Three-dimensional heart motion estimation using endoscopic monocular vision system: From artificial landmarks to texture analysis - LIRMM - Laboratoire d’Informatique, de Robotique et de Microélectronique de Montpellier Access content directly
Journal Articles Biomedical Signal Processing and Control Year : 2007

Three-dimensional heart motion estimation using endoscopic monocular vision system: From artificial landmarks to texture analysis

Abstract

In robot-assisted beating heart surgery, motion of the heart surface might be virtually stabilized to let the surgeon work as in on-pump cardiac surgery. Virtual stabilization means to compensate physically the relative motion between the instrument tool tip and the region of interest on the heart surface, and to offer surgeon a stable visual display of the scene. To this end, motion of the heart must be estimated. This article focusses on motion estimation of the heart surface. Two approaches are considered in the paper. The first one is based on landmark tracking allowing 3D pose estimation. The second is based on texture tracking. Classical computer vision methods, as well as a new texture-based tracking scheme has been applied to track the heart motion, and, when possible, reconstruct 3D distance to the heart surface. Experimental results obtained on in vivo images show the estimated motion of heart surface points.

Domains

Automatic

Dates and versions

lirmm-00189906 , version 1 (22-11-2007)

Identifiers

Cite

Mickaël Sauvée, Aurélien Noce, Philippe Poignet, Jean Triboulet, Etienne Dombre. Three-dimensional heart motion estimation using endoscopic monocular vision system: From artificial landmarks to texture analysis. Biomedical Signal Processing and Control, 2007, IFAC Symposia on Biomedical Systems Modelling & Control, 2 (3), pp.199-207. ⟨10.1016/j.bspc.2007.07.006⟩. ⟨lirmm-00189906⟩
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