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Efficient 3D tracking for motion compensation in beating heart surgery

Abstract : The design of physiological motion compensation systems for robotic-assisted cardiac Minimally Invasive Surgery (MIS) is a challeng- ing 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 re- quired and consequently no intermediate steps such as rectification are needed. Experiments conducted on ex-vivo and in-vivo tissue show the effectiveness of the proposed algorithm for tracking surfaces undergoing complex deformations.
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Contributor : Philippe Poignet Connect in order to contact the contributor
Submitted on : Monday, June 9, 2008 - 1:18:00 PM
Last modification on : Friday, October 22, 2021 - 3:07:21 PM


  • HAL Id : lirmm-00286409, version 1



Rogerio Richa, Philippe Poignet, Chao Liu. Efficient 3D tracking for motion compensation in beating heart surgery. MICCAI: Medical Image Computing and Computer Assisted Intervention, Sep 2008, New-York University, United States. pp.684-691. ⟨lirmm-00286409⟩



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