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dc.contributor.authorTuna, E. E.
dc.contributor.authorKarimov, J. H.
dc.contributor.authorLiu, T.
dc.contributor.authorBebek, Özkan
dc.contributor.authorFukamachi, K.
dc.contributor.authorÇavuşoğlu, M. C.
dc.date.accessioned2014-12-17T07:57:39Z
dc.date.available2014-12-17T07:57:39Z
dc.date.issued2014-07-21
dc.identifier.issn1932-6203
dc.identifier.urihttp://hdl.handle.net/10679/731
dc.identifier.urihttp://journals.plos.org/plosone/article?id=10.1371/journal.pone.0102877
dc.description.abstractIn robotic assisted beating heart surgery, the control architecture for heart motion tracking has stringent requirements in terms of bandwidth of the motion that needs to be tracked. In order to achieve sufficient tracking accuracy, feed-forward control algorithms, which rely on estimations of upcoming heart motion, have been proposed in the literature. However, performance of these feed-forward motion control algorithms under heart rhythm variations is an important concern. In their past work, the authors have demonstrated the effectiveness of a receding horizon model predictive control-based algorithm, which used generalized adaptive predictors, under constant and slowly varying heart rate conditions. This paper extends these studies to the case when the heart motion statistics change abruptly and significantly, such as during arrhythmias. A feasibility study is carried out to assess the motion tracking capabilities of the adaptive algorithms in the occurrence of arrhythmia during beating heart surgery. Specifically, the tracking performance of the algorithms is evaluated on prerecorded motion data, which is collected in vivo and includes heart rhythm irregularities. The algorithms are tested using both simulations and bench experiments on a three degree-of-freedom robotic test bed. They are also compared with a position-plus-derivative controller as well as a receding horizon model predictive controller that employs an extended Kalman filter algorithm for predicting future heart motion.en_US
dc.language.isoengen_US
dc.publisherPlosen_US
dc.relation.ispartofPlos One
dc.rightsopenAccess
dc.titleTowards active tracking of beating heart motion in the presence of arrhythmia for robotic assisted beating heart surgeryen_US
dc.typeArticleen_US
dc.description.versionpublisher version
dc.peerreviewedyesen_US
dc.publicationstatuspublisheden_US
dc.contributor.departmentÖzyeğin University
dc.contributor.authorID43734
dc.contributor.ozuauthorBebek, Özkan
dc.identifier.volume9
dc.identifier.issue7
dc.identifier.wosWOS:000339558100082
dc.identifier.doi10.1371/journal.pone.0102877
dc.subject.keywordsAtrial-fibrillationen_US
dc.subject.keywordsPredictive controlen_US
dc.subject.keywordsCardiac-surgeryen_US
dc.subject.keywordsSonomicrometryen_US
dc.subject.keywordsFeasiblityen_US
dc.subject.keywordsAlgorithmsen_US
dc.identifier.scopusSCOPUS:2-s2.0-84904597337


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