Face Registration and Surgical Instrument Tracking for Image-Guided Surgical Navigation

摘要

This paper presents a face registration method and a surgical instrument tracking method for Image-guided Surgical Navigation System (ISNS). In ISNS, we start the process by reconstructing 3d point cloud of patient using a proactive structured light visual system and then accurately complete face registration based on Iterative Closest Point (ICP) algorithm. We utilize special markers to represent the position and attitude of surgical instrument. At a final step, we recognize special markers by a syncretic corner detection algorithm and recover the 3d coordinate to track surgical instrument. To further improve the accuracy and robustness of tracking, we also utilize kalman algorithm to filter out the noise in tracking. We have tested our system on 3d printing model with matched medical data, demonstrating its accuracy and robustness of registration and tracking.