Image-based global registration system and method applicable to bronchoscopy guidance

Inactive Publication Date: 2011-07-28
PENN STATE RES FOUND
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AI Technical Summary

Benefits of technology

[0016]Results show that the algorithm currently needs 3 seconds per search-space branch, with a trend of improving accuracy with reducing search-space being seen. The algorithm gives accuracy rates=90% when using

Problems solved by technology

This manually-based route planning procedure proves to be challenging, resulting in errors in bronchoscopy as early as the second airway generation[8,9].
However, metallic objects in the vicinity induce ferromagnetic device interference, leading to distortions in the external EM field[19].
Moreover, the patient's breathing causes chest movement that leads to registration errors[20].
Thus, EM-based bronchoscopy guidance systems implicitly provide global registration, but suffer in local registration.
However, as these methods rely on the bronchoscope video, they are

Method used

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  • Image-based global registration system and method applicable to bronchoscopy guidance
  • Image-based global registration system and method applicable to bronchoscopy guidance
  • Image-based global registration system and method applicable to bronchoscopy guidance

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Example

[0024]During bronchoscopy, the physician maneuvers a bronchoscope through the airway tree. An image-based bronchoscopy guidance system provides discrete guidance at bifurcations. In order to register the view seen in the bronchoscope video with multi-detector computed-tomography MDCT co-ordinate system, we model the image seen by the bronchoscope by using 3D MDCT data.

[0025]To model the VB views, the bronchoscope camera is first calibrated by using an off-line procedure [42]. Parameters such as the focal length f and the FOV angle of the camera are computed. Coefficients are also found in order to correct the barrel distortion of the video frames as seen in FIG. 1. FIGS. 1A and 1B show bronchoscopic video frame distortion correction. In particular, FIG. 1A shows an example of a bronchoscopic video frame with barrel distortion, and FIG. 1B shows the bronchoscopic video frame after distortion correction.

[0026]To create VB views, the airway tree is automatically segmented using a robus...

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Abstract

A global registration system and method identifies bronchoscope position without the need for significant bronchoscope maneuvers, technician intervention, or electromagnetic sensors. Virtual bronchoscopy (VB) renderings of a 3D airway tree are obtained including VB views of branch positions within the airway tree. At least one real bronchoscopic (RB) video frame is received from a bronchoscope inserted into the airway tree. An algorithm according to the invention is executed on a computer to identify the several most likely branch positions having a VB view closest to the received RB view, and the 3D position of the bronchoscope within the airway tree is determined in accordance with the branch position identified in the VB view. The preferred embodiment involves a fast local registration search over all the branches in a global airway-bifurcation search space, with the weighted normalized sum of squares distance metric used for finding the best match.

Description

REFERENCE TO RELATED APPLICATIONS[0001]This application claims priority from U.S. Provisional Patent Application Ser. Nos. 61 / 299,194, filed Jan. 28, 2010 and 61 / 300,969, filed Feb. 3, 2010, the entire content of both being incorporated herein by reference.GOVERNMENT SUPPORT[0002]This invention was made with government support under Grant No. R01-CA074325. awarded by NIH National Cancer Institute. The government has certain rights in the invention.FIELD OF THE INVENTION[0003]This invention relates generally to bronchoscopy and, in particular, to a global registration system and method useful in image-based bronchoscopy guidance systems and other applications, including other types of endoscopic procedures.BACKGROUND OF THE INVENTION[0004]Bronchoscopy is a medical procedure commonly used in lung-cancer assessment[1]. Lung-cancer assessment involve two main stages[2,3,4]: 1) three-dimensional (3D) multi-detector computed-tomography (MDCT) image assessment; and 2) live bronchoscopy. Du...

Claims

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Application Information

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IPC IPC(8): A61B1/00
CPCA61B1/00009A61B1/2676G06T7/0046G06K9/6206G06T2207/30061G06K9/00208G06K9/00214G06T2207/10068G06T7/75G06V20/653G06V20/647G06V10/754
Inventor HIGGINS, WILLIAM E.KHARE, RAHULMERRITT, SCOTT A.
Owner PENN STATE RES FOUND
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