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Efficient Physics-Based Tracking of Heart Surface Motion for Beating Heart Surgery Robotic Systems

Bogatyrenko, Evgeniya; Pompey, Pascal; Hanebeck, Uwe D.

Purpose: Tracking of beating heart motion in a robotic surgery system is required for complex cardiovascular interventions. Methods: A heart surface motion tracking method is developed, including a stochastic physics-based heart surface model and an efficient reconstruction algorithm. The algorithm uses the constraints provided by the model that exploits the physical characteristics of the heart. The main advantage of the model is that it is more realistic than most standard heartmodels. Additionally, no explicit matching between the measurements and the model is required. The application of meshless methods significantly reduces the complexity of physics-based tracking. Results: Based on the stochastic physical model of the heart surface, this approach considers the motion of the intervention area and is robust to occlusions and reflections. The tracking algorithm is evaluated in simulations and experiments on an artificial heart. Providing higher accuracy than the standardmodel-based methods, it successfully copes with occlusions and provides high performance even when all measurements are not available. Conclusions: Combining the ... mehr

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DOI: 10.5445/IR/1000035083
DOI: 10.1007/s11548-010-0517-5
Zitationen: 20
Web of Science
Zitationen: 14
Zugehörige Institution(en) am KIT Institut für Anthropomatik (IFA)
Publikationstyp Zeitschriftenaufsatz
Jahr 2010
Sprache Englisch
Identifikator ISSN: 1861-6410
KITopen-ID: 1000035083
Erschienen in International Journal of Computer Assisted Radiology and Surgery
Band 6
Heft 3
Seiten 387--399
Nachgewiesen in Web of Science
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