NDLI: Robust 3D tracking for robotic-assisted beating heart surgery

Content Provider	IEEE Xplore Digital Library
Author	Poignet, P. Richa, R. Bo, A.P.L. Liu, C.
Copyright Year	2011
Description	Author affiliation: Robotics Department of the LIRMM lab, University of Montpellier 2, France (Poignet, P.; Richa, R.; Bo, A.P.L.; Liu, C.)
Abstract	The past decades have witnessed the notable development of minimally invasive surgery (MIS). The benefits of this modality of surgery for patients are numerous, shortening convalescence, reducing trauma and surgery costs. In this context, robotic assistance aims to make the surgical act more intuitive and safer. In the domain of cardiac MIS, heartbeat and respiration represent two important sources of disturbances. Even though miniaturized versions of heart stabilizers have been conceived for the MIS scenario, residual motion is still considerable and has to be manually canceled by the surgeon. Our work focuses on computer vision techniques for estimating the 3D motion of the heart relying solely on natural structures on the heart surface for active compensation of physiological motions. We have developed in [2] a visual tracking method for estimating the 3D deformation of a region of interest on the heart surface based on the visual feedback of a stereo endoscope. The method is robust to illumination variations and large tissue deformations (Fig. 1).
Starting Page	6686
Ending Page	6686
File Size	226787
Page Count	1
File Format	PDF
ISBN	9781424441211
ISSN	1557170X
e-ISBN	9781457715891
e-ISBN	9781424441228
DOI	10.1109/IEMBS.2011.6091648
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2011-08-30
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Heart Tracking Surgery Robots Visualization Three dimensional displays Robustness
Content Type	Text
Resource Type	Article
Subject	Signal Processing Biomedical Engineering Health Informatics Computer Vision and Pattern Recognition

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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