A New Organ-Following Algorithm Based on Depth-Depth Matching and Simulated Annealing, and Its Experimental Evaluation

摘要

Medical simulation technology has been rapidly developing, owing to the production of cheap high-performance computers and depth cameras. We are developing a surgery navigation system. In such a system, it is important to track a virtual organ model based on a real organ model. For this purpose, we should examine the coincidence of positions/orientations between two organs at any time. In order to achieve this, we compare depth images of virtual or real organ model. The former is calculated by the z-buffer on a graphics processing unit (GPU) board, while the latter is captured by a depth camera. Then, we search for the same position/orientation between real and virtual organ models by comparing the differences between two depth images. In this paper, we use simulated annealing (SA) to search for the same position/orientation.