A triangular radial cubic spline deformation model for efficient 3D beating heart tracking

Bo Yang 1 Chao Liu 2 Keli Huang 1 Wenfeng Zheng 1
1 UESTC - University of Electronic Science and Technology of China
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : A novel deformable model is proposed for efficient 3D visual tracking of beating heart. The model is parameterized by the 3D coordinates of four control points: the three vertices and the circumcenter of a triangular target region. Nonlinear deformation on heart surfaces is handled by cubic spline interpolation based on radial pixel distances from the circumcenter. With a pre-computable design matrix, the model can be represented efficiently by a simple matrix equation. An iterative algorithm is developed based on the efficient second-order minimization to compute model parameters at each frame. The proposed tracking method is validated on the stereo-endoscopic videos of phantom heart and in vivo heart that are recorded by the da Vinci ® surgical system.
Keywords : Beating heart tracking
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Journal articles
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01624764
Contributor : Chao Liu <>
Submitted on : Thursday, October 26, 2017 - 4:57:02 PM
Last modification on : Wednesday, September 5, 2018 - 10:54:01 AM

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LIRMM | CNRS | DEXTER | MIPS | UNIV-MONTPELLIER

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Bo Yang, Chao Liu, Keli Huang, Wenfeng Zheng. A triangular radial cubic spline deformation model for efficient 3D beating heart tracking. Signal, Image and Video Processing, Springer Verlag, 2017, 11 (7), pp.1329-1336. ⟨10.1007/s11760-017-1090-y⟩. ⟨lirmm-01624764⟩

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