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An approach for physiological motion compensation in robotic-assisted cardiac surgery
Avilés Rivero, Angélica Ivone; Sobrevilla Frisón, Pilar; Casals Gelpi, Alicia
Universitat Politècnica de Catalunya. Departament d'Enginyeria de Sistemes, Automàtica i Informàtica Industrial; Universitat Politècnica de Catalunya. Departament de Matemàtica Aplicada II; Universitat Politècnica de Catalunya. ICAIB - Grup de Recerca en Intel ligència Computacional per a l'Anàlisi d'Imatge Biomèdica; Universitat Politècnica de Catalunya. GRINS - Robòtica Intel·ligent i Sistemes
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.
Peer Reviewed
Àrees temàtiques de la UPC::Informàtica::Robòtica
Computer vision
Surgical robots
Robotic surgery
Beating heart surgery
Image analysis
Motion compensation
Visió per ordinador
Robòtica en medicina
Attribution 3.0 Spain

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