In this study, we present a novel mixed reality navigation system to facilitate brachytherapy, which is an effective method for curing cancer. The accuracy of needle positioning is a vital problem in brachytherapy that can influence the treatment effect. The purpose of the developed system is to help doctors more quickly and easily position the needles and improve seed accuracy in brachytherapy surgery. Based on mixed reality and a multi-information fusion method, a successful fusion of medical images and a preoperative plan for real patients was achieved, allowing doctors to gain an intuitive understanding of the tumor. Image recognition and pose estimation were used to track the needle punctures in real time and perform registration processes. After global registration using an iterative closest-point algorithm with a pattern tracker, medical images and volume renderings of organs, needles and seeds were aligned with the patient. Based on a phantom experiment, the average needle location error was 0.961 mm, and the angle error was 1.861°. The accuracy of needle insertion was 1.586 mm, and the angle error was 2.429°. This research presents the design and validation of a surgical navigation system for thoracoabdominal brachytherapy based on mixed reality. The proposed system was validated through both phantom and animal experiments. The results indicated that the proposed system achieves clinically acceptable accuracy and can aid doctors in performing surgery based on a visualized plan.

在这项研究中，我们提出了一种新型的混合现实导航系统，以促进近距离治疗，这是治疗癌症的有效方法。针头定位的准确性是近距离放射治疗中至关重要的问题，会影响治疗效果。开发的系统的目的是帮助医生更快，更轻松地定位针头，并提高近距离放射治疗手术中的种子准确性。基于混合现实和多信息融合方法，成功实现了医学图像的融合和针对真实患者的术前计划，使医生对肿瘤有了直观的了解。图像识别和姿势估计用于实时跟踪针刺并执行注册过程。使用带有模式跟踪器的迭代最近点算法进行全局注册后，医学图像以及器官，针和种子的体积渲染图与患者对齐。根据幻像实验，平均针头位置误差为0.961 mm，角度误差为1.861°。针插入的精度为1.586毫米，角度误差为2.429°。这项研究提出了基于混合现实的胸腹近距离放射手术导航系统的设计和验证。拟议的系统已通过幻像和动物实验验证。结果表明，所提出的系统达到了临床可接受的准确性，并且可以根据可视化计划帮助医生进行手术。针插入的精度为1.586毫米，角度误差为2.429°。这项研究提出了基于混合现实的胸腹近距离放射手术导航系统的设计和验证。拟议的系统已通过幻像和动物实验验证。结果表明，所提出的系统达到了临床可接受的准确性，并且可以根据可视化计划帮助医生进行手术。针插入的精度为1.586毫米，角度误差为2.429°。这项研究提出了基于混合现实的胸腹近距离放射手术导航系统的设计和验证。拟议的系统已通过幻像和动物实验验证。结果表明，所提出的系统达到了临床可接受的准确性，并且可以根据可视化计划帮助医生进行手术。