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Heart Surface Motion Estimation Framework for Robotic Surgery Employing Meshless Methods

Bogatyrenko, Evgeniya; Hanebeck, Uwe D.; Szabo, Gabor

A novel heart surface motion estimation frame- work for a robotic surgery on a stabilized beating heart is proposed. It includes an approach for the reconstruction and prediction of heart surface motion based on a novel physical model of the intervention area described by a distributed- parameter system. Instead of conventional element methods, a meshless method is used for a spatial and temporal decomposi- tion of this system. This leads to a finite-dimensional state-space form. Furthermore, the state of the resulting lumped-parameter system, which provides an approximation of the deflection and velocity of the heart surface, is dynamically estimated under consideration of uncertainties both occurring in the system and arising from noisy camera measurements. By using the estimation results, an accurate reconstruction of heart surface motion for the synchronisation of the surgical instruments is also achieved at occluded or non-measurement points.

Zugehörige Institution(en) am KIT Institut für Anthropomatik (IFA)
Publikationstyp Proceedingsbeitrag
Jahr 2009
Sprache Englisch
Identifikator ISBN: 978-1-4244-3803-7
URN: urn:nbn:de:swb:90-349514
KITopen ID: 1000034951
Erschienen in Proceedings of the 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2009), 10-15 Oct. 2009
Verlag IEEE, Piscataway
Seiten 67-74
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