This paper presents a 2D Delaunay triangulation core for surface reconstruction implemented on a Field Programmable Gate Array (FPGA) chip. The core implementation is derived using high-level synthesis from a C++ description of an incremental 2D Delaunay triangulation algorithm. This description was modified accordingly so that it can be embedded into a FPGA chip using hardware description language. Goal of this work is to increase the execution speed of the algorithm so as to allow for real-time operation. Towards this end, we performed an optimization process using high level synthesis directives which pipeline regions of the code in order to achieve delay optimization. We show preliminary results using standard benchmark models for surface reconstruction, which show the performance of our design.

This paper presents a shared control approach for motion compensation in robotic beating heart surgery. Motion compensation consists of three main tasks; motion synchronization, image stabilization and shared control. The paper discusses a unifying framework under which the three tasks combine seamlessly. In this work, the planar 1-manifold case is considered, where a strip-wise affine map is performed to achieve image stabilization onto a canonical space, where shared control emerges naturally. A prototype teleoperation system is also described, implementing the algorithms. Experiments were performed with medically trained users, and the positive effect of motion compensation is analyzed.