Directional Estimation for Robotic Beating Heart Surgery

• Main Author: Kurz, Gerhard (auth)
• Format: Electronic Book Chapter
• Language: English
• Published: KIT Scientific Publishing 2015
• Series: Karlsruhe Series on Intelligent Sensor-Actuator-Systems / Karlsruher Institut für Technologie, Intelligent Sensor-Actuator-Systems Laboratory
• Subjects: Oberflächenrekonstruktion; Sensordatenfusion; Richtungsstatistik; Directional Statistics; Medical Robotics; Bildstabilisierung; Surface Reconstruction; Sensor Data Fusion; Image Stabilization; Medizinrobotik
• Online Access: DOAB: download the publication; DOAB: description of the publication

In robotic beating heart surgery, a remote-controlled robot can be used to carry out the operation while automatically canceling out the heart motion. The surgeon controlling the robot is shown a stabilized view of the heart. First, we consider the use of directional statistics for estimation of the...