Whisker-Like Position Sensor for Measuring Physiological Motion

Feasibility of infrared tracking of beating heart motion for robotic assisted beating heart surgery

“…Moreover, some of these sensors are susceptible to large errors for such application. For instance, considering the large displacements, as high as 12 mm, of the human heart surface, strain gauge based whisker tracking systems are likely to be saturated during measurement . Accelerometer sensors, on the other hand, are affected by the rotation of the coordinate system with respect to gravity.…”

“…For instance, considering the large displacements, as high as 12 mm, 10 of the human heart surface, strain gauge based whisker tracking systems are likely to be saturated during measurement. 13 Accelerometer sensors, on the other hand, are affected by the rotation of the coordinate system with respect to gravity. Also, the drift and uncertainty of the initial conditions can lead to large errors in their estimation of the position data.…”

Motion prediction using dual Kalman filter for robust beating heart tracking

“…In [1], Nakamura et al firstly indicated that by tracking physiological motion and actively synchronizing surgical instruments with the motion, it is possible to provide a virtually stable operating environment for surgeons. Following Nakamura's concept, various sensor systems are employed to measure (track) the motion of point of interest (POI), such as 2D visual system [2], laser-scan [3], whisker sensor [4], sonomicrometry [5], and stereo endoscope [6]- [10]. These studies have justified the feasibility of the motion compensation in the beating heart surgery, though there are still many potential problems involving safety, reliability, accuracy and ergonomics.…”

A Quasi-Spherical Triangle-Based Approach for Efficient 3-D Soft-Tissue Motion Tracking

“…It considerably disturbs the precise execution of surgical procedures, resulting in longer surgery duration and more risks for patients. Active motion compensation techniques have been explored since 2000 [5]- [12]. The concept of heartbeat synchronization was first proposed by Nakamura et al [5].…”

“…Accurate estimation of tissue motion is the most important prerequisite. For this purpose, various kinds of sensor system have been employed, such as structured lighting [6], [7], accelerometer [8], vision systems with artificial markers [9], [10], sonomicrometry [11], and whisker sensors [12]. However, as indicated by Mountney et al [1], all these systems are not clinically popular as they require an additional instrument port besides the endoscope.…”