Development of endoscope navigation system based on 3D image recognition, understanding, and video image analysis

基于3D图像识别、理解和视频图像分析的内窥镜导航系统开发

• 批准号: 13558032
• 负责人: SUENAGA Yasuhito
• 金额: $ 8.38万
• 依托单位: Nagoya University
• 依托单位国家: 日本
• 项目类别: Grant-in-Aid for Scientific Research (B)
• 财政年份: 2001
• 资助国家: 日本
• 起止时间: 2001 至 2003
• 项目状态: 已结题
• 来源: https://kaken.nii.ac.jp/en/grant/KAKENHI-PROJECT-13558032/
• 关键词: Endoscope Navigation; Virtualized Endoscope; Bronchoscope; Surgical Navigation; moion tracking; image similarit; anatomical labeling; Volume rendering; 内視鏡; レジストレーション; 仮想内視鏡; 医用画像処理; ビデオ画像処理; エピポーラ幾何

The purpose of this research project is to develop a flexible endoscope navigation system, which guides a physician by presenting navigation information derived from pore-operative 3D medical images of each patient. The system is implemented as a fusion of real and virtual endoscopy system. We have developed the following elementary techniques that are required in the flexible endoscope navigation system : (1) flexible endoscope tracking, (2) techniques that are required for presenting anatomical structures beyond the wall currently observed, (3) methods for assisting flexible endoscopic examination and surgery.(1) Flexible endoscope trackingWe developed several methods for estimating flexible endoscopic camera motion from real endoscopic videos and preoperative CT scans. Here, three types of tracking methods were investigated : (a) direct camera motion estimation from video sequences by using epipolar geometry analysis, (b) camera motion estimation by frame-by-frame image registration between real and virtual endoscopic images (a kind of 2D/3D image registration), (c) camera motion prediction by Kalman filtering and its application for reducing computation time.(2) Anatomical structure display beyond the organ's wall being currendy observedIn the endoscopic navigation system, it is very important to display anatomical structure existing beyond the organ's wall being currently observed. For realizing this function, we developed several methods for segmenting each organ from input CT images. These segmentation results were visualized by using fast software-based volume rendering during endoscopic examinations.(3) Navigation information for assisting endoscopyWe investigated three methods for presenting navigation information as assistance of endoscopy : (a) automated anatomical labeling of bronchial trees, (b) detection of unobserved regions during endoscopy, and (c) information display using image deformation.

本研究项目的目的是开发一种灵活的内窥镜导航系统，该系统通过呈现来自每个患者的术后3D医学图像的导航信息来引导医生。该系统实现为真实的和虚拟内窥镜系统的融合。我们已经开发了柔性内窥镜导航系统所需的以下基本技术：（1）柔性内窥镜跟踪，（2）显示当前观察到的壁外解剖结构所需的技术，（3）辅助柔性内窥镜检查和手术的方法。(1)柔性内窥镜跟踪我们开发了几种方法，用于从真实的内窥镜视频和术前CT扫描中估计柔性内窥镜摄像机的运动。在这里，三种类型的跟踪方法进行了研究：（a）直接摄像机运动估计从视频序列通过使用极几何分析，（B）摄像机运动估计通过逐帧图像配准之间的真实的和虚拟内窥镜图像（一种2D/3D图像配准），（c）摄像机运动预测通过卡尔曼滤波及其应用程序，以减少计算时间。(2)在内窥镜导航系统中，显示当前观察的器官壁外存在的解剖结构是非常重要的。为了实现这一功能，我们开发了几种方法从输入的CT图像分割每个器官。在内窥镜检查过程中，通过使用基于快速软件的体绘制来可视化这些分割结果。(3)辅助内窥镜检查的导航信息我们研究了三种用于呈现导航信息以辅助内窥镜检查的方法：（a）支气管树的自动解剖标记，（B）内窥镜检查期间未观察到的区域的检测，以及（c）使用图像变形的信息显示。

项目成果

Junichiro Toriwaki: "Distance Transformation and Skeletonization of 3D Pictures and Their Applications of Medical Images"Lecture Notes in Computer Science. 2243. 412-428 (2001)

Junichiro Toriwaki：“3D 图片的距离变换和骨架化及其在医学图像中的应用”计算机科学讲义。

Yoshio Watanabe: "Three-dimensional image reconstruction of an anorectal malformation with multidetector-rpw helical computer tomography technology"Pediatric Surgery International. 19. 167-171 (2003)

Yoshio Watanabe：“利用多探测器 rpw 螺旋计算机断层扫描技术重建肛门直肠畸形的三维图像”国际小儿外科。

Daisaku Deguchi: "New Image Similarity Measure for Bronchoscope Tracking Based on Image Registration"Lecture Notes in Computer Science. 2878. 309-316 (2003)

Daisaku Deguchi：“基于图像配准的支气管镜跟踪的新图像相似性测量”计算机科学讲座笔记。

Yasushi Hirano: "Methods for Structural Analysis of Digital Figures Using Distance Transformation."MEDICAL IMAGING TECIINOLOGY. 20,1. 13-22 (2002)

Yasushi Hirano：“使用距离变换对数字图形进行结构分析的方法。”医学成像技术。

Kensaku Mori: "Tracking of a bronchoscope using epipolar geometry analysis and intensity-based image registration of real and virtual endoscopic images"Medical Image Analysis. 6. 103-114 (2002)

Kensaku Mori：“使用对极几何分析和基于强度的真实和虚拟内窥镜图像配准来跟踪支气管镜”医学图像分析。