title: Space-Time Localization and Registration on the Beating Heart.
abstract: This paper presents a framework for localizing a miniature epicardial crawling robot, HeartLander, on the beating heart using only 6-degree-of-freedom position measurements from an electromagnetic position tracker and a dynamic surface model of the heart. Using only this information, motion and observation models of the system are developed such that a particle filter can accurately estimate not only the location of the robot on the surface of the heart, but also the pose of the heart in the world coordinate frame as well as the current physiological phase of the heart. The presented framework is then demonstrated in simulation on a dynamic 3-D model of the human heart and a robot motion model which accurately mimics the behavior of the HeartLander robot.
authors: The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213.
authors: Nathan A
authors: NA
authors: Wood
authors: Computer Science Department, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213.
authors: Kevin
authors: K
authors: Waugh
authors: The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213.
authors: Tian Yu Tommy
authors: TY
authors: Liu
authors: BHS Department of Cardiothoracic Surgery, Harvard Medical School, West Roxbury, Massachusetts 02132.
authors: Marco A
authors: MA
authors: Zenati
authors: The Robotics Institute, Carnegie Mellon University, Pittsburgh, Pennsylvania 15213.
authors: Cameron N
authors: CN
authors: Riviere