| Article ID | Journal | Published Year | Pages | File Type |
|---|---|---|---|---|
| 723350 | IFAC Proceedings Volumes | 2006 | 6 Pages |
Abstract
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.
Related Topics
Physical Sciences and Engineering
Engineering
Computational Mechanics
Authors
Mickaël Sauvée, Philippe Poignet, Jean Triboulet, Etienne Dombre, Ezio Malis, Roland Demaria,