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Research on surgical robotics demands systems for evaluating scientific approaches. Such systems can be divided into dedicated and versatile systems. Dedicated systems are designed for a single surgical task or technique, whereas versatile systems are designed to be expandable and useful in multiple surgical applications. Versatile systems are often based(More)
Minimally invasive beating-heart surgery offers substantial benefits for the patient, compared to conventional open surgery. Nevertheless, the motion of the heart poses increased requirements to the surgeon. To support the surgeon, algorithms for an advanced robotic surgery system are proposed, which offer motion compensation of the beating heart. This(More)
This paper deals with the reconstruction of original image structure in the presence of local disturbances such as specular reflections. It presents two novel schemes for their elimination with respect to the local image structure: an efficient linear interpolation scheme and an iterative filling-in approach employing anisotropic diffusion. The algorithms(More)
Specular reflections pose a particular challenge to intensity-based tracking approaches. The proposed scheme substitutes specular areas with respect to local image structures, extracted by the structure tensor. It can be applied to images of the beating heart prior to tracking and is shown to improve the estimation of local motion by natural landmarks(More)
The compensation of motion of the beating heart is investigated in the context of minimally invasive robotic surgery. Although reduced by mechanical stabilisers, residual tissue motion makes surgery still difficult and time consuming. Compensation for this motion is therefore highly desirable. Motion can be captured by tracking natural landmarks on the(More)