文章摘要

文章信息/Info

Title:: An efficient surgical navigation spatial registration method based on structured light

作者:: 丁芮1; 林钦永2; 彭科海3; 杨荣骞4△; （1.华南理工大学材料科学与工程学院，广州 510640； 2. 仲恺农业工程学院自动化学院，广州 510225；3. 广州艾目易科技有限公司，广州 512623；4. 华南理工大学电子与信息学院，广州 510641）

Author(s):: DING Rui1; LIN Qinyong2; PENG Kehai3; YANG Rongqian4; （1. School of Materials Science and Engineering, South China University of Technology, Guangzhou 510640，China；2. College of Automation, Zhongkai University of Agriculture and Engineering, Guangzhou 510225；3. Guangzhou Aimooe Technology Co. Ltd., Guangzhou 510006；4. School of Electronics and Information, South China University of Technology, Guangzhou 510641）

Keywords:: Structured light; Surgical navigation; Spatial registration; Optical tracking system; Surface registration

摘要:: 空间注册是手术导航系统获得手术空间与图像空间转换关系的关键步骤。针对现有手术导航系统存在的空间注册过程操作复杂、耗时长问题，本研究提出了一种基于编码散斑结构光的空间注册方法，设计了一种包含不同半径的圆形点阵光斑的散斑模板用于重建手术空间点云，通过与图像空间进行由粗到精的点云配准完成空间注册。实验表明，该方法在提升整体注册效率的同时，保证了较高的空间注册精度，整体注册时间小于10 s，所有靶点的平均注册精度为(0.89±0.08) mm，可满足在手术导航中的应用要求。

Abstract:: The spatial registration serves is a pivotal step for surgical navigation systems to establish the transformation relationship between surgical and image spaces. In response to the complexities and time-consuming nature of existing surgical navigation systems,we proposed a spatial registration method based on encoded speckle structured light. A speckle template containing circular dot spots of different radii was designed for the reconstruction of surgical space point clouds, and the spatial registration was completed through the coarse to fine point cloud registration with the image spaces.Experimental results demonstrated that this approach significantly enhanced overall registration efficiency while ensured a high level of spatial registration accuracy, with an average registration time of less than 10 s and accuracy of (0.89±0.08) mm for all target points.This can meet the application requirements in surgical navigation.