Endoscope Navigation via Virtual-Real Image Superimposition
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Solution Overview
Problem
Existing medical procedures face challenges in precisely navigating bronchi endoscopes to target areas within complex lung structures, especially when abnormal parts are located near branch endings, due to the difficulty in quickly and accurately reaching these areas with conventional three-dimensional imaging systems.
Innovation Solution
A medical procedure support system that combines an endoscope with an endoscopic image creation unit, an image reading unit, a superimposition commanding unit, and a combined image creation unit to overlay reference images onto virtual or endoscopic images, allowing for precise navigation and real-time display of combined images during procedures.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Measurement precision
If conventional three-dimensional imaging systems are used for navigation, then the system structure is simple, but the navigation precision to target areas near branch endings is insufficient
Solution Approach 1:
The patent combines multiple imaging modalities (endoscopic images and virtual three-dimensional images) into a single integrated navigation system. The endoscopic image creating unit captures real-time images from the bronchi endoscope, while the virtual image creating unit generates three-dimensional anatomical structures from pre-acquired CT data. These two image streams are merged and displayed together on the same display device, providing both real-time visual feedback and spatial orientation information simultaneously, thereby improving navigation precision without requiring separate independent systems.
Solution Approach 2:
The navigation system is designed to handle multiple functions within a unified framework. It can navigate to various target areas including abnormal parts near branch endings, perform both diagnostic and therapeutic procedures, and adapt to different anatomical regions. The system processes both two-dimensional endoscopic images and three-dimensional virtual images, and can switch between different display modes and navigation strategies, making it a versatile platform that reduces the need for multiple specialized systems.
2Productivity
If the distal end of the endoscope is used to reach target parts in complex tracts, then the procedure can be performed minimally invasively, but the speed and accuracy of reaching the target is reduced
Solution Approach 1:
The system implements real-time feedback by continuously displaying both the live endoscopic image from the distal end of the endoscope and the corresponding virtual three-dimensional image showing the endoscope's position within the bronchial tree. This dual-image feedback loop allows the operator to see both the immediate visual field at the tip of the endoscope and the broader anatomical context, enabling faster and more accurate navigation to target areas near branch endings while maintaining minimal invasiveness.
Solution Approach 2:
The virtual three-dimensional image acts as an intermediary between the operator and the complex bronchial anatomy. Instead of relying solely on direct visual inspection through the endoscope, the system provides a computed three-dimensional representation of the bronchial tree that highlights the target area and shows the current endoscope position. This virtual intermediary guides the operator through the complex tract, reducing operational difficulty while maintaining the benefits of distal endoscope access.
3Measurement precision
If reference images are overlaid on endoscopic images in real-time, then navigation accuracy is improved, but the image processing complexity increases
Solution Approach 1:
The system performs preliminary processing of the virtual three-dimensional image before the actual navigation procedure. The virtual image creating unit pre-generates the three-dimensional anatomical structures and identifies target areas from pre-acquired CT scan data. This preliminary preparation includes segmenting the bronchial tree, locating abnormal parts, and creating the spatial reference framework. By doing this work beforehand, the system reduces the real-time processing burden during the procedure, as the virtual image can be overlaid on the endoscopic image with minimal additional computation, thus improving target localization accuracy without excessive real-time processing complexity.
Data Source
AI summary
A medical procedure support system of the invention includes an endoscope for obtaining images of an internal part of the body cavity of a subject, an endoscopic image creating unit for creating an endoscopic image obtained by the endoscope, an image reading unit for reading a virtual image relating to the subject and a reference image relating to the virtual image, a superimposition commanding unit for commanding to superimpose the reference image on at least one of the virtual image and the endoscopic image, and a combined image creating unit for performing the superimposition of the reference image data commanded by the superimposition commanding unit and creating a combined image thereof.