Position estimation of an epicardial crawling robot on the beating heart by modeling of physiological motion.
Nathan A. WoodDiego Moral del AguaMarco A. ZenatiCameron N. RivierePublished in: IROS (2011)
Keyphrases
- position estimation
- autonomous navigation
- beating heart
- position and orientation
- mobile robot
- mitral valve
- motion compensation
- cardiac motion
- minimally invasive
- dynamic environments
- path planning
- real time
- magnetic resonance imaging
- ego motion
- vision system
- deformable models
- cardiac cycle
- motion analysis
- motion estimation
- optical flow
- intraoperative
- computer vision
- motion tracking
- image sequences