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dc.contributor.authorAvilés Rivero, Angélica Ivone
dc.contributor.authorSobrevilla Frisón, Pilar
dc.contributor.authorCasals Gelpi, Alicia
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial
dc.contributor.otherUniversitat Politècnica de Catalunya. Departament de Matemàtica Aplicada II
dc.contributor.otherInstitut de Bioenginyeria de Catalunya
dc.identifier.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.
dc.description.abstractThe 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.
dc.format.extent12 p.
dc.rightsAttribution 3.0 Spain
dc.subjectÀrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject.lcshComputer vision
dc.subject.lcshSurgical robots
dc.subject.otherRobotic surgery
dc.subject.otherBeating heart surgery
dc.subject.otherImage analysis
dc.subject.otherMotion compensation
dc.titleAn approach for physiological motion compensation in robotic-assisted cardiac surgery
dc.subject.lemacVisió per ordinador
dc.subject.lemacRobòtica en medicina
dc.contributor.groupUniversitat Politècnica de Catalunya. ICAIB - Grup de Recerca en Intel ligència Computacional per a l'Anàlisi d'Imatge Biomèdica
dc.contributor.groupUniversitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes
dc.description.peerreviewedPeer Reviewed
dc.rights.accessOpen Access
dc.description.versionPostprint (published version)
local.citation.authorAviles, A.; Sobrevilla, P.; Casals, A.
local.citation.publicationNameExperimental & Clinical Cardiology

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Attribution 3.0 Spain
Except where otherwise noted, content on this work is licensed under a Creative Commons license : Attribution 3.0 Spain