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An Augmented Reality System Using Improved-Iterative Closest Point Algorithm for On-Patient Medical Image Visualization

机译：使用改进的迭代最近点算法的增强现实系统用于患者医学图像的可视化

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摘要

In many surgery assistance systems, cumbersome equipment or complicated algorithms are often introduced to build the whole system. To build a system without cumbersome equipment or complicated algorithms, and to provide physicians the ability to observe the location of the lesion in the course of surgery, an augmented reality approach using an improved alignment method to image-guided surgery (IGS) is proposed. The system uses RGB-Depth sensor in conjunction with the Point Cloud Library (PCL) to build and establish the patient’s head surface information, and, through the use of the improved alignment algorithm proposed in this study, the preoperative medical imaging information obtained can be placed in the same world-coordinates system as the patient’s head surface information. The traditional alignment method, Iterative Closest Point (ICP), has the disadvantage that an ill-chosen starting position will result only in a locally optimal solution. The proposed improved para-alignment algorithm, named improved-ICP (I-ICP), uses a stochastic perturbation technique to escape from locally optimal solutions and reach the globally optimal solution. After the alignment, the results will be merged and displayed using Microsoft’s HoloLens Head-Mounted Display (HMD), and allows the surgeon to view the patient’s head at the same time as the patient’s medical images. In this study, experiments were performed using spatial reference points with known positions. The experimental results show that the proposed improved alignment algorithm has errors bounded within 3 mm, which is highly accurate.
机译：在许多手术辅助系统中，常常引入笨重的设备或复杂的算法来构建整个系统。为了构建没有繁琐设备或复杂算法的系统，并为医生提供在手术过程中观察病变位置的能力，提出了一种使用改进的对准方法进行图像引导手术（IGS）的增强现实方法。该系统将RGB深度传感器与点云库（PCL）结合使用，以建立和建立患者的头部表面信息，并且通过使用本研究中提出的改进的对准算法，可以将获得的术前医学影像信息放置在与患者头部表面信息相同的世界坐标系中。传统的对齐方法（迭代最接近点（ICP））具有以下缺点：错误选择的起始位置只会导致局部最优解。所提出的改进的对位对准算法称为改进的ICP（I-ICP），它使用随机扰动技术来逃脱局部最优解并达到全局最优解。对齐后，将使用Microsoft的HoloLens头戴式显示器（HMD）合并并显示结果，并允许外科医生在查看患者的医学图像的同时查看患者的头部。在这项研究中，使用已知位置的空间参考点进行了实验。实验结果表明，所提出的改进的对准算法具有3mm以内的误差范围，是高精度的。

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