Principal Warps: Thin-Plate Splines and the Decomposition of Deformations
IEEE Transactions on Pattern Analysis and Machine Intelligence
Recovery and Tracking of Continuous 3D Surfaces from Stereo Data Using a Deformable Dual-Mesh
ICCV '99 Proceedings of the International Conference on Computer Vision-Volume 2 - Volume 2
A Direct Method for Modeling Non-Rigid Motion with Thin Plate Spline
CVPR '05 Proceedings of the 2005 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR'05) - Volume 1 - Volume 01
Homography-based 2D Visual Tracking and Servoing
International Journal of Robotics Research
A probabilistic framework for tracking deformable soft tissue in minimally invasive surgery
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention
Stabilization of image motion for robotic assisted beating heart surgery
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Soft-tissue motion tracking and structure estimation for robotic assisted MIS procedures
MICCAI'05 Proceedings of the 8th international conference on Medical image computing and computer-assisted intervention - Volume Part II
MICCAI '09 Proceedings of the 12th International Conference on Medical Image Computing and Computer-Assisted Intervention: Part I
Real-time stereo reconstruction in robotically assisted minimally invasive surgery
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part I
| Hi-index | 0.00 |
The design of physiological motion compensation systems for robotic-assisted cardiac Minimally Invasive Surgery (MIS) is a challenging research topic. In this domain, vision-based techniques have proven to be a practical way to retrieve the motion of the beating heart. However due to the complexity of the heart motion and its surface characteristics, efficient tracking is still a complicated task. In this paper, we propose an algorithm for tracking the 3D motion of the beating heart, based on a Thin-Plate Splines (TPS) parametric model. The novelty of our approach lies in that no explicit matching between the stereo camera images is required and consequently no intermediate steps such as rectification are needed. Experiments conducted on ex-vivoand in-vivotissue show the effectiveness of the proposed algorithm for tracking surfaces undergoing complex deformations.