2016
Generalized Predictive Control of a Surgical Robot for Beating-Heart Surgery Under Delayed and Slowly-Sampled Ultrasound Image Data
RA-L 2016
Operating on a beating heart would offer many benefits to patients. The risks associated with heart-lung machines used in arrested-heart surgery would be eliminated and the effectiveness of reconstructive procedures could be judged immediately. However, the heart's fast beating motions make operatin