scholarly journals Manifold Modeling of the Beating Heart Motion

2018 ◽  
pp. 229-238
Author(s):  
Paul Stroe ◽  
Xianghua Xie ◽  
Adeline Paiement
Keyword(s):  
Beating Heart ◽  
Heart Motion

System Identification of Beating Heart Medical Surgery Assisted Robot

2014 ◽  
Vol 577 ◽  
pp. 1262-1265
Author(s):  
Fan Liang ◽  
Li Li Yang ◽  
Shi Gang Cui ◽  
Li Zhao ◽  
Xing Li Wu ◽  
...  
Keyword(s):  
System Identification ◽  
Artery Bypass ◽  
Optimization Method ◽  
High Amplitude ◽  
Beating Heart ◽  
Medical Surgery ◽  
System Model ◽  
Heart Motion ◽  
Robotic Tool ◽  
Robot Modeling

The wide bandwidth and high amplitude feature of the beating heart motion makes surgeon hard to achieve the coronary artery bypass graph surgery on his or her own. The robot could help to cancel the relative motion between the end effecter of the robotic tool and certain point on the heart surface. Therefore a stationary operation screen could be used for the surgeon. The precise robot modeling is the prerequisite for tracking control algorithm. In the paper, we process the input and output data by using the nonlinear optimization method to obtain the system model. Next, we discuss the system identification related problems and modify the model. Finally, a good system model is achieved.

scholarly journals Heart Motion Prediction Based on Adaptive Estimation Algorithms for Robotic-Assisted Beating Heart Surgery

2013 ◽  
Vol 29 (1) ◽  
pp. 261-276 ◽  
Author(s):  
E. Erdem Tuna ◽  
Timothy J. Franke ◽  
Ozkan Bebek ◽  
Akira Shiose ◽  
Kiyotaka Fukamachi ◽  
...  
Keyword(s):  
Heart Surgery ◽  
Adaptive Estimation ◽  
Beating Heart ◽  
Motion Prediction ◽  
Beating Heart Surgery ◽  
Robotic Assisted ◽  
Estimation Algorithms ◽  
Heart Motion
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