3D HEART MOTION ESTIMATION USING ENDOSCOPIC MONOCULAR VISION SYSTEM

In robotic 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 instrument tool tip and point of interest on the heart surface, and to offer surgeon a stable visual display of the scene. In this way, motion of the heart must be estimated. This article focus on motion estimation of heart surface. Classical computer vision method has been applied to reconstruct 3D pose of interest point. Experimental results obtained on in vivo images show the estimated motion of heart surface points.