Towards robotized beating heart TECABG: Assessment of the heart dynamics using high-speed vision

Figures & data

Figure 1. The heart stabilizer OCTOPUS and its visual markers. [Color version available online.]

Figure 2. The two uni-directional air flowmeters (Honeywell, AWM700). [Color version available online.]

Figure 3. Trajectories of the AOI in 3D space without ventilation (time parametrization, depth z coded in color intensity). [Color version available online.]

Figure 4. Trajectories of the AOI in 3D space with ventilation (time parametrization, depth z coded in color intensity). [Color version available online.]

Figure 5. Translational and angular motions with respect to cardiac phase χ (IS = inferior-superior, RL = right-left, PA = posterior-anterior.) [Color version available online.]

Table I.  Maximum and standard deviations with respect to the mean trajectory of 15 consecutive heartbeats.

	Frontal plane		Sagittal plane
	Max deviation	Std deviation	Max deviation	Std deviation
Free motion	146.6 µm	25.6 µm	1.6mm	0.39mm
Stabilized	63.7 µm	14.7 µm	1.5mm	0.4mm

Figure 6. AOI translational and rotational velocity magnitudes with respect to the ECG phase. [Color version available online.]

Figure 7. AOI translational and rotational acceleration magnitudes with respect to the ECG phase. [Color version available online.]

Figure 8. Arrhythmia 1. [Color version available online.]

Figure 9. Arrhythmia 2. [Color version available online.]

Figure 10. Motion in the frontal plane, ECG and lung volume with respect to time. [Color version available online.]

Figure 11. Extracted respiratory motion with QRS sampling and FLC. [Color version available online.]

Figure 12. Extracted respiratory motion in the IS, RL and PA planes. [Color version available online.]

Figure 13. Block diagram of the motion predictor.

Figure 14. Predictor output for 0.5_χ anticipation. [Color version available online.]

Figure 15. Predictor output for 1_χ anticipation. [Color version available online.]

Table II.  Comparison of the mean prediction error.

	Translations			Rotations
Method	Tx (IS)	Ty (RL)	Tz (PA)	Rx (IS)	Ry (RL)	Rz (PA)
FLC	0.1017mm	0.1238mm	0.9212mm	0.0055rad	0.0027rad	0.0037rad
QRS	0.1045mm	0.1455mm	0.5528mm	0.0052rad	0.0022rad	0.0036rad
QRS + LPV	0.0453mm	0.0810mm	0.5155mm	0.0030rad	0.0017rad	0.0018rad