Beating heart motion prediction for robust visual tracking

Richa, Rogério; Bó, Antônio Padilha Lanari; Poignet, Philippe

doi:10.1109/robot.2010.5509894

Cited by 38 publications

(46 citation statements)

References 11 publications

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“…This is typically achieved with iterative strategies such as optical flow (Horn and Schunck, 1981;Lucas and Kanade, 1981), which are based on the knowledge of the location of a feature in the previous frame to constrain a search for the corresponding feature in the next frame, assuming a small degree of motion and intensity coherence. Iterative strategies have been combined with predictive models of feature localization based on prior knowledge of anatomical periodicity, machine learning approaches and predictive filtering (Ginhoux et al, 2005;Ortmaier et al, 2005;Bachta et al, 2009;Bogatyrenko et al, 2011;Richa et al, 2010;Giannarou et al, 2012;Mahadevan and Vasconcelos, 2009;Puerto Souza et al) and have been extensively used in laparoscopic images with varying degrees of success (Sauvee et al, 2007;Elhawary and Popovic, 2011;Ortmaier et al, 2005;Yip et al, 2012).…”

Section: Discussionmentioning

confidence: 99%

“…An extension of the algorithm showing reduced noise artefacts has also been presented (Bernhardt et al, 2012). To boost the computational performance of reconstruction, algorithms using the graphics processing unit (GPU) have recently been reported (Kowalczuk et al, 2012;Richa et al, 2010;Röhl et al, 2012). These approaches rely on executing computationally expensive elements of the algorithm, such as cost computation, simultaneously on multiple cores of the GPU.…”

Section: Application To Laparoscopymentioning

confidence: 99%

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Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

Maier-Hein

Mountney

Bartoli

et al. 2013

Medical Image Analysis

234

130

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One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-operative morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon's navigation capabilites by observing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted instruments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D optical imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions.

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Section: Discussionmentioning

confidence: 99%

Section: Application To Laparoscopymentioning

confidence: 99%

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

Maier-Hein

Mountney

Bartoli

et al. 2013

Medical Image Analysis

234

130

View full text Add to dashboard Cite

show abstract

“…Richa et al [13] model the quasi-periodic beating heart motion as a time-varying dual Fourier series and use an Extended Kalman Filter (EKF) to estimate the parameters. Likewise in [14,15] a truncated time varying Fourier series with an offset plus EKF is used to model the motion and estimate the characteristic parameters recursively.…”

Section: Related Workmentioning

confidence: 99%

Heart Motion Prediction in Robotic-Assisted Beating Heart Surgery: A Nonlinear Fast Adaptive Approach

Wang

et al. 2013

International Journal of Advanced Robotic Systems

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Off-pump Coronary Artery Bypass Graft (CABG) surgery outperforms traditional on-pump surgery because the assisted robotic tools can alleviate the relative motion between the beating heart and robotic tools. Therefore, it is possible for the surgeon to operate on the beating heart and thus lessens post surgery complications for the patients. Due to the highly irregular and non-stationary nature of heart motion, it is critical that the beating heart motion is predicted in the modelbased track control procedures. It is technically preferable to model heart motion in a nonlinear way because the characteristic analysis of 3D heart motion data through Bi-spectral analysis and Fourier methods demonstrates the involved nonlinearity of heart motion. We propose an adaptive nonlinear heart motion model based on the Volterra Series in this paper. We also design a fast lattice structure to achieve computational-efficiency for realtime online predictions. We argue that the quadratic term of the Volterra Series can improve the prediction accuracy by covering sharp change points and including the motion with sufficient detail. The experiment results indicate that the adaptive nonlinear heart motion prediction algorithm outperforms the autoregressive (AR) and the time-varying Fourier-series models in terms of the root mean square of the prediction error and the prediction error in extreme cases.

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“…Ginhoux et al [15] proposed a similar Fourier linear combiner model and moreover added disturbance modelling. In [16], the quasi-periodic beating heart motion was modelled as a time-varying dual Fourier series and an Extended Kalman Filter (EKF) was used to estimate the parameters. Yuen et al [17,18] used a one degree-of-freedom motion compensation system to synchronize with tissue motions that may be approximated by 1D motion.…”

Section: Related Workmentioning

confidence: 99%

A Quadratic Nonlinear Prediction-Based Heart Motion Model following Control Algorithm in Robotic-Assisted Beating Heart Surgery

Meng

2013

International Journal of Advanced Robotic Systems

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Off-pump coronary artery bypass graft surgery outperforms the traditional on-pump surgery because the assisted robotic tools can cancel the relative motion between the beating heart and the robotic tools, which reduces post-surgery complications for patients. The challenge for the robot assisted tool when tracking the beating heart is the abrupt change caused by the nonlinear nature of heart motion and high precision surgery requirements. A characteristic analysis of 3D heart motion data through bi-spectral analysis demonstrates the quadratic nonlinearity in heart motion. Therefore, it is necessary to introduce nonlinear heart motion prediction into the motion tracking control procedures. In this paper, the heart motion tracking problem is transformed into a heart motion model following problem by including the adaptive heart motion model into the controller. Moreover, the model following algorithm with the nonlinear heart motion model embedded inside provides more accurate future reference by the quadratic term of sinusoid series, which could enhance the tracking accuracy of sharp change point and approximate the motion with sufficient detail. The experiment results indicate that the proposed algorithm outperforms the linear prediction-based model following controller in terms of tracking accuracy (root mean square).

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Beating heart motion prediction for robust visual tracking

Cited by 38 publications

References 11 publications

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

Heart Motion Prediction in Robotic-Assisted Beating Heart Surgery: A Nonlinear Fast Adaptive Approach

A Quadratic Nonlinear Prediction-Based Heart Motion Model following Control Algorithm in Robotic-Assisted Beating Heart Surgery

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