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Calibration and Stereo Tracking of a Laparoscopic Ultrasound Transducer for Augmented Reality in Surgery

机译:腹腔镜超声换能器在手术中增强现实的校准和立体跟踪

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Laparoscopic ultrasound is a useful adjunct for guidance in minimally invasive surgery. Tracking the location of the ultrasound transducer relative to the laparoscope would enable an augmented reality overlay of subsurface anatomical features on the surgeon's field of view. The accuracy of tracking is a critical aspect for such augmented reality guidance. We propose stereo tracking of visible markers on a new "pickup" laparoscopic ultrasound transducer and a direct transformation of the ultrasound image into the coordinates of a stereo laparoscope. We also suggest that ultrasound calibration be performed using a separate stereo camera system with a wide baseline. Such calibration is shown to improve point reconstruction accuracy from 3.1 mm to 1.3 mm.
机译:腹腔镜超声检查对于微创手术的指导是有用的。跟踪超声换能器相对于腹腔镜的位置将能够在外科医生的视野上实现地下解剖特征的增强现实覆盖。跟踪的准确性是这种增强现实指导的关键方面。我们建议在新的“皮卡式”腹腔镜超声换能器上对可见标记物进行立体跟踪,并将超声图像直接转换为立体腹腔镜的坐标。我们还建议使用具有宽基线的单独的立体摄像机系统执行超声校准。示出这种校准可以将点重建精度从3.1毫米提高到1.3毫米。

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