Beating-heart registration for organ-mounted robots.
Nathan A WoodDavid SchwartzmanMichael J PassineauRobert J MoracaMarco A ZenatiCameron N RivierePublished in: The international journal of medical robotics + computer assisted surgery : MRCAS (2018)
An empirical metric for spatiotemporal registration of organ-mounted robots is defined and demonstrated using data from animal models in vivo.