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

IEEE International Conference on Intelligent Robots and Systems

Volumn , Issue , 2007, Pages 509-515

  Franke, Timothy J ^a   Bebek, Ozkan ^a   Cavusoglu, M Cenk ^a  

^a Case Western Reserve University   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ADAPTIVE ALGORITHMS; ADAPTIVE FILTERING; ADAPTIVE FILTERS; ELECTRIC FILTERS; FORECASTING; INTELLIGENT ROBOTS; INTELLIGENT SYSTEMS; SURGERY; WAVE FILTERS;

HEART MOTION; INTERNATIONAL CONFERENCES;

ROBOTICS;

EID: 51349121938     PISSN: None     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/IROS.2007.4399461     Document Type: Conference Paper

References (8)

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2. M. C. Cavusoglu, J. Rotella, W. S. Newman, S. Choi, J. Ustin, and S. S. Sastry, "Control algorithms for active relative motion cancelling for robotic assisted off-pump coronary artery bypass graft surgery," in Proc. of the 12th International Conference on Advanced Robotics (ICAR), Seattle, WA, USA, July 2005, pp. 431-436.
3. J. Rotella, "Predictive tracking of quasi periodic signals for active relative motion cancellation in robotic assisted coronary artery bypass graft surgery," M.S. Thesis, Case Western Reserve University, Cleveland, OH, USA, August 2004.
4. T. Ortmaier, M. Groeger, D. H. Boehm, V. Falk, and G. Hirzinger, "Motion estimation in beating heart surgery," IEEE Trans. Biomed. Eng., vol. 52, no. 10, pp. 1729-1740, October 2005.
5. R. Ginhoux, J. A. Gangloff, M. F. DeMathelin, L. Soler, J. Leroy, M. M. A. Sanchez, and J. Marescaux, "Active filtering of physiological motion in robotized surgery using predictive control," IEEE Trans. Robotics, vol. 21, no. 1, pp. 67-79, February 2005.
6. O. Bebek and M. C. Cavusoglu, "Intelligent control algorithms for robotic-assisted beating heart surgery," IEEE Trans. Robotics, vol. 23, no. 3, pp. 468-480, June 2007.
7. W. Wei, Time Series Analysis - Univariate and Multivariate Methods. Addison-Wesley Publishing Company, New York, 1990.
8. S. Haykin, Adaptive Filter Theory, 4th ed. Upper Saddle River, New Jersey: Prentice Hall, 2001.