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.
authors: The Graduate School of Information Science and Technology, University of Tokyo, Tokyo, 113-8656 Japan.
authors: Tetsuya
authors: T
authors: Horiuchi
authors: The Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH 44106, USA.
authors: E Erdem
authors: EE
authors: Tuna
authors: The Graduate School of Information Science and Technology, University of Tokyo, Tokyo, 113-8656 Japan.
authors: Ken
authors: K
authors: Masamune
authors: The Department of Electrical Engineering and Computer Science, Case Western Reserve University, Cleveland, OH 44106, USA.
authors: M Cenk
authors: MC
authors: Cavuşoğlu