In the context of motion compensation systems for applications on cardiac robotic-assisted Minimally Invasive Surgery (MIS), vision-based techniques have a great potential. In this video, an Extended Kalman Filter (EKF) is used to estimate a model for heart 3D motion in order to support the vision algorithm.
You can find detailed info on the corresponding paper1.
References
1.
Richa, R., Bo, A. P. L. & Poignet, P. Towards robust 3D visual tracking for motion compensation in beating heart surgery. Medical Image Analysis 15, 302–315 (2011).