  Real-time simultaneously localization and dense mapping is very helpful for
providing Virtual Reality and Augmented Reality for surgeons or even surgical
robots. In this paper, we propose MIS-SLAM: a complete real-time large scale
dense deformable SLAM system with stereoscope in Minimal Invasive Surgery based
on heterogeneous computing by making full use of CPU and GPU. Idled CPU is used
to perform ORB- SLAM for providing robust global pose. Strategies are taken to
integrate modules from CPU and GPU. We solved the key problem raised in
previous work, that is, fast movement of scope and blurry images make the scope
tracking fail. Benefiting from improved localization, MIS-SLAM can achieve
large scale scope localizing and dense mapping in real-time. It transforms and
deforms current model and incrementally fuses new observation while keeping
vivid texture. In-vivo experiments conducted on publicly available datasets
presented in the form of videos demonstrate the feasibility and practicality of
MIS-SLAM for potential clinical purpose.
