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ICRA
2007
IEEE

Model-based Motion Estimation of Elastic Surfaces for Minimally Invasive Cardiac Surgery

10 years 5 months ago
Model-based Motion Estimation of Elastic Surfaces for Minimally Invasive Cardiac Surgery
— In order to assist surgeons during surgery on moving organs, e.g. minimally invasive beating heart bypass surgery, a master-slave system which synchronizes surgical instruments with the organ’s motion is desired. This synchronization requires reliable estimation of the organ’s motion. In this paper, we present a new approach to motion estimation based on a state motion model for a partition of the heart’s surface. Its motion behavior is described by a partial differential equation whose input function is assumed to be periodic. An estimator is used on one hand to predict future model states based on reconstruction of the input function and on the other hand to incorporate noisy spatially discrete measurements in order to improve state estimation. The model-based motion estimation is evaluated using a simple heart simulator. Measurements are obtained by reconstructing 3D position of markers on a pulsating membrane by means of a stereo camera system.
Thomas Bader, Alexander Wiedemann, Kathrin Roberts
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Thomas Bader, Alexander Wiedemann, Kathrin Roberts, Uwe D. Hanebeck
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