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A reliable estimation of heart surface motion is an important prerequisite for the synchronization of surgical instruments in robotic beating heart surgery. In general, only an imprecise description of the heart dynamics and measurement systems is available. This means that the estimation of heart motion is corrupted by stochastic and systematic uncertainties. Without consideration of these uncertainties,...
Most existing approaches for tracking of the beating heart motion assume known cardiac kinematics and material parameters. However, these assumptions are not realistic for application in beating heart surgery. In this paper, a novel probabilistic tracking approach based on a physical model of the heart surface is presented. In contrast to existing approaches, the physical information about heart kinematics...
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...
In order to assist surgeons during surgery on moving organs, e.g. minimally invasive beating heart bypass surgery, a master-slave system which synchronizes surgical instruments with the organ's motion is desired. This synchronization requires reliable estimation of the organ's motion. In this paper, we present a new approach to motion estimation based on a state motion model for a partition of the...
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