Name
Abstract | ||
|---|---|---|
In order to perform coronary artery bypass graft surgery, a stationary heart is necessary. A human cannot achieve manual tracking of the complex heartbeat motion. Robotics technology can overcome such limitations. In the robotic-assisted beating heart surgery, the robot actively cancels heart motion by closely following a point of interest on the heart surface—a process called Active Relative Motion Canceling. As a result, surgeon can operate on the beating heart as if it is stationary. In this paper, a generalized estimation algorithm, that uses an adaptive filter to generate future position estimates is studied. The predictor is parameterized on-line and adaptively to minimize the prediction error in the mean-square sense. The predictor is evaluated using a 3-degree- of-freedom test-bed system and prerecorded heart motion data. I. INTRODUCTION |
Year | DOI | Venue |
|---|---|---|
2008 | 10.1109/ROBOT.2008.4543652 | Pasadena, CA |
Keywords | Field | DocType |
cardiology,medical robotics,telerobotics,active relative motion canceling,coronary artery bypass graft surgery,generalized adaptive filter,heartbeat motion prediction,mean-square sense,robotic-assisted beating heart surgery | Heartbeat,Parameterized complexity,Control theory,Artificial intelligence,Adaptive filter,Engineering,Point of interest,Robot,Telerobotics,Heart motion,Robotics | Conference |
Volume | Issue | ISSN |
2008 | 1 | 1050-4729 E-ISBN : 978-1-4244-1647-9 |
ISBN | Citations | PageRank |
978-1-4244-1647-9 | 8 | 0.67 |
References | Authors | |
5 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Timothy J. Franke | 1 | 8 | 0.67 |
| Ozkan Bebek | 2 | 183 | 21.27 |
| Murat Cenk Cavusoglu | 3 | 23 | 3.75 |