Interpolation Based Deformation Model for Minimally Invasive Beating Heart Surgery
Interpolation Based Deformation Model for Minimally Invasive Beating Heart Surgery
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DOI：
10.1007/978-3-319-00846-2_92
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发表时间：
2014
期刊：
影响因子：
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通讯作者：
Angelica I. Avilés;A. Casals
中科院分区：
文献类型：
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作者：
Angelica I. Avilés;A. Casals
心脏运动补偿是医疗机器人中的一个关键问题，因为微创心脏跳动手术比传统心脏手术具有更大的优势。虽然已经提出了不同的建议，但由于现有方法缺乏鲁棒性，目前还没有在真实的临床环境中工作的合适的解决方案。产生补偿动作所需的心脏运动估计的过程可以作为三个迭代步骤的过程来处理。第一种基于从跳动的心脏的视频序列的处理生成变形模型。变形模型的选择是至关重要的，因为它必须提供有价值的信息和良好的计算性能。当反应时间对系统行为有重大影响时，就需要这些特性，如本例所示。本文提出了一种基于插值方法的变形模型计算分析方法。特别是，小波和薄板样条进行评估。这项研究的意义在于，它是建立共同框架和健全解决办法的参考起点。此外，所获得的结果将有助于从解决方案的初始阶段增加鲁棒性。
Heart motion compensation is a key issue in medical robotics due to the benefits that minimally invasive beating heart surgery offers over traditional cardiac surgery. Although different proposals have been presented, nowadays, there is not yet a suitable solution working in real clinical environments due to the lack of robustness of existing methods. The process of heart motion estimation required to produce the compensation actions can be tackled as a process of three iterative steps. The first based on generating a deformation model from the processing of a video sequence of the beating heart. The selection of a deformation model is crucial in the sense that it has to offer both valuable information and good computational performance. These characteristics are required when the reaction time has a significant repercussion over the system behavior, as in this case. This paper, presents a computational analysis of deformation model based on interpolation methods. In particular, wavelet and thin-plate splines are evaluated. The significance of this study relies on the fact that it is a reference starting point of reference for creating both a common framework and a robust solution. In addition, the obtained results will contribute to increase the robustness from the initial stage of the solution.