Power spectral density of the heart motion in the z-direction.

<p>Heart motion modes are inseparable. The frequency axis is set to 12-s arrhythmia data from animal 1 is shown. The spectrum corresponds to motion of the POI located at 0.5 cm on the right side of LAD.</p

Experimental Results for End-Effector Tracking: RMS Control Effort for the Control Algorithms.

<p>Experimental Results for End-Effector Tracking: RMS Control Effort for the Control Algorithms.</p

Tracking results of 183-s arrhythmia data (only a part of the data is presented) from animal 1 for the generalized predictor.

<p>Reference and PHANToM positions, RMS position error and MPC control effort are shown (A) Axis 1 results. (B) Axis 2 results. (C) Axis 3 results.</p

Simulation Results for End-Effector Tracking: RMS Control Effort for the Control Algorithms.

<p>Simulation Results for End-Effector Tracking: RMS Control Effort for the Control Algorithms.</p

A schematic of the heart motion prediction problem.

<p>The circles represent past observations, now in memory, the is the current observation, and the short curve originating from there is the horizon estimate. The predictor takes the past observations and produces the horizon estimate from past observations.</p

Experimental setup for the measurement of the heart motion.

<p>Two sonomicrometer crystals that are sutured on the anterior and posterior surfaces of the heart are used for data collection. Pacemaker leads and sonomicrometer base are also visible in the image.</p

Simulation Results for End-Effector Tracking: RMS End-Effector Error and MAX Position Error for the Control Algorithms.

<p>Simulation Results for End-Effector Tracking: RMS End-Effector Error and MAX Position Error for the Control Algorithms.</p

Arrhythmia Data.

<p>Data from animal 1 have a sampling rate of 180 Hz with durations 85 s and 183 s respectively for “Anterior” and “Lateral” locations. Data from animal 2 have a sampling rate of 404 Hz with a duration of 85 s for both locations. Data from animal 3 have a sampling rate of 404 Hz with durations respectively 215 s and 105 s for “Anterior” and “Lateral” locations.</p

Experimental Results for End-Effector Tracking: RMS End-Effector Error and MAX Position Error for the Control Algorithms.

<p>Experimental Results for End-Effector Tracking: RMS End-Effector Error and MAX Position Error for the Control Algorithms.</p

Tracking results of 183-s arrhythmia data (only a part of the data is presented) from animal 1 for the PD Controller.

<p>Axis 1 results are shown only.</p