{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,16]],"date-time":"2026-05-16T11:11:07Z","timestamp":1778929867496,"version":"3.51.4"},"reference-count":26,"publisher":"SAGE Publications","issue":"2-3","license":[{"start":{"date-parts":[[2009,12,11]],"date-time":"2009-12-11T00:00:00Z","timestamp":1260489600000},"content-version":"tdm","delay-in-days":0,"URL":"https:\/\/journals.sagepub.com\/page\/policies\/text-and-data-mining-license"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["The International Journal of Robotics Research"],"published-print":{"date-parts":[[2010,2]]},"abstract":"<jats:p>Minimally invasive cardiac surgery offers important benefits for the patient but it also imposes several challenges for the surgeon. Robotic assistance has been proposed to overcome many of the difficulties inherent to the minimally invasive procedure, but so far no solutions for compensating physiological motion are present in the existing surgical robotic platforms. In beating heart surgery, cardiac and respiratory motions are important sources of disturbance, hindering the surgeon\u2019s gestures and limiting the types of procedures that can be performed in a minimally invasive fashion. In this context, computer vision techniques can be used for retrieving the heart motion for active motion stabilization, which improves the precision and repeatability of the surgical gestures. However, efficient tracking of the heart surface is a challenging problem due to the heart surface characteristics, large deformations and the complex illumination conditions. In this article, we present an efficient method for active cancellation of cardiac motion where we combine an efficient algorithm for 3D tracking of the heart surface based on a thin-plate spline deformable model and an illumination compensation algorithm able to cope with arbitrary illumination changes. The proposed method has two novelties: the thin-plate spline model for representing the heart surface deformations and an efficient parametrization for 3D tracking of the beating heart using stereo images from a calibrated stereo endoscope. The proposed tracking method has been evaluated offline on in vivo images acquired by a DaVinci surgical robotic platform.<\/jats:p>","DOI":"10.1177\/0278364909356600","type":"journal-article","created":{"date-parts":[[2009,12,11]],"date-time":"2009-12-11T20:25:14Z","timestamp":1260563114000},"page":"218-230","source":"Crossref","is-referenced-by-count":64,"title":["Three-dimensional Motion Tracking for Beating Heart Surgery Using a Thin-plate Spline Deformable Model"],"prefix":"10.1177","volume":"29","author":[{"given":"Rog\u00e9rio","family":"Richa","sequence":"first","affiliation":[{"name":"LIRMM, UMR 5506 CNRS, UM 2, 161, rue Ada, 34392 Montpellier Cedex 5, France,"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Philippe","family":"Poignet","sequence":"additional","affiliation":[{"name":"LIRMM, UMR 5506 CNRS, UM 2, 161, rue Ada, 34392 Montpellier Cedex 5, France"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"family":"Chao Liu","sequence":"additional","affiliation":[{"name":"LIRMM, UMR 5506 CNRS, UM 2, 161, rue Ada, 34392 Montpellier Cedex 5, France"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"179","published-online":{"date-parts":[[2009,12,11]]},"reference":[{"key":"atypb1","volume-title":"Proceedings of IEEE Conference on Intelligent Robots and Systems (IROS \u201907)","author":"Bader, T."},{"key":"atypb2","volume-title":"Proceedings of the 15th British Machine Vision Conference","author":"Bartoli, A."},{"key":"atypb3","doi-asserted-by":"publisher","DOI":"10.1109\/TRO.2007.895077"},{"issue":"7","key":"atypb4","first-page":"661","volume":"26","author":"Benhimane, S.","year":"2007","journal-title":"International Journal of Computer Vision"},{"key":"atypb5","doi-asserted-by":"publisher","DOI":"10.1109\/34.24792"},{"key":"atypb6","volume-title":"Proceedings of the 12th International Conference on Advanced Robotics (ICAR)","author":"Cavusoglu, M.C."},{"key":"atypb7","volume-title":"Compensation du battement cardiaque en chirurgie robotis\u00e9e: Asservissement visuel d\u2019un robot m\u00e9dical avec flexibilit\u00e9s. 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