TY - JOUR

T1 - Motion Estimation in Beating Heart Surgery

AU - Ortmaier, Tobias

AU - Gröger, Martin

AU - Boehm, Dieter H.

AU - Falk, Volkmar

AU - Hirzinger, Gerd

N1 - Funding information: Manuscript received January 16, 2004; revised February 27, 2005. This work was supported in part by the German Research Foundation (DFG) through Collaborative Research Centre (SFB) 453 on “High-Fidelity Telepresence and Tele-action.” Asterisk indicates corresponding author. *T. Ortmaier is with the German Aerospace Center (DLR), Institute of Robotics and Mechatronics, Oberpfaffenhofen, 82234 Wessling, Germany (e-mail: tobias.ortmaier@alumni.tum.de; http://www.dlr.de/rm). M. Gröger and G. Hirzinger are with the German Aerospace Center (DLR), Institute of Robotics and Mechatronics, 82234 Wessling, Germany (e-mail: martin.groeger@dlr.de). D. H. Boehm is with the Department of Cardiovascular Surgery, the University of Hamburg-Eppendorf, 22085 Hamburg, Gemany. V. Falk is with the Heartcenter Leipzig, 04289 Leipzig, Germany. Digital Object Identifier 10.1109/TBME.2005.855716 Fig. 1. Mechnically stabilized heart with landmarks and tracking areas (from left to right LM2, LM8, and LM1).

PY - 2005/10

Y1 - 2005/10

N2 - Minimally invasive beating-heart surgery offers substantial benefits for the patient, compared to conventional open surgery. Nevertheless, the motion of the heart poses increased requirements to the surgeon. To support the surgeon, algorithms for an advanced robotic surgery system are proposed, which offer motion compensation of the beating heart. This implies the measurement of heart motion, which can be achieved by tracking natural landmarks. In most cases, the investigated affine tracking scheme can be reduced to an efficient block matching algorithm allowing for realtime tracking of multiple landmarks. Fourier analysis of the motion parameters shows two dominant peaks, which correspond to the heart and respiration rates of the patient. The robustness in case of disturbance or occlusion can be improved by specially developed prediction schemes. Local prediction is well suited for the detection of single tracking outliers. A global prediction scheme takes several landmarks into account simultaneously and is able to bridge longer disturbances. As the heart motion is strongly correlated with the patient's electrocardiogram and respiration pressure signal, this information is included in a novel robust multisensor prediction scheme. Prediction results are compared to those of an artificial neural network and of a linear prediction approach, which shows the superior performance of the proposed algorithms.

AB - Minimally invasive beating-heart surgery offers substantial benefits for the patient, compared to conventional open surgery. Nevertheless, the motion of the heart poses increased requirements to the surgeon. To support the surgeon, algorithms for an advanced robotic surgery system are proposed, which offer motion compensation of the beating heart. This implies the measurement of heart motion, which can be achieved by tracking natural landmarks. In most cases, the investigated affine tracking scheme can be reduced to an efficient block matching algorithm allowing for realtime tracking of multiple landmarks. Fourier analysis of the motion parameters shows two dominant peaks, which correspond to the heart and respiration rates of the patient. The robustness in case of disturbance or occlusion can be improved by specially developed prediction schemes. Local prediction is well suited for the detection of single tracking outliers. A global prediction scheme takes several landmarks into account simultaneously and is able to bridge longer disturbances. As the heart motion is strongly correlated with the patient's electrocardiogram and respiration pressure signal, this information is included in a novel robust multisensor prediction scheme. Prediction results are compared to those of an artificial neural network and of a linear prediction approach, which shows the superior performance of the proposed algorithms.

KW - Beating heart surgery

KW - Motion compensation

KW - Motion estimation

KW - Robotic surgery

KW - Tracking

KW - Virtual immobilization

UR - http://www.scopus.com/inward/record.url?scp=26444514905&partnerID=8YFLogxK

U2 - 10.1109/TBME.2005.855716

DO - 10.1109/TBME.2005.855716

M3 - Article

C2 - 16235658

AN - SCOPUS:26444514905

VL - 52

SP - 1729

EP - 1740

JO - IEEE Transactions on Biomedical Engineering

JF - IEEE Transactions on Biomedical Engineering

SN - 0018-9294

IS - 10

ER -