US2011184238A1PendingUtilityA1
Image-based global registration system and method applicable to bronchoscopy guidance
Est. expiryJan 28, 2030(~3.5 yrs left)· nominal 20-yr term from priority
G06V 10/754A61B 1/00009G06V 20/653G06V 20/647G06T 2207/30061G06T 7/75A61B 1/2676G06T 2207/10068
42
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Claims
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.
Claims
exact text as granted — not AI-modified1 . A global registration method useful in bronchoscopic guidance and other applications, the method comprising the steps of:
obtaining virtual bronchoscopy (VB) renderings of a 3D airway tree, the renderings including VB views of branch positions within the airway tree; receiving at least one real bronchoscopic (RB) view from a bronchoscope inserted into the airway tree; providing and executing an algorithm on a computer operative to identify the optimum branch position having a VB view closest to the received RB view; and outputting the 3D position of the bronchoscope within the airway tree based upon the branch position identified in the VB view.
2 . The method of claim 1 , wherein the RB view is derived from a video frame.
3 . The method of claim 1 , wherein the algorithm identifies a plurality of most likely branch positions having VB views closest to the received RB view.
4 . The method of claim 1 , wherein the algorithm uses domain-specific information regarding general bronchoscope position within the airway tree.
5 . The method of claim 4 , wherein the domain-specific information includes current lung designation or lung lobar position.
6 . The method of claim 1 , including the steps of:
receiving a plurality of RB views from the bronchoscope; and identifying the optimum branch position having a VB view closest to the RB views.
7 . The method of claim 6 , wherein the multiple RB views are associated with the same or multiple branch positions within an airway tree.
8 . The method of claim 1 , wherein the algorithm includes the step of performing a fast search over all the branches in a global airway-bifurcation search space using a weighted normalized sum of squares distance metric to determine the best match.
9 . The method of claim 1 , wherein the algorithm performs an intra-branch search followed by an inter-branch search.
10 . The method of claim 9 , wherein the intra-branch search is given by:
θ
^
b
i
=
arg
max
χ
∈
b
i
C
(
I
V
,
I
CT
χ
)
where C(•,•) is a similarity function, {circumflex over (θ)} b i is the optimum view point in branch i for the Oven RB video frame I V and b is a subset of K tree and contains all the view points in branch I; and
the inter-branch search is given by:
θ
^
o
=
arg
min
χ
∈
K
θ
^
b
i
D
(
I
V
,
I
CT
χ
)
where K {circumflex over (θ)} b i ={{circumflex over (θ)} b 1 , {circumflex over (θ)} b 2 , . . . , {circumflex over (θ)} b n } is the set of view points obtained from the intra-branch search.
11 . The method of claim 9 , wherein the intra-branch search uses pre-computed lumen region enclosing rectangles and a fast local registration refinement.
12 . A global registration method useful in bronchoscopic guidance and other applications, the method comprising the steps of:
obtaining virtual bronchoscopy (VB) renderings of a 3D airway tree, the renderings including VB views of branch positions within the airway tree; receiving at least one real bronchoscopic (RB) video frame from a bronchoscope inserted into the airway tree; providing and executing an algorithm on a computer to identify branch positions having VB views closest to the received RB video frame, the algorithm including an intra-branch search followed by an inter-branch search; and outputting the 3D position of the bronchoscope within the airway tree based upon the most likely branch position identified in the VB view.
13 . The method of claim 12 , wherein the algorithm uses domain-specific information regarding general bronchoscope position within the airway tree.
14 . The method of claim 13 , wherein the domain-specific information includes current lung designation or lung lobar position.
15 . The method of claim 12 , wherein the algorithm includes the step of performing a fast search over all the branches in a global airway-bifurcation search space using a weighted normalized sum of squares distance metric to determine the best match.
16 . The method of claim 12 , wherein the intra-branch search is given by:
θ
^
b
i
=
arg
max
χ
∈
b
i
C
(
I
V
,
I
CT
χ
)
where C(•,•) is a similarity function, {circumflex over (θ)} b i is the optimum view point in branch i for the given RB video frame I V and b i is a subset of K tree and contains all the view points in branch I; and
the inter-branch search is given by:
θ
^
o
=
arg
min
χ
∈
K
θ
^
b
i
D
(
I
V
,
I
CT
χ
)
where K {circumflex over (θ)} b i ={{circumflex over (θ)} b 1 , {circumflex over (θ)} b 2 , . . . , {circumflex over (θ)} b n } is the set of view points obtained from the intra-branch search.
17 . The method of claim 12 , wherein the intra-branch search uses pre-computed lumen region enclosing rectangles and a fast local registration refinement.
18 . A global registration system useful in bronchoscopic guidance and other applications, comprising:
a memory storing virtual bronchoscopy (VB) renderings of a 3D airway tree, the renderings including VB views of branch positions within the airway tree; a bronchoscope generating a real bronchoscopic (RB) view of the airway tree; a computer operative to use the RB view to search and analyze the VB renderings to identify the branch position that most closely matches the received RB view; and a display presenting the 3D position of the bronchoscope within the airway tree based upon the branch position identified in the VB view.
19 . The system of claim 18 , wherein the bronchoscopic outputs the RB view in the form of one or more video frames.
20 . The system of claim 18 , wherein the computer is operative to identify a plurality of most likely branch positions having VB views closest to the received RB view.
21 . The system of claim 18 , wherein the computer uses domain-specific information regarding general bronchoscope position within the airway tree.
22 . The system of claim 21 , wherein the domain-specific information includes current lung designation or lung lobar position.
23 . The system of claim 18 , wherein:
the bronchoscope generates a plurality of RB views; and the computer is operative to identify an optimum branch position having a VB view closest to the RB views.
24 . The system of claim 23 , wherein the multiple RB views are associated with the same or multiple branch positions within an airway tree.
25 . The system of claim 18 , wherein the computer performs a fast search over all the branches in a global airway-bifurcation search space using a weighted normalized sum of squares distance metric to determine the best match.
26 . The system of claim 18 , wherein the computer performs an intra-branch search followed by an inter-branch search.
27 . The system of claim 26 , wherein the intra-branch search is given by:
θ
^
b
i
=
arg
max
χ
∈
b
i
C
(
I
V
,
I
CT
χ
)
where C(•,•) is a similarity function, θ b i is the optimum view point in branch i for the given RB video frame I V and b i is a subset of K tree contains all the view points in branch and
the inter-branch search is given by:
θ
^
o
=
arg
min
χ
∈
K
θ
^
b
i
D
(
I
V
,
I
CT
χ
)
where K {circumflex over (θ)} b i ={{circumflex over (θ)} b 1 , {circumflex over (θ)} b 2 , . . . , {circumflex over (θ)} b n } is the set of view points obtained from the intra-branch search.
28 . The system of claim 26 , wherein the intra-branch search uses pre-computed lumen region enclosing rectangles and a fast local registration refinement.Join the waitlist — get patent alerts
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