基于双目视觉和混合现实的光学手术导航仪

Optical surgical navigator based on binocular vision and mixed reality

当前手术导航系统在使用时,医生的视线要在显示屏和患者之间来回切换,容易造成医生的视觉疲劳,进而影响手术安全性。针对这种限制,提出了一种基于双目视觉和混合现实的光学手术导航仪,可以在视线不离开手术区域的情况下进行外科手术导航。设计了一种新型虚实配准方案,建立虚拟空间和现实世界之间的映射关系,并通过数据处理单元和眼镜的无线通讯,实现了虚拟模型的实时虚实融合显示。对光学导航仪的精度进行了验证,并对虚拟头骨模型进行虚实融合显示实验。结果表明,虚拟模型和真实模型间的误差在4.5 mm左右,实时帧率在15帧/s左右,验证了系统方案的可行性,展现了临床应用的潜力。

The current surgical navigation system requires the doctor’s sight to switch back and forth between the display screen and the patient, which can easily cause visual fatigue and affect the safety of the operation. In response, an optical surgical navigator based on mixed reality was introduced herein, which enabled the navigation information to be directly fused into the surgical area. The navigator was based on mixed reality(MR) glasses and a binocular vision tracker system.A novel virtual-real registration scheme was proposed, which established the mapping relationship between the virtual model coordinate system and the real world based on the tracker measurement.The wireless communication between the data processing unit and the MR glasses was realized, and the virtual model can be overlapped with the patient’s surgical area for real-time navigation. The accuracy of the optical navigator was verified with the virtual-real fusion display experiment based on a skull model sample. The results show that the dislocation error between the virtual model and the real sample is about 4.5 mm, and the display refreshing rate reaches about 15 frames per second,which can verify the feasibility of the proposed scheme and its potential for practical clinical application.