Improved prediction of heart motion using an adaptive filter for robot assisted beating heart surgery. - Timothy J. Franke; Ozkan Bebek; Murat Cenk Cavusoglu (IROS, 2007)

Prediction of heartbeat motion with a generalized adaptive filter. - Timothy J. Franke; Ozkan Bebek; Murat Cenk Cavusoglu (ICRA, 2008)

Heart Motion Prediction Based on Adaptive Estimation Algorithms for Robotic-Assisted Beating Heart Surgery. - Eser Erdem Tuna; Timothy J. Franke; Özkan Bebek; Akira Shiose; Kiyotaka Fukamachi; Murat Cenk Cavusoglu (IEEE Trans. Robotics, 2013)