Published September 20, 2006
| Version v1
Conference paper
3D Heart Motion Estimation Using Endoscopic Monocular Vision System
- Others:
- Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM) ; Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)
- SINTERS S.A. [Toulouse]
- Robotique médicale et mécanismes parallèles (DEXTER) ; Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier (LIRMM) ; Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)-Université de Montpellier (UM)-Centre National de la Recherche Scientifique (CNRS)
- Advanced Robotics and Autonomous Systems (AROBAS) ; Inria Sophia Antipolis - Méditerranée (CRISAM) ; Institut National de Recherche en Informatique et en Automatique (Inria)-Institut National de Recherche en Informatique et en Automatique (Inria)
- Service de chirurgie thoracique et cardio-vasculaire ; Université Montpellier 1 (UM1)-Centre Hospitalier Régional Universitaire [Montpellier] (CHRU Montpellier)-Hôpital Arnaud de Villeneuve-Université de Montpellier (UM)
Description
In robotic assisted beating heart surgery, motion of the heart surface might be virtually stabilized to let the surgeon work as in on-pump cardiac surgery. Virtual stabilization means to compensate physically the relative motion between instrument tool tip and point of interest on the heart surface, and to offer surgeon a stable visual display of the scene. In this way, motion of the heart must be estimated. This article focus on motion estimation of heart surface. Classical computer vision method has been applied to reconstruct 3D pose of interest point. Experimental results obtained on in vivo images show the estimated motion of heart surface points.
Abstract
International audience
Additional details
- URL
- https://hal-lirmm.ccsd.cnrs.fr/lirmm-00100317
- URN
- urn:oai:HAL:lirmm-00100317v1
- Origin repository
- UNICA