基于多模态图像的机器人辅助与引导环境（MIRAGE）：一种用于手术导航与可视化的新型统一框架
Multimodal Image-based Robotic Assistance and Guidance Environment (MIRAGE): A Novel Unified Framework for Surgical Navigation and Visualization
AI总结：
研究提出多模态图像引导机器人手术框架MIRAGE，整合多种技术模块，经多da Vinci平台体模实验验证，其三维重投影误差低，可作为多模态手术引导的临床前技术验证平台。
摘要：
本文介绍了多模态图像引导机器人手术框架MIRAGE的计算架构及临床前定量评估，该框架用于实时可视化与导航，将立体视觉场景重建、增强现实（AR）视频叠加、量化平视显示器（HUD）导航及术中超声整合至da Vinci控制台的TilePro显示器（Intuitive Surgical）中。额外模块包括光学/电磁跟踪器配准、立体校准、带均方根误差（RMSE）反馈的基准刚性配准，以及三维点云重建。视频输入输出与渲染在C++后端运行，而Python图形用户界面（GUI）通过进程内零拷贝绑定层协调校准、配准、重建、可视化及用户交互。该框架形式化了空间变换、模块状态及异构视频与跟踪流的同步。术前校准采用同步棋盘格图像对与优化，术中可复用估计的内参、外参与校正结果。MIRAGE在da Vinci S、Si、Xi及SP平台的体模实验中得到验证，在临床相关工作距离下，三维重投影平均误差为0.6mm，Xi平台在100mm处的最佳均方根误差为0.1mm。结果表明，MIRAGE可作为准确、响应迅速且可扩展的多模态手术引导临床前技术验证平台。
英文摘要：
This paper presents the computational architecture and quantitative preclinical evaluation of MIRAGE, a multimodal image-guided robotic surgery framework for real-time visualization and navigation. It integrates stereovision scene reconstruction, augmented-reality (AR) video overlay, quantified heads-up display (HUD) navigation, and intraoperative ultrasound within the da Vinci console's TilePro display (Intuitive Surgical). Additional modules include optical/electromagnetic tracker registration, stereo calibration, fiducial rigid registration with RMSE feedback, and 3D point-cloud reconstruction. Video I/O and rendering run in a C++ backend, while a Python GUI coordinates calibration, registration, reconstruction, visualization, and user interaction through an in-process zero-copy binding layer. The framework formalizes spatial transforms, module states, and synchronization of heterogeneous video and tracking streams. Preoperative calibration uses synchronized checkerboard image pairs and optimization, with estimated intrinsics, extrinsics, and rectification reused intraoperatively. MIRAGE was validated in phantom experiments across da Vinci S, Si, Xi, and SP platforms. Across clinically relevant working distances, mean 3D reprojection error was 0.6mm, with best 0.1mm RMSE at 100mm on Xi. Results support MIRAGE as a preclinical technical-validation platform for accurate, responsive, and extensible multimodal surgical guidance.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
