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Aviles, AngelicaI, Casals, Alicia, (2014). On genetic algorithms optimization for heart motion compensation Advances in Intelligent Systems and Computing ROBOT2013: First Iberian Robotics Conference (ed. Armada, Manuel A., Sanfeliu, Alberto, Ferre, Manuel), Springer International Publishing 252, 237-244

Heart motion compensation is a challenging problem within medical robotics and it is still considered an open research area due to the lack of robustness. As it can be formulated as an energy minimization problem, an optimization technique is needed. The selection of an adequate method has a significant impact over the global solution. For this reason, a new methodology is presented here for solving heart motion compensation in which the central topic is oriented to increase robustness with the goal of achieving a balance between efficiency and efficacy. Particularly, genetic algorithms are used as optimization technique since they can be adapted to any real application, complex and oriented to work in real-time problems.

Keywords: Genetic Algorithms, Deformation, Stochastic Optimization, Beating Heart Surgery, Robotic Assisted Surgery