A new recursive algorithm for robotized beating heart surgery using ECG based covariance resetting

Robotic-assisted beating heart surgery aims to eliminate the relative motion of heart, so that, the surgeon can operate on a stabilized heart without any kind of additional instruments. In this literature, the robot actively cancels heart motion by closely following a point of interest (POI) of heart surface. In this paper, we use biological signal such as ECG or blood pressure, to improvement of tracking error. This can be achieved using the fact that the ECG signal is prior to the heart motion.