Principal Warps: Thin-Plate Splines and the Decomposition of Deformations
IEEE Transactions on Pattern Analysis and Machine Intelligence
A Flexible New Technique for Camera Calibration
IEEE Transactions on Pattern Analysis and Machine Intelligence
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
Active filtering of physiological motion in robotized surgery using predictive control
IEEE Transactions on Robotics
Intelligent Control Algorithms for Robotic-Assisted Beating Heart Surgery
IEEE Transactions on Robotics
Robust 3d visual tracking for robotic-assisted cardiac interventions
MICCAI'10 Proceedings of the 13th international conference on Medical image computing and computer-assisted intervention: Part I
Integration of new features for telerobotic surgery into the MiroSurge system
Applied Bionics and Biomechanics - Surgical Robotics
| Hi-index | 0.00 |
Minimally invasive cardiac surgery offers important benefits for the patient but it also imposes several challenges for the surgeon. Robotic assistance has been proposed to overcome many of the difficulties inherent to the minimally invasive procedure, but so far no solutions for compensating physiological motion are present in the existing surgical robotic platforms. In beating heart surgery, cardiac and respiratory motions are important sources of disturbance, hindering the surgeonâ聙聶s gestures and limiting the types of procedures that can be performed in a minimally invasive fashion. In this context, computer vision techniques can be used for retrieving the heart motion for active motion stabilization, which improves the precision and repeatability of the surgical gestures. However, efficient tracking of the heart surface is a challenging problem due to the heart surface characteristics, large deformations and the complex illumination conditions. In this article, we present an efficient method for active cancellation of cardiac motion where we combine an efficient algorithm for 3D tracking of the heart surface based on a thin-plate spline deformable model and an illumination compensation algorithm able to cope with arbitrary illumination changes. The proposed method has two novelties: the thin-plate spline model for representing the heart surface deformations and an efficient parametrization for 3D tracking of the beating heart using stereo images from a calibrated stereo endoscope. The proposed tracking method has been evaluated offline on in vivo images acquired by a DaVinci surgical robotic platform.