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Visual Stabilization of Beating Heart Motion by Model-based Transformation of Image Sequences

Bogatyrenko, Evgeniya; Hanebeck, Uwe D.

In order to assist a surgeon by operating on a beating heart, visual stabilization makes the beating heart appear still to a surgeon by providing the current heart view as stationary and non-moving. In this way, the surgeon is not disturbed during an operation by a motion of the heart and can get an impression of performing conventional surgery. In contrast to existing methods for visual stabilization, the proposed approach involves a model-based transformation of image sequences provided by a camera system. This transformation incorporates the knowledge of physical characteristics of the heart in form of a mathematical model of the heart surface. Its main advantage is that the uncertainties of the model and measurements are considered. This occurs by estimating the parameters of the transformation. Furthermore, the quality of the visual stabilization is additionally improved by adapting the parameters of the underlying physical model. A performance of the proposed approach is evaluated in an experiment with a pressure-regulated artificial heart. In comparison to standard approaches, it provides superior results illustrating the hig ... mehr

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Volltext §
DOI: 10.5445/IR/1000035112
Zugehörige Institution(en) am KIT Institut für Anthropomatik (IFA)
Publikationstyp Proceedingsbeitrag
Jahr 2011
Sprache Englisch
Identifikator ISBN: 978-1-4577-0080-4
KITopen-ID: 1000035112
Erschienen in Proceedings of the 2011 American Control Conference (ACC 2011), San Francisco, California, USA, June 29 2011-July 1 2011
Verlag IEEE, Piscataway
Seiten 5432-5437
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