Endoscopic Stereo SLAM, Dynamic Soft-Tissue Deformation Modeling & AR Overlays

Real-time 3D reconstruction of deforming organ surfaces and augmented reality overlays of preoperative MRI/CT tumor margins.

Deformable Soft-Tissue Surface Reconstruction

Pulsating organs and breathing motions invalidate rigid SLAM assumptions. SurgicalSwarm utilizes dynamic non-rigid neural radiance fields and optical flow to continuously track tissue deformation during active surgery.

Preoperative CT/MRI Augmented Reality Registration

Subsurface blood vessels and tumor boundaries segmented from preoperative 3D imaging are projected directly into the surgeon's 3D binocular display, aligned with anatomical landmarks in real time.

Non-rigid stereo SLAM operating at 60 fps in 4K resolution
Sub-millimeter AR registration of subsurface tumor margins
Specular highlight removal and smoke mitigation filtering
Automated anatomical landmark detection via neural feature graphs

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