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An approach for physiological motion compensation in robotic-assisted cardiac surgery
dc.contributor.author | Avilés Rivero, Angélica Ivone |
dc.contributor.author | Sobrevilla Frisón, Pilar |
dc.contributor.author | Casals Gelpí, Alicia |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial |
dc.contributor.other | Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada II |
dc.contributor.other | Institut de Bioenginyeria de Catalunya |
dc.date.accessioned | 2015-01-13T08:34:07Z |
dc.date.available | 2015-01-13T08:34:07Z |
dc.date.created | 2014-11-14 |
dc.date.issued | 2014-11-14 |
dc.identifier.citation | Aviles, 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.identifier.issn | 1205-6626 |
dc.identifier.uri | http://hdl.handle.net/2117/25231 |
dc.description.abstract | 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. |
dc.format.extent | 12 p. |
dc.language.iso | eng |
dc.rights | Attribution 3.0 Spain |
dc.rights.uri | http://creativecommons.org/licenses/by/3.0/es/ |
dc.subject | Àrees temàtiques de la UPC::Informàtica::Robòtica |
dc.subject.lcsh | Computer vision |
dc.subject.lcsh | Surgical robots |
dc.subject.other | Robotic surgery |
dc.subject.other | Beating heart surgery |
dc.subject.other | Image analysis |
dc.subject.other | Motion compensation |
dc.title | An approach for physiological motion compensation in robotic-assisted cardiac surgery |
dc.type | Article |
dc.subject.lemac | Visió per ordinador |
dc.subject.lemac | Robòtica en medicina |
dc.contributor.group | Universitat Politècnica de Catalunya. ICAIB - Grup de Recerca en Intel ligència Computacional per a l'Anàlisi d'Imatge Biomèdica |
dc.contributor.group | Universitat Politècnica de Catalunya. GRINS - Grup de Recerca en Robòtica Intel·ligent i Sistemes |
dc.description.peerreviewed | Peer Reviewed |
dc.relation.publisherversion | http://cardiologyacademicpress.com/ |
dc.rights.access | Open Access |
local.identifier.drac | 15356452 |
dc.description.version | Postprint (published version) |
local.citation.author | Aviles, A.; Sobrevilla, P.; Casals, A. |
local.citation.publicationName | Experimental & Clinical Cardiology |
local.citation.volume | 20 |
local.citation.number | 22 |
local.citation.startingPage | 6713 |
local.citation.endingPage | 6724 |
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