ORBSLAM combined with electromagnetic tracking in duodenum 3D reconstruction

Accurate three-dimensional reconstruction of duodenum is very important in the navigation of ERCP surgery, which helps to improve the success rate of chathete-rization and reduce the difficulty of surgery. Due to the narrow anatomical space of the duodenum, the structure is tortuous, the surface is smooth with few texture features. The existing three-dimensional reconstruction and positioning methods still cannot achieve an effective performance. In this paper, the combination of electromagnetic sensing and ORBSLAM is used for the three-dimensional reconstruction of the duodenal biliary and pancreatic duct. First, we use the accurate tracking performance of electromagnetic sensors to improve the effectiveness of SLAM mapping. Second, we replaced the pose estimation of the camera in SLAM with electromagnetic sensing real-time pose, which improved the real-time performance of 3D reconstruction. The effectiveness and real-time performance of the algorithm in the three-dimensional reconstruction of the duodenum, biliary and pancreatic regions are verified through high-simulation models and real clinical video sequences.