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The traditional navigation system used in spinal puncture is not able to monitor the surgical process in real time and the accuracy of navigation is unsatisfactory. In this study, an augmented reality surgical navigation system based on multi-view virtual and real registration is proposed to solve these problems. The theory of virtual and real registration in augmented reality technology is analyzed, and the methods of single-view and multi-view virtual and real registration are compared. The principle of coordinate transformation in the surgical navigation module is analyzed. The platform of augmented reality surgical navigation system based on multi-view virtual and real registration technology is designed. The experiments of the spinal model are used to verify the accuracy of virtual and real registration. The accuracy of the proposed navigation system is verified by the experiment of simulating puncture operation with robotic control of surgical tool. The experimental results show that the accuracy of single-view and multi-view virtual and real registration is 9.85 0.80  mm and 1.62 0.22  mm respectively. The accuracy of the augmented reality surgical navigation system added with multi-view virtual and real registration technology is 1.70 0.25  mm, which is 35% higher than that of the augmented reality surgical navigation system not previously used. The augmented reality surgical navigation system for spinal puncture based on multi-view virtual and real registration proposed in this study can meet the requirements of physician on the accuracy of surgery. It can also help physician to monitor the surgical process in real time and improve the success rate of surgery.

In view of the problem that the doctor cannot quickly obtain the three-dimensional information of the liver surface during the traditional open resection of liver tumor without radiation, a new three-dimensional reconstruction system of liver surface based on binocular structured light is proposed in this paper to obtain three-dimensional information of liver surface rapidly. The hardware construction and software module design of the three-dimensional reconstruction system of the liver surface are carried out. The multi-frequency heterodyne method is proposed to solve the problem of the lack of three-dimensional reconstruction of the liver surface. A GPU-CPU collaborative acceleration method is proposed to speed up the three-dimensional reconstruction of intraoperative liver surface. On this basis, a human respiratory platform is built to simulate the effect of human respiration on three-dimensional reconstruction of the liver surface in a real surgical environment. The accuracy and speed of the system are verified by the liver experiments: The errors of three-dimensional reconstruction of liver surface at expiratory peak and inspiratory peak are 0.78 0.18  mm and 0.92 0.21  mm, respectively. The average time required for threedimensional reconstruction of liver surface based on GPU-CPU collaborative calculation is 3.93s. The speed of three-dimensional reconstruction of liver surface based on GPU-CPU collaborative calculation is 52% faster than that of three-dimensional reconstruction of liver surface based on CPU. It can be seen that the system has high accuracy and fast speed, which can meet the basic needs of the doctor in surgery.

Background Intraoperative deformation and radiation are common problems in spinal surgery. A three‐dimensional multi‐stage dynamic iterative non‐rigid registration method of the spine based on binocular structured light is proposed in this paper to overcome these problems. Method The problem of intraoperative radiation in traditional X‐ray and CT is overcome by using binocular structured light. A three‐dimensional spinal mask based on binary code is designed to reduce the influence of non‐interested regions on the operation. Principal component analysis (PCA) algorithm is used to complete the rough registration between the preoperative CT model of the spine and the reconstructed surface of the intraoperative structured light. A new framework of multi‐stage dynamic iterative non‐rigid registration of the spine is proposed. The Iterative Closest Point (ICP) algorithm based on bidirectional selection is proposed to complete the single‐stage registration of the spine. Then the multi‐stage dynamic iterative registration of the spine is completed to solve the problem of large registration error caused by the deformation of the spine. Results The method proposed in this paper is compared with traditional registration methods, and its application is verified experimentally. The results show that the registration accuracy and time of the proposed method are 0.51±0.31 mm and 5.21±0.23 s, respectively. The accuracy of the method is 81.5% and 78.2% higher than that of the contour method and the method of marker points, respectively. Conclusions The method can effectively avoid intraoperative radiation, reduce the registration error caused by the deformation of the spine, and has a high practicability.