Paper Info
Title
Heart motion measurement with three dimensional sonomicrometry and acceleration sensing
Abstract
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. In this paper, a novel method is described which uses a particle filter to estimate the three-dimensional location of POI on heart surface by using measurements obtained from sonomicrometry along with an accelerometer. The new method employs a differential probability approach to increase the accuracy of the particle filter. The performance of the proposed method is evaluated by simulations.
Year
DOI
Venue
2012
10.1109/IROS.2012.6386095
Intelligent Robots and Systems
Keywords
Field
DocType
acceleration control,accelerometers,cardiology,medical robotics,medical signal processing,motion control,particle filtering (numerical methods),probability,surgery,tracking,ARMC,POI motion tracking,acceleration sensing,accelerometer,active relative motion canceling,control algorithm,differential probability approach,heart motion measurement,heart surface,particle filter,point of interest,quality heart motion data,robotic assisted beating heart surgery,robotic system,three dimensional sonomicrometry,three-dimensional location estimation
Computer vision,Motion control,Computer science,Control theory,Accelerometer,Particle filter,Relative motion,Artificial intelligence,Acceleration,Point of interest,Sonomicrometry,Heart motion
Conference
Volume
ISSN
ISBN
2012
2153-0858
978-1-4673-1737-5
Citations 
PageRank 
References 
1
0.36
6
Authors
4
Name
Order
Citations
PageRank
Tetsuya Horiuchi112.73
Tuna, S.E.2254.38
Ken Masamune325348.57
Murat Cenk Cavusoglu452273.38