An estimation for heart motion in robot-assisted beating heart surgery using a modified adaptive EKF

In this paper, estimation of instant future of heart motion in order to employ in robot-assisted beating heart surgery is studied. A modied extended Kalman filter (EKF) is proposed in order to tune the error covariance matrix of estimation in the presence of the heart model nonlinearity. The stability analysis of the proposed strategy is presented based on the stochastic Lyapunov stability criterion. Finally, the proposed algorithm is evaluated via comparative experiment in four tests using heart motion prerecorded results in the literature.

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