position estimates, is implemented and studied. The effects of predictor parameters on tracking performance are studied. Finally, the predictor is evaluated using a 3 degrees of freedom test-bed and prerecorded heart motion data.

Published in:

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

Oct. 29 2007-Nov. 2 2007