Stabilization of image motion for robotic assisted beating heart surgery

Authors:
Danail Stoyanov;Guang-Zhong Yang
Affiliations:
Institute of Biomedical Engineering, Imperial College London, London, UK;Institute of Biomedical Engineering, Imperial College London, London, UK
Venue:
MICCAI'07 Proceedings of the 10th international conference on Medical image computing and computer-assisted intervention - Volume Part I
Year:
2007

Citing 5
Cited 3

A Flexible New Technique for Camera Calibration

IEEE Transactions on Pattern Analysis and Machine Intelligence
On the Feasibility of a Moving Support for Surgery on the Beating Heart

MICCAI '99 Proceedings of the Second International Conference on Medical Image Computing and Computer-Assisted Intervention
Multi-Camera Scene Flow by Tracking 3-D Points and Surfels

CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
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

Efficient 3D Tracking for Motion Compensation in Beating Heart Surgery

MICCAI '08 Proceedings of the 11th International Conference on Medical Image Computing and Computer-Assisted Intervention, Part II
Three-dimensional Motion Tracking for Beating Heart Surgery Using a Thin-plate Spline Deformable Model

International Journal of Robotics Research
Integration of new features for telerobotic surgery into the MiroSurge system

Applied Bionics and Biomechanics - Surgical Robotics

Quantified Score

Hi-index	0.00

Visualization

Abstract

The performance of robotic assisted minimally invasive beating heart surgery is a challenging task due to the rhythmic motion of the heart, which hampers delicate tasks such as small vessel anastomosis. In this paper, a virtual motion compensation scheme is proposed for stabilizing images from the surgical site. The method uses vision based 3D tracking to accurately infer cardiac surface deformation and augmented reality for rendering a motion stabilized view for improved surgical performance. The method forgoes the need of fiducial markers and can be integrated with the existing master-slave robotic consoles. The proposed technique is validated with both simulated surgical scenes with known ground truth and in vivo data acquired from a TECAB procedure. The experimental results demonstrate the potential of the proposed technique in performing microscale tasks in a moving frame of reference with improved precision and repeatability.