关键词: 2D/3D配准, 颜色一致性, 内窥镜跟踪, 增强现实, 手术导航仿真系统

Abstract: Minimally invasive endoscopic surgery always remains a challenge due to the complexity of the anatomical location and the limitations of endoscopic vision. An augmented reality(AR) navigation system was designed for simulation pelvic minimally invasive surgery. At first, a 3D model of pelvis which was segmented and reconstructed from the preoperative CT was textured mapping with the real pelvic surgical video, and then generated simulation surgical video with the ground truth pose. The blank model is initially registered with the intraoperative video by a 2D/3D registration based on color consistency of visible surface points. After that, an accurate tracking of intraoperative endoscopic is performed using a stereoscopic tracking algorithm. According to the multi-DOFs transformation matrix of endoscopic, the preoperative 3D model can then be fused to the intraoperative vision to achieve an AR navigation. The experiment results show that the root mean square error of the estimated compared to the ground truth is 2.3933 mm, which reveal that the system can achieve a good AR display for visual navigation.

Key words: 2D/3D registration, color-consistency, endoscopic tracking, augmented reality, surgery navigating system