This research presents an automatic calibration and dynamic registration method specifically designed for deformable tissues, integrating Augmented Reality (AR) technology to enhance surgical precision in Endoscopic Submucosal Dissection (ESD).
Our approach leverages a 6D pose estimator to align virtual and real-world target tissues seamlessly, utilizing the SuperGlue feature-matching network and the Metric3D depth estimation network for robust fusion. Additionally, our dynamic registration method enables real-time tracking of tissue deformation, ensuring more reliable surgical guidance.
Experimental validation demonstrated the effectiveness of our system, with automatic calibration experiments using cloth achieving a mean absolute error (MAE) of 3.79 ยฑ 0.64 mm. Dynamic registration accuracy was assessed under varying tissue deformation, yielding an MAE of 6.03 ยฑ 0.96 mm. Ex-vivo experiments with porcine small intestine tissue further validated our systemโs performance, with an AR calibration MAE of 3.11 ยฑ 0.56 mm and a dynamic registration MAE of 3.20 ยฑ 1.96 mm.
The full paper is in production and will be available at https://lnkd.in/gMFCDWv4
