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Fusing Prediction and Perception: Adaptive Kalman Filter-Driven Respiratory Gating for MR Surgical Navigation.

Haoliang Li1, Shuyi Wang1, Jingyi Hu1

  • 1School of Health Science and Engineering, University of Shanghai for Science and Technology, Shanghai 200093, China.

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|January 28, 2026
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Summary
This summary is machine-generated.

This study introduces a mixed-reality surgical navigation system to reduce respiratory motion errors during percutaneous puncture. The system improves accuracy by predicting breathing patterns for precise needle insertion guidance.

Keywords:
adaptive kalman filtermixed realityrespiratory gatingrespiratory motion compensation

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Area of Science:

  • Medical Imaging
  • Surgical Navigation
  • Augmented Reality

Background:

  • Respiratory motion causes significant target displacement during thoracoabdominal percutaneous puncture.
  • Current augmented reality (AR) guided procedures face challenges with system latency, reliance on intraoperative imaging, and lack of intelligent timing.
  • Accurate and safe percutaneous puncture is hindered by unpredictable respiratory movements.

Purpose of the Study:

  • To develop and evaluate a mixed-reality (MR) surgical navigation system for compensating respiratory-induced target displacement.
  • To provide intelligent timing assistance for percutaneous puncture procedures.
  • To enhance the accuracy and safety of AR-guided thoracoabdominal interventions.

Main Methods:

  • Developed an MR surgical navigation system integrating an Adaptive Kalman-filter-based respiratory prediction module and visual gating cues.
  • Evaluated the system using a dynamic respiratory motion simulation platform.
  • Utilized real-time state estimation and short-term prediction of optically tracked respiratory motion for compensation and guidance window forecasting.

Main Results:

  • Reduced dynamic registration error from 3.15 ± 1.23 mm to 2.11 ± 0.58 mm (p < 0.001) compared to uncompensated conditions.
  • Achieved >92% accuracy in predicting the end-inhalation window for guidance, occurring approximately 142 ms in advance.
  • Demonstrated effective suppression of MR model drift caused by respiratory motion.

Conclusions:

  • The integrated MR system successfully mitigates respiratory-induced model drift in surgical navigation.
  • Intelligent timing guidance for puncture execution was effectively provided, enhancing procedural precision.
  • The developed system offers a promising solution for improving accuracy and safety in AR-guided percutaneous procedures.