Augmented Reality based Surgical Navigation for Percutaneous Endoscopic Transforaminal Discectomy

Fluoroscopic guidance is a critical step for the puncture procedure in percutaneous endoscopic transforaminal discectomy (PETD). In this paper, we propose an AR surgical navigation system for PETD based on multi-modality imaging information, which contain fluoroscopy, optical tracking and depth camera. We also present a self-adaptive calibration and transformation method between 6-DOF optical tracking device and depth camera, which are in different coordinate systems. With substantially reduced frequency of fluoroscopy imaging, the system can accurately track and superimpose the virtual puncture needle on fluoroscopy images in real-time.