Abstract
Augmented reality (AR) has the potential to improve the immersion and efficiency of computer-assisted orthopaedic surgery (CAOS) by allowing surgeons to maintain focus on the operating site rather than external displays in the operating theatre. Successful deployment of AR to CAOS requires a calibration that can accurately calculate the spatial relationship between real and holographic objects. Several studies attempt this calibration through manual alignment or with additional fiducial markers in the surgical scene. We propose a calibration system that offers a direct method for the calibration of AR head-mounted displays (HMDs) with CAOS systems, by using infrared-reflective marker-arrays widely used in CAOS. In our fast, user-agnostic setup, a HoloLens 2 detected the pose of marker arrays using infrared response and time-of-flight depth obtained through sensors onboard the HMD. Registration with a commercially available CAOS system was achieved when an IR marker-array was visible to both devices. Study tests found relative-tracking mean errors of 2.03 mm and 1.12° when calculating the relative pose between two static marker-arrays at short ranges. When using the calibration result to provide in-situ holographic guidance for a simulated wire-insertion task, a pre-clinical test reported mean errors of 2.07 mm and 1.54° when compared to a pre-planned trajectory.
Abstract (translated)
增强现实（AR）通过让外科医生将注意力集中在手术现场而不是外部显示屏上，从而改善了计算机辅助骨科手术（CAOS）的沉浸感和效率。成功地将AR应用于CAOS需要进行校准，以准确计算真实和全息物体之间的空间关系。几项研究通过手动对齐或使用手术场景中的附加引导标记来尝试进行这种校准。我们提出了一个通过使用广泛用于CAOS的IR反射型标记阵列直接校准AR头盔显示器（HMD）与CAOS系统的校准系统。在我们的快速、用户友好的设置中，HoloLens 2使用红外响应和通过HMD上的传感器获得的时间飞行深度来检测标记阵列的姿态。在与两个设备可见的IR标记阵列进行相对对齐时，研究测试发现了2.03mm和1.12°的相对跟踪平均误差。当使用校准结果为模拟电线插入任务提供现场全息指导时，一个早期临床试验报告了与预先规划轨迹相比较的2.07mm和1.54°的平均误差。
URL
https://arxiv.org/abs/2405.01999
