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Related Experiment Video

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On-patient see-through augmented reality based on visual SLAM.

Nader Mahmoud1,2, Óscar G Grasa3, Stéphane A Nicolau3

  • 1IRCAD (Institut de Recherche contre les Cancers de l'Appareil Digestif), Strasbourg, France. nader-mahmoud.ali@etu.unistra.fr.

International Journal of Computer Assisted Radiology and Surgery
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Summary

This study introduces an augmented reality system for real-time 3D surgical visualization using a tablet-PC. The markerless system achieves accurate anatomical model alignment, enhancing surgical workflow with minimal hardware.

Keywords:
Augmented realityOperating roomRegistrationSurface meshesVisual SLAM

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Area of Science:

  • Medical technology
  • Computer-assisted surgery
  • Augmented reality

Background:

  • Surgical planning often relies on static 2D images.
  • Integrating 3D preoperative models into the live surgical field remains a challenge.
  • Existing systems may require cumbersome external tracking or patient-specific markers.

Purpose of the Study:

  • To develop an augmented reality (AR) system for overlaying 3D preoperative anatomical models onto intraoperative patients.
  • To achieve markerless, real-time visualization using only a commercial tablet-PC and its camera.

Main Methods:

  • Visual Simultaneous Localization and Mapping (SLAM) was employed for markerless, real-time camera tracking relative to the patient.
  • Preoperative models were registered to the patient using 4-6 anatomical anchor points selected on the tablet interface.
  • System performance was validated on human volunteers, pigs, and a surgical phantom.

Main Results:

  • The system demonstrated accurate and real-time alignment of the 3D preoperative model with the patient, achieving approximately 5-mm mean fitting residual error (FRE) and tracking registration error (TRE).
  • Effective alignment was maintained even when anchor points were temporarily out of the camera's view.
  • Experimental validation confirmed the system's feasibility in diverse settings.

Conclusions:

  • The proposed AR system offers seamless integration into surgical workflows.
  • Key advantages include real-time operation, minimal hardware requirements (tablet-PC with camera), robustness to occlusions, and reduced need for medical staff interaction.