ArticleThe international journal of medical robotics + computer assisted surgery : MRCAS2017
Physiological motion modeling for organ-mounted robots.
Article in The international journal of medical robotics + computer assisted surgery : MRCAS, 2017. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 3 papers.
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Who cites it
3 citing papers in PubMed.
- Organ-mounted robot localization via function approximation.The international journal of medical robotics + computer assisted surgery : MRCAS · 2019Article
- Robotics in cardiac surgery.Annals of the Royal College of Surgeons of England · 2018Review
- Beating-heart registration for organ-mounted robots.The international journal of medical robotics + computer assisted surgery : MRCAS · 2018Article
Corrections and comments
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Authors and funding
4 authors.
Funding
Abstract
backgroundOrgan-mounted robots passively compensate heartbeat and respiratory motion. In model-guided procedures, this motion can be a significant source of information that can be used to aid in localization or to add dynamic information to static preoperative maps.
methodsModels for estimating periodic motion are proposed for both position and orientation. These models are then tested on animal data and optimal orders are identified. Finally, methods for online identification are demonstrated.
resultsModels using exponential coordinates and Euler-angle parameterizations are as accurate as models using quaternion representations, yet require a quarter fewer parameters. Models which incorporate more than four cardiac or three respiration harmonics are no more accurate. Finally, online methods estimate model parameters as accurately as offline methods within three respiration cycles.
conclusionsThese methods provide a complete framework for accurately modelling the periodic deformation of points anywhere on the surface of the heart in a closed chest.
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