Heart surface motion estimation framework for robotic surgery employing meshless methods

Evgeniya Bogatyrenko, Uwe D. Hanebeck, G. Szabó

Research output: Chapter in Book/Report/Conference proceedingConference contribution

12 Citations (Scopus)

Abstract

A novel heart surface motion estimation framework 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 decomposition 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.

Original languageEnglish
Title of host publication2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Pages67-74
Number of pages8
DOIs
Publication statusPublished - Dec 11 2009
Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, MO, United States
Duration: Oct 11 2009Oct 15 2009

Other

Other2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
CountryUnited States
CitySt. Louis, MO
Period10/11/0910/15/09

Fingerprint

Motion estimation
Synchronization
Cameras
Robotic surgery
Decomposition

ASJC Scopus subject areas

  • Artificial Intelligence
  • Computer Vision and Pattern Recognition
  • Human-Computer Interaction
  • Control and Systems Engineering

Cite this

Bogatyrenko, E., Hanebeck, U. D., & Szabó, G. (2009). Heart surface motion estimation framework for robotic surgery employing meshless methods. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 (pp. 67-74). [5354398] https://doi.org/10.1109/IROS.2009.5354398

Heart surface motion estimation framework for robotic surgery employing meshless methods. / Bogatyrenko, Evgeniya; Hanebeck, Uwe D.; Szabó, G.

2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 67-74 5354398.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Bogatyrenko, E, Hanebeck, UD & Szabó, G 2009, Heart surface motion estimation framework for robotic surgery employing meshless methods. in 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009., 5354398, pp. 67-74, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, MO, United States, 10/11/09. https://doi.org/10.1109/IROS.2009.5354398
Bogatyrenko E, Hanebeck UD, Szabó G. Heart surface motion estimation framework for robotic surgery employing meshless methods. In 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. p. 67-74. 5354398 https://doi.org/10.1109/IROS.2009.5354398
Bogatyrenko, Evgeniya ; Hanebeck, Uwe D. ; Szabó, G. / Heart surface motion estimation framework for robotic surgery employing meshless methods. 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009. 2009. pp. 67-74
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