Sliding to predict: vision-based beating heart motion estimation by modeling temporal interactions.
Publication Date
2018-03Journal Title
International journal of computer assisted radiology and surgery
ISSN
1861-6410
Publisher
Springer Nature
Volume
13
Issue
3
Pages
353-361
Language
eng
Type
Article
This Version
VoR
Physical Medium
Print-Electronic
Metadata
Show full item recordCitation
Aviles-Rivero, A. I., Alsaleh, S. M., & Casals, A. (2018). Sliding to predict: vision-based beating heart motion estimation by modeling temporal interactions.. International journal of computer assisted radiology and surgery, 13 (3), 353-361. https://doi.org/10.1007/s11548-018-1702-1
Abstract
Purpose: Technical advancements have been part of modern medical solutions as they promote better surgical alternatives that serve to the benefit of patients. Particularly with cardiovascular surgeries, robotic surgical systems enable surgeons to perform delicate procedures on a beating heart, avoiding the complications of cardiac arrest. This advantage comes with the price of having to deal with a dynamic target which presents technical challenges for the surgical system. In this work, we propose a solution for cardiac motion estimation.
Methods: Our estimation approach uses of a variational framework that guarantees preservation of the complex anatomical of the heart. An advantage of our approach is that it takes into account different disturbances, such as specular reflections and occlusion events. This is achieved by performing a pre-processing step that eliminates the specular highlights and a predicting step, based on a Conditional Restricted Boltzmann Machine, that recovers missing information caused by partial occlusions.
Results: We carried out exhaustive experimentations on two datasets, one from a phantom and the other from an in-vivo procedure. The results show that our visual approach reaches an average minima in the order of magnitude of 10^-7 while preserving the heart's anatomic structure and providing stable values for the Jacobian determinant ranging from 0.917 to 1.015. We also show that our specular elimination approach reaches an accuracy of 99% compared to a ground truth. In terms of prediction, our approach compared favorably against two well-known predictors, NARX and EKF, giving the lowest average RMSE of 0.071.
Conclusion: Our approach avoids the risks of using mechanical stabilizers and can also be effective for acquiring the motion of organs other than the heart, such as the lung or other deformable objects.
Keywords
Humans, Heart Diseases, Imaging, Three-Dimensional, Diagnostic Techniques, Cardiovascular, Cardiac Surgical Procedures, Phantoms, Imaging, Myocardial Contraction, Robotics, Algorithms, Motion
Sponsorship
EPSRC (EP/N014588/1)
Embargo Lift Date
2100-01-01
Identifiers
External DOI: https://doi.org/10.1007/s11548-018-1702-1
This record's URL: https://www.repository.cam.ac.uk/handle/1810/273885
Recommended or similar items
The following licence files are associated with this item: