An approach for physiological motion compensation in robotic-assisted cardiac surgery
Rights accessOpen Access
The lack of physiological motion compensation is a major problem in robotic-assisted cardiac surgery. Since the heart is beating while the surgeon carried out the procedure, dexterity of the surgeon’s and precision are compromised. Due to the operative space and the visibility of the surgical field are reduced, the most practical solution is the use of computer vision techniques. The lack of efficiency and robustness of the existing proposals make physiological motion compensation to be considered an open problem. In this work a novel solution to solve this problem based on the minimization of an energy functional is presented. It is described in the three-dimensional space using the l1-regularized optimization class in which cubic b-splines are used to represent the changes produced on the heart surface. Moreover, the logarithmic barrier function is applied to create an approximation of the total energy in order to avoid its non-differentiability. According to the results, this proposal is able to deal with complex deformations, requires a short computational time and gives a small error.
CitationAviles, A.; Sobrevilla, P.; Casals, A. An approach for physiological motion compensation in robotic-assisted cardiac surgery. "Experimental & Clinical Cardiology", 14 Novembre 2014, vol. 20, núm. 22, p. 6713-6724.
- IBEC - Institute for Bioengineering of Catalonia - Articles de revista 
- ICAIB - Grup de Recerca en Intel ligència Computacional per a l'Anàlisi d'Imatge Biomèdica - Articles de revista 
- GRINS - Robòtica Intel·ligent i Sistemes - Articles de revista 
- Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial - Articles de revista 
- Departament de Matemàtiques - Articles de revista