Augmented reality surgery navigation method based on video superposing, system and electronic equipment

Abstract

The invention discloses an augmented reality surgery navigation method based on video superposing, a system and electronic equipment. The method comprises the steps of acquiring a preoperative three-dimensional anatomical model of a target tissue organ; according to laparoscope video information which is acquired by a three-dimensional laparoscope in the surgery, constructing point cloud data on the surface of the target tissue organ; registering the preoperative three-dimensional model and the point cloud data, according to a registering result, obtaining a target transforming relation between the preoperative three-dimensional anatomical model and the point cloud data which correspond with a current laparoscope view; and according to the target transforming relation, superposing and displaying the preoperative three-dimensional anatomical model on the laparoscope view through augmented reality technology. Therefore fully automatic non-rigid registering can be realized without artificial manual intervention. Furthermore no any marking point or external tracking equipment is required. Augmented reality displaying of the visual field in the surgery can be finished in a standard clinical surgery process, and furthermore real-time navigation of the whole surgery process is finished through image tracking technology, thereby realizing imaging guiding of a doctor in surgery.

Description

technical field [0001] The present invention relates to the technical field of minimally invasive surgery, in particular to a method, system and electronic equipment for augmented reality surgical navigation based on video superposition. Background technique [0002] Laparoscopic minimally invasive surgery has become the main surgical method for the treatment of soft tissue organs, such as partial resection of renal tumors, partial resection of liver tumors, and pancreaticoduodenectomy. However, minimally invasive surgery and laparoscopic surgery have limited perception of the surgical environment and limited operating time, making surgery highly demanding on the experience and skills of doctors. Augmented reality surgical navigation can effectively alleviate the problem of doctors' limited perception of the environment during surgery, and provide doctors with surgical guidance, which has become a research hotspot in recent years. [0003] In related technologies, the augme...

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Problems solved by technology

[0004] However, the current problem is that the surgical navigation system based on point registration often requires manual intervention, which interrupts the normal surgical process, distracts the doctor's attention, and increases the risk of complications. The registration method of marker points is invasive to the human body, and it is difficult for clinical application, and the system often requires additional tracking equipment; the surgical navigation method based on surface registration needs to perform intraoperative tissue morphology measurement to obtain the surface of the target tissue during operation Intraoperative laparoscopic imaging environment is complex (smoke, reflection, etc.) making it difficult to obtain dense reconstruction results of intraoperative target tissues and organs

In addition, due to the particularity of the abdominal cavity, there are intraoperative deformations in soft tissue organs, and the surgical navigation systems in the related art mostly ignore the deformation of soft tissues, and the provided surgical navigation systems cannot compensate for the deformation of soft tissues, resulting in poor navigation accuracy

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