ArticleThe international journal of medical robotics + computer assisted surgery : MRCAS2019
Organ-mounted robot localization via function approximation.
Article in The international journal of medical robotics + computer assisted surgery : MRCAS, 2019. The graph could read no effect estimate from its abstract, so it casts no vote on the map. Cited by 1 paper.
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Who cites it
1 citing paper in PubMed.
- Development of a Flexible Parallel Wire Robot for Epicardial Interventions.The international journal of medical robotics + computer assisted surgery : MRCAS · 2026Article
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7 authors.
Funding
Abstract
backgroundOrgan-mounted robots adhere to the surface of a mobile organ as a platform for minimally invasive interventions, providing passive compensation of physiological motion. This approach is beneficial during surgery on the beating heart. Accurate localization in such applications requires accounting for the heartbeat and respiratory motion. Previous work has described methods for modeling quasi-periodic motion of a point and registering to a static preoperative map. The existing techniques, while accurate, require several respiratory cycles to converge.
methodsThis paper presents a general localization technique for this application, involving function approximation using radial basis function (RBF) interpolation.
resultsIn an experiment in the porcine model in vivo, the technique yields mean localization accuracy of 1.25 mm with a 95% confidence interval of 0.22 mm.
conclusionsThe RBF approximation provides accurate estimates of robot location instantaneously.
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Registered trials
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