1. Model-based Motion Estimation of Elastic Surfaces for Minimally Invasive Cardiac Surgery
Thomas Bader, Alexander Wiedemann, Kathrin Roberts,
and Uwe D. Hanebeck Institute of Computer Science and Engineering,
Universität Karlsruhe (TH), Germany
Aim: Motion Synchronization of surgery instruments with the point of
interest (POI) on the beating heart (see figure)
Method:
Description of the heart surface
by a vibrating membrane
State estimation of the membrane
and estimation of the
periodic excitation
Results: Prediction for arbitrary POIs
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