<title>Tracking local motion on the beating heart</title>

摘要

Local motion on the beating heart is investigated in the context of minimally invasive robotic surgery. The focus lies on the motion remaining in the mechanically stabilised field of surgery of the heart. Motion is detected by tracking natural landmarks on the heart surface in 2D video images. An appropriate motion model is presented with a discussion of its degrees of freedom and a trajectory analysis of its parameters.