Realistic Texture Mapping of 3D Medical Models Using RGBD Camera for Mixed Reality Applications

Augmented and mixed reality in the medical field is becoming increasingly important. The creation and visualization of digital models similar to reality could be a great help to increase the user experience during augmented or mixed reality activities like surgical planning and educational, training and testing phases of medical students. This study introduces a technique for enhancing a 3D digital model reconstructed from cone-beam computed tomography images with its real coloured texture using an Intel D435 RGBD camera. This method is based on iteratively projecting the two models onto a 2D plane, identifying their contours and then minimizing the distance between them. Finally, the coloured digital models were displayed in mixed reality through a Microsoft HoloLens 2 and an application to interact with them using hand gestures was developed. The registration error between the two 3D models evaluated using 30,000 random points indicates values of: 1.1 +/- 1.3 mm on the x-axis, 0.7 +/- 0.8 mm on the y-axis, and 0.9 +/- 1.2 mm on the z-axis. This result was achieved in three iterations, starting from an average registration error on the three axes of 1.4 mm to reach 0.9 mm. The heatmap created to visualize the spatial distribution of the error shows how it is uniformly distributed over the surface of the pointcloud obtained with the RGBD camera, except for some areas of the nose and ears where the registration error tends to increase. The obtained results indicate that the proposed methodology seems effective. In addition, since the used RGBD camera is inexpensive, future approaches based on the simultaneous use of multiple cameras could further improve the results. Finally, the augmented reality visualization of the obtained result is innovative and could provide support in all those cases where the visualization of three-dimensional medical models is necessary.