Paper Info
Title
Robust 3D visual tracking for robotic-assisted cardiac interventions.
Abstract
In the context of minimally invasive cardiac surgery, active vision-based motion compensation schemes have been proposed for mitigating problems related to physiological motion. However, robust and accurate visual tracking is a difficult task. The purpose of this paper is to present a hybrid tracker that estimates the heart surface deformation using the outputs of multiple visual tracking techniques. In the proposed method, the failure of an individual technique can be circumvented by the success of others, enabling the robust estimation of the heart surface deformation with increased spatial resolution. In addition, for coping with the absence of visual information due to motion blur or occlusions, a temporal heart motion model is incorporated as an additional support for the visual tracking task. The superior performance of the proposed technique compared to existing techniques individually is demonstrated through experiments conducted on recorded images of an in vivo minimally invasive CABG using the DaVinci robotic platform.
Year
DOI
Venue
2010
10.1007/978-3-642-15705-9_33
MICCAI
Keywords
Field
DocType
visual information,proposed technique,accurate visual tracking,motion blur,multiple visual tracking technique,temporal heart motion model,heart surface deformation,visual tracking task,robotic-assisted cardiac intervention,active vision-based motion compensation,spatial resolution,visual tracking,3d visualization,active vision,robust estimator,stereo
Computer vision,Active vision,Surface deformation,Minimally invasive cardiac surgery,Pattern recognition,Computer science,Motion compensation,Motion blur,Eye tracking,Artificial intelligence,Image resolution,Heart motion
Conference
Volume
Issue
ISSN
13
Pt 1
0302-9743
ISBN
Citations 
PageRank 
3-642-15704-1
16
0.81
References 
Authors
9
3
Name
Order
Citations
PageRank
Rogério Richa123814.89
A. P. L. Bó211713.14
Philippe Poignet351759.75