Quasiperiodic predictive filtering for robot-assisted beating heart surgery

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2008, Pages 3875-3880

  Yuen, Shelten G ^b   Novotny, Paul M ^b   Howe, Robert D ^a,b  

^a IEEE

^b MASSACHUSETTS INSTITUTE OF TECHNOLOGY   (United States)

Author keywords

Cardiac surgery; Ultrasound; Visual servoing

Indexed keywords

CELLULAR RADIO SYSTEMS; CONTROL THEORY; INDUSTRIAL ENGINEERING; MOTION ESTIMATION; PARAMETER ESTIMATION; ROBOTICS; SURGERY; THREE DIMENSIONAL; WAVE FILTERS;

CARDIAC SURGERY; INTERNATIONAL CONFERENCES; ULTRASOUND; VISUAL SERVOING;

ULTRASONIC IMAGING;

EID: 51649101650     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2008.4543806     Document Type: Conference Paper

References (13)

1. Y. Suematsu, J. Martinez, B. Wolf, G. Marx, J. Stoll, P. DuPont, R. Howe, J. Triedman, and P. del Nido, "Three-dimensional echo-guided beating heart surgery without cardiopulmonary bypass: atrial septal defect closure in a swine model," J. Thorac. Cardiovasc. Surg., vol. 130, pp. 1348-1357, 2005.
2. J. Zeitlhofer, S. Asenbaum, C. Spiss, A. Wimmer, N. Mayr, E. Wolner, and L. Deecke, "Central nervous system function after cardiopulmonary bypass," European Heart Journal, vol. 14, pp. 885-890, 1993.
3. D. Bellinger, D. Wypij, K. Kuban, L. Rappaport, P. Hickey, G. Wernovsky, R. Jonas, and J. Newburger, "Developmental and neurological status of children at 4 years of age after heart surgery with hypothermic circulatory arrest or low-flow cardiopulmonary bypass," Circulation, vol. 100, pp. 526-532, 1999.
4. Y. Nakamura, K. Kishi, and H. Kawakami, "Heartbeat synchronization for robotic cardiac surgery," in Proc. IEEE International Conference on Robotics and Automation (ICRA'01), May 2001, pp. 2014-2019.
5. R. Ginhoux, J. Gangloff, M. de Mathelin, L. Soler, M. A. Sanchez, and J. Marescaux, "Active filtering of physiological motion in robotized surgery using predictive control," IEEE Transactions on Robotics, vol. 21, no. 1, pp. 27-79, 2006.
6. O. Bebek and M. Cavusoglu, "Intelligent control algorithms for robotic assisted beating heart surgery," IEEE Transactions on Robotics, vol. 23, no. 3, pp. 468-480, June 2007.
7. P. Novotny, "Real-time processing of three dimensional ultrasound for intracardiac surgery," Ph.D. dissertation, Harvard University, 2007.
8. D. Kettler, R. Plowes, P. Novotny, N. Vasilyev, P. del Nido, and R. Howe, "An active motion compensation instrument for beating heart mitral valve surgery," in Proc. IEEE International Conference on Intelligent Robots and Systems, San Diego USA, Oct. 2007.
9. J. Gorman III, K. Gupta, J. Streicher, R. Gorman, B. Jackson, M. Ratcliffe, D. Bogen, and L. E. Jr., "Dynamic three-dimensional imaging of the mitral valve and left ventricle by rapid sonomicrometry array localization," J. Thorac. Cardiovasc. Surg., vol. 112, no. 3, pp. 712-726, 1996.
10. P. Parker and B. Anderson, "Frequency tracking of nonsinusoidal periodic signals in noise," Signal Process., vol. 20, pp. 127-152, 1990.
11. A. Goldberger, L. Amaral, L. Glass, J. Hausdorff, P. Ivanov, R. Mark, J. Mietus, G. Moody, C.-K. Peng, and H. Stanley, "PhysioBank, PhysioToolkit, and PhysioNet: Components of a new research resource for complex physiologic signals," Circ., vol. 101, no. 23, 2000.
12. P. Novotny, J. Stoll, N. Vasilyev, P. del Nido, T. Zickler, P. Dupont, and R. Howe, "GPU based real-time instrument tracking with three-dimensional ultrasound," Medical Image Analysis, vol. 11, pp. 458-464, 2007.
13. J. Cannon, J. Stoll, I. Salgo, H. Knowles, R. Howe, P. Dupont, G. Marx, and P. del Nido, "Real-time three-dimensional ultrasound for guiding surgical tasks," Computer Aided Surgery, vol. 8, pp. 82-90, 2003.