Liver point cloud registration via multi-feature fusion and hyperbolic embedding for augmented reality surgical...

Augmented reality surgical navigation can help surgeons precisely locate tumors, veins, arteries and other critical structures during laparoscopic liver surgery. A key step in the navigation is registering the preoperative 3D liver model with the intraoperative liver surface. Accurate registration first requires rigid alignment; however, rigid point cloud registration in laparoscopic scenes remains a challenging task.

We propose a method that employs a dual-backbone to extract features from the point cloud, fusing these features to obtain robust descriptors. The fused features are then mapped to hyperbolic space, where hyperbolic attention is introduced to enhance feature representation further. In addition, position encoding is incorporated to improve the model's geometric perception. Following this, a coarse-to-fine matching strategy is applied to perform patch-level and point-level matching sequentially. Finally, the transformation matrix is computed using RANSAC based on the derived point correspondences.

We evaluated our method on real-world and simulated datasets, including porcine data and two valuable clinical patient datasets acquired under pneumoperitoneum. The results show strong performance in the rigid registration stage. In several settings, the method achieves state-of-the-art results. On the 3Dircadb01 simulated dataset, our method achieved the highest inlier ratio of 64.53% and the lowest surface registration error of 4.07mm.

Our proposed method improves rigid registration accuracy and robustness for the initial alignment from preoperative medical image space to intraoperative laparoscopic image space in AR surgical navigation. It provides a reliable rigid initialization for subsequent non-rigid registration. Our code will be released at Github.