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1. 发明申请

WO2012106320A1 GLOBAL AND SEMI-GLOBAL REGISTRATION FOR IMAGE-BASED BRONCHOSCOPY GUIDANCE 审中-公开
标题翻译：基于图像的BRONCHOSCOPY指南的全球和半球注册
公开(公告)号：WO2012106320A1
公开(公告)日：2012-08-09
申请号：PCT/US2012/023297
申请日：2012-01-31
申请人： THE PENN STATE RESEARCH FOUNDATION , HIGGINS, William, E. , KHARE, Rahul
发明人： HIGGINS, William, E. , KHARE, Rahul
IPC分类号： A61B1/267 , A61B6/03 , A61M25/095
CPC分类号： A61B1/2676 , A61B5/066 , A61B6/12 , A61B6/5217 , A61B6/5247 , A61B6/583 , A61B2090/365 , G06K9/00208 , G06K9/00214 , G06K9/03 , G06K9/6206
摘要： Two system-level bronchoscopy guidance solutions are presented. The first incorporates a global -registration algorithm to provide the physician with updated navigational and guidance information during bronchoscopy. The system can handle general navigation to a region of interest (ROI), as well as adverse events, and it requires minimal commands so that it can be directly controlled by the physician. The second solution visualizes the global picture of all the bifurcations and their relative orientations in advance and suggests the maneuvers needed by the bronchoscope to approach the ROI. Guided bronchoscopy results using human airway-tree phantoms demonstrate the potential of the two solutions.
摘要翻译：提出了两个系统级支气管镜指导解决方案。第一个结合了全局注册算法，为医生在支气管镜检查期间提供更新的导航和指导信息。该系统可以处理一般导航到感兴趣的区域（ROI）以及不良事件，并且它需要最少的命令，以便它可以由医生直接控制。第二个解决方案可以提前了解所有分岔及其相对方向的全局图，并建议支气管镜需要进行ROI的操作。引导支气管镜检查结果使用人类气道树模型显示了两种解决方案的潜力。

2. 发明申请

WO2008095068A1 METHOD AND APPARATUS FOR CONTINUOUS GUIDANCE OF ENDOSCOPY 审中-公开
标题翻译：连续指导内镜的方法和装置
公开(公告)号：WO2008095068A1
公开(公告)日：2008-08-07
申请号：PCT/US2008/052589
申请日：2008-01-31
申请人： THE PENN STATE RESEARCH FOUNDATION , HIGGINS, William, E. , MERRITT, Scott, A. , RAI, Lav , GIBBS, Jason, D. , YU, Kun-chang
发明人： HIGGINS, William, E. , MERRITT, Scott, A. , RAI, Lav , GIBBS, Jason, D. , YU, Kun-chang
IPC分类号： A61B1/00
CPC分类号： A61B1/0005 , A61B1/00009 , A61B34/20 , A61B34/25 , A61B90/36 , A61B90/361 , A61B2034/105 , A61B2034/107 , A61B2090/365
摘要： Methods and apparatus provide continuous guidance of endoscopy during a live procedure. A data-set based on 3D image data is pre-computed including reference information representative of a predefined route through a body organ to a final destination. A plurality of live real endoscopic (RE) images are displayed as an operator maneuvers an endoscope within the body organ. A registration and tracking algorithm registers the data-set to one or more of the RE images and continuously maintains the registration as the endoscope is locally maneuvered. Additional information related to the final destination is then presented enabling the endoscope operator to decide on a final maneuver for the procedure. The reference information may include 3D organ surfaces, 3D routes through an organ system, or 3D regions of interest (ROIs), as well as a virtual endoscopic (VE) image generated from the precomputed data-set. The preferred method includes the step of superimposing one or both of the 3D routes and ROIs on one or both of the RE and VE images. The 3D organ surfaces and routes may correspond to the surfaces and paths of a tracheobronchial airway tree extracted, for example, from 3D MDCT images of the chest.
摘要翻译：方法和装置在实时程序中提供内窥镜检查的连续指导。基于3D图像数据的数据集被预先计算，包括表示通过身体器官到最终目的地的预定义路线的参考信息。多个实时内窥镜（RE）图像作为操作者显示在身体器官内的内窥镜。注册和跟踪算法将数据集注册到一个或多个RE图像，并且在内窥镜被局部操纵时连续地保持注册。然后呈现与最终目的地相关的附加信息，使得内窥镜操作者能够决定该程序的最终操纵。参考信息可以包括3D器官表面，通过器官系统的3D路线或感兴趣的3D区域（ROI）以及从预先计算的数据集生成的虚拟内窥镜（VE）图像。优选的方法包括将一个或两个3D路线和ROI叠加在RE和VE图像中的一个或两个上的步骤。 3D器官表面和路线可以对应于例如从胸部的3D MDCT图像提取的气管支气管气道树的表面和路径。

3. 发明申请

WO2009103046A3 MEDICAL IMAGE REPORTING SYSTEM AND METHOD 审中-公开
标题翻译：医学图像报告系统和方法
公开(公告)号：WO2009103046A3
公开(公告)日：2009-11-19
申请号：PCT/US2009034197
申请日：2009-02-16
申请人： PENN STATE RES FOUND , HIGGINS WILLIAM E , GIBBS JASON D , YU KUN-CHANG , GRAHAM MICHAEL W , LU KONGKUO
发明人： HIGGINS WILLIAM E , GIBBS JASON D , YU KUN-CHANG , GRAHAM MICHAEL W , LU KONGKUO
IPC分类号： A61B6/00 , G05F1/00
CPC分类号： G06T7/162 , G06T7/12 , G06T2207/20044 , G06T2207/30061
摘要： This invention relates generally to medical imaging and, in particular, to a method and system for I) reconstructing a model path through a branched tubular organ, II) automatic lymph node station mapping, and III) automatic path or route report generation. Novel methodologies and systems segment and define accurate endoluminal surfaces in airway trees, including small peripheral bronchi. An automatic algorithm is described that searches the entire lung volume for airway branches and poses airway-tree segmentation as a global graph-theoretic optimization problem. A suite of interactive segmentation tools for cleaning and extending critical areas of the automatically segmented result is disclosed. A model path is reconstructed through the airway tree. Additionally, a computer-based system for automatically locating the central chest lymph -node stations in a 3D MDCT image is described. Automated analysis methods extract the airway tree, airway-tree centerlines, aorta, pulmonary artery, lungs, key skeletal structures, and major-airway labels. Geometrical and anatomical cues arising from the extracted structures are used to localize the major nodal stations. The system calculates and displays the nodal stations in 3D. Visualization tools within the system enable the user to interact with the stations to locate visible lymph nodes. Additionally, a method and apparatus for producing and previewing a report for peripheral bronchoscopic procedures using patient-specific MDCT chest scans is disclosed. The report provides quantitative data about the route and both static and dynamic previews of the procedure. Static previews consist of virtual bronchoscopic endoluminal renderings at bifurcations encountered along the route, renderings of the airway tree and ROI at the suggested biopsy location, and three-dimensional cues as to the location for the biopsy.
摘要翻译：本发明一般涉及医学成像，尤其涉及一种方法和系统，用于I）重建通过分支管状器官的模型路径，II）自动淋巴结站映射，以及III）自动路径或路径报告生成。新的方法和系统在气道树中分割并确定准确的腔内表面，包括小的外周支气管。描述了一种自动算法，其搜索整个肺体积以寻找气道分支并将气道树分割作为全局图论优化问题。公开了一套用于清洁和扩展自动分割结果的关键区域的交互式分割工具。模型路径通过气道树重建。另外，描述了用于自动定位3D MDCT图像中央胸部淋巴结站的基于计算机的系统。自动分析方法提取气道树，气道树中心线，主动脉，肺动脉，肺部，关键骨骼结构和主要气道标签。从提取的结构中产生的几何和解剖线索被用于定位主要的节点站。系统将以三维方式计算并显示节点电台。系统中的可视化工具使用户能够与站点进行交互以定位可见的淋巴结。另外，公开了一种用于使用患者特异性MDCT胸部扫描产生和预览外周支气管镜检查程序的报告的方法和设备。该报告提供关于路线的静态和动态预览的定量数据。静态预览包括沿路线遇到的分叉处的虚拟支气管镜腔内渲染，建议的活检位置处的气道树和ROI的渲染，以及关于活检位置的三维线索。

4. 发明申请

WO2009103046A2 MEDICAL IMAGE REPORTING SYSTEM AND METHOD 审中-公开
标题翻译：医学图像报告系统及方法
公开(公告)号：WO2009103046A2
公开(公告)日：2009-08-20
申请号：PCT/US2009/034197
申请日：2009-02-16
申请人： THE PENN STATE RESEARCH FOUNDATION , HIGGINS, William, E. , GIBBS, Jason, D. , YU, Kun-chang , GRAHAM, Michael, W. , LU, Kongkuo
发明人： HIGGINS, William, E. , GIBBS, Jason, D. , YU, Kun-chang , GRAHAM, Michael, W. , LU, Kongkuo
IPC分类号： A61B6/00
CPC分类号： G06T7/162 , G06F19/00 , G06T7/12 , G06T2207/20044 , G06T2207/30061
摘要： This invention relates generally to medical imaging and, in particular, to a method and system for I) reconstructing a model path through a branched tubular organ, II) automatic lymph node station mapping, and III) automatic path or route report generation. Novel methodologies and systems segment and define accurate endoluminal surfaces in airway trees, including small peripheral bronchi. An automatic algorithm is described that searches the entire lung volume for airway branches and poses airway-tree segmentation as a global graph-theoretic optimization problem. A suite of interactive segmentation tools for cleaning and extending critical areas of the automatically segmented result is disclosed. A model path is reconstructed through the airway tree. Additionally, a computer-based system for automatically locating the central chest lymph -node stations in a 3D MDCT image is described. Automated analysis methods extract the airway tree, airway-tree centerlines, aorta, pulmonary artery, lungs, key skeletal structures, and major-airway labels. Geometrical and anatomical cues arising from the extracted structures are used to localize the major nodal stations. The system calculates and displays the nodal stations in 3D. Visualization tools within the system enable the user to interact with the stations to locate visible lymph nodes. Additionally, a method and apparatus for producing and previewing a report for peripheral bronchoscopic procedures using patient-specific MDCT chest scans is disclosed. The report provides quantitative data about the route and both static and dynamic previews of the procedure. Static previews consist of virtual bronchoscopic endoluminal renderings at bifurcations encountered along the route, renderings of the airway tree and ROI at the suggested biopsy location, and three-dimensional cues as to the location for the biopsy.
摘要翻译：本发明一般涉及医学成像，特别是涉及I）通过分支管状器官重建模型路径的方法和系统，II）自动淋巴结站映射，以及III）自动路径或路线报告生成。新颖的方法和系统在气道树中划分并定义精确的内腔表面，包括小型外周支气管。描述了一种自动算法，其搜索整个肺体积以进行气道分支，并将气道树分割作为全局图理论优化问题。公开了一套用于清理和扩展自动分段结果关键区域的交互式分割工具。通过气道树重建模型路径。另外，描述了一种用于在3D MDCT图像中自动定位中央胸部淋巴结站的基于计算机的系统。自动分析方法提取气道树，气道树中心线，主动脉，肺动脉，肺，关键骨骼结构和主要气道标签。提取的结构产生的几何和解剖学线索用于本地化主要节点。系统以3D形式计算和显示节点站。系统中的可视化工具使用户能够与站点进行交互，以定位可见的淋巴结。另外，公开了一种用于使用患者特异性MDCT胸部扫描来生产和预览用于外周支气管镜手术的报告的方法和装置。该报告提供有关路线的定量数据，以及程序的静态和动态预览。静态预览包括在路线上遇到的分叉处的虚拟支气管镜腔内效果图，气道树的渲染和建议的活检位置处的ROI，以及针对活检位置的三维线索。

5. 发明申请

WO2012106310A1 METHOD AND DEVICE FOR DETERMINING THE LOCATION OF AN ENDOSCOPE 审中-公开
标题翻译：用于确定内窥镜位置的方法和装置
公开(公告)号：WO2012106310A1
公开(公告)日：2012-08-09
申请号：PCT/US2012/023279
申请日：2012-01-31
申请人： THE PENN STATE RESEARCH FOUNDATION , CORNISH, Duane, C. , HIGGINS, William, E. , GIBBS, Jason, D.
发明人： CORNISH, Duane, C. , HIGGINS, William, E. , GIBBS, Jason, D.
IPC分类号： A61B1/267 , A61M25/095 , A61B6/03 , G09B23/28
CPC分类号： A61B1/2676 , A61B1/00006 , A61B1/00133 , A61B5/066 , A61B6/12 , A61B6/5247 , A61B34/20 , A61B2034/102 , A61B2034/2046 , A61B2034/2061 , A61B2090/062 , G06K9/00208 , G06K9/00214 , G06K9/6289
摘要： A technician-free strategy enables real-time guidance of bronchoscopy. The approach uses measurements of the bronchoscope's movement to predict its position in 3D virtual space. To achieve this, a bronchoscope model, defining the device's shape in the airway tree to a given point p, provides an insertion depth to p. In real time, the invention compares an observed bronchoscope insertion depth and roll angle, measured by an optical sensor, to precalculated insertion depths along a predefined route in the virtual airway tree to predict a bronchoscope's location and orientation.
摘要翻译：无需技术人员的策略可实时支持支气管镜检查。该方法使用支气管镜运动的测量来预测其在3D虚拟空间中的位置。为了实现这一点，将气道树中的装置形状定义为给定点p的支气管镜模型提供了对p的插入深度。实际上，本发明将观察到的支气管镜插入深度和由光学传感器测量的滚动角度沿虚拟气道树中的预定路线预先计算的插入深度进行比较以预测支气管镜的位置和取向。

6. 发明申请

WO2009103046A4 MEDICAL IMAGE REPORTING SYSTEM AND METHOD 审中-公开
标题翻译：医学图像报告系统及方法
公开(公告)号：WO2009103046A4
公开(公告)日：2010-01-07
申请号：PCT/US2009034197
申请日：2009-02-16
申请人： PENN STATE RES FOUND , HIGGINS WILLIAM E , GIBBS JASON D , YU KUN-CHANG , GRAHAM MICHAEL W , LU KONGKUO
发明人： HIGGINS WILLIAM E , GIBBS JASON D , YU KUN-CHANG , GRAHAM MICHAEL W , LU KONGKUO
IPC分类号： A61B6/00 , G05F1/00
CPC分类号： G06T7/162 , G06T7/12 , G06T2207/20044 , G06T2207/30061
摘要： This invention relates generally to medical imaging and, in particular, to a method and system for I) reconstructing a model path through a branched tubular organ, II) automatic lymph node station mapping, and III) automatic path or route report generation. Novel methodologies and systems segment and define accurate endoluminal surfaces in airway trees, including small peripheral bronchi. An automatic algorithm is described that searches the entire lung volume for airway branches and poses airway-tree segmentation as a global graph-theoretic optimization problem. A suite of interactive segmentation tools for cleaning and extending critical areas of the automatically segmented result is disclosed. A model path is reconstructed through the airway tree. Additionally, a computer-based system for automatically locating the central chest lymph -node stations in a 3D MDCT image is described. Automated analysis methods extract the airway tree, airway-tree centerlines, aorta, pulmonary artery, lungs, key skeletal structures, and major-airway labels. Geometrical and anatomical cues arising from the extracted structures are used to localize the major nodal stations. The system calculates and displays the nodal stations in 3D. Visualization tools within the system enable the user to interact with the stations to locate visible lymph nodes. Additionally, a method and apparatus for producing and previewing a report for peripheral bronchoscopic procedures using patient-specific MDCT chest scans is disclosed. The report provides quantitative data about the route and both static and dynamic previews of the procedure. Static previews consist of virtual bronchoscopic endoluminal renderings at bifurcations encountered along the route, renderings of the airway tree and ROI at the suggested biopsy location, and three-dimensional cues as to the location for the biopsy.
摘要翻译：本发明一般涉及医学成像，特别涉及一种用于I）通过分支管状器官重建模型路径的方法和系统，II）自动淋巴结站映射，以及III）自动路径或路线报告生成。新颖的方法和系统在气道树中分割和定义准确的腔内表面，包括小型外周支气管。描述了一种自动算法，用于搜索整个肺体积以进行气道分支，并将气道树分割作为全局图理论优化问题。公开了一套用于清理和扩展自动分段结果的关键区域的交互式分割工具。通过气道树重建模型路径。另外，描述了一种用于在3D MDCT图像中自动定位中央胸部淋巴结站的基于计算机的系统。自动分析方法提取气道树，气道树中心线，主动脉，肺动脉，肺，关键骨骼结构和主要气道标签。提取的结构产生的几何和解剖学线索用于本地化主要节点。系统以3D方式计算和显示节点站。系统内的可视化工具使用户能够与站点进行交互来定位可见的淋巴结。另外，公开了一种用于使用患者特异性MDCT胸部扫描来生产和预览用于外周支气管镜手术的报告的方法和装置。该报告提供有关路线的定量数据，以及程序的静态和动态预览。静态预览包括在路线上遇到的分叉处的虚拟支气管镜腔内效果图，气道树的渲染和建议的活检位置处的ROI，以及针对活检位置的三维线索。

7. 发明申请

WO2007008289A3 3D-2D POSE ESTIMATION AND 3D-CT REGISTRATION FOR BRONCHOSCOPY 审中-公开
标题翻译： 3D-2D POSE估算和3D-CT注册用于BRONCHOSCOPY
公开(公告)号：WO2007008289A3
公开(公告)日：2007-05-31
申请号：PCT/US2006019926
申请日：2006-05-23
申请人： PENN STATE RES FOUND , HIGGINS WILLIAM E , MERRITT SCOTT A , RAI LAV
发明人： HIGGINS WILLIAM E , MERRITT SCOTT A , RAI LAV
IPC分类号： A61B5/05 , A61B1/00 , A61B1/04 , A61B19/00 , G09G5/00 , H04N13/00 , H04N15/00
CPC分类号： A61B5/06 , A61B1/00009 , A61B5/415 , A61B5/418 , A61B6/032 , A61B6/466 , A61B6/50 , A61B34/10 , A61B34/20 , A61B90/36 , A61B90/361 , A61B2034/105 , A61B2034/2065 , A61B2090/364 , A61B2090/3762 , G06K9/00208 , G06K9/00214 , G06K9/6206
摘要： A method provides guidance to the physician during a live endoscopic procedure. The 3D motion of the bronchoscope is estimated using a fast coarse tracking step followed by a fine registration step. The tracking is based on finding a set of corresponding feature points across a plurality of consecutive broschoscopic video frames, then estimating for the new pose of the bronchoscope. Continuous guidance is provided by estimating the 3D motion of the bronchoscope in a loop, and tracking can be done by solving a 3D-2D pose estimation problem.
摘要翻译：一种方法在实时内窥镜手术过程中向医师提供指导。支气管镜的3D运动使用快速粗跟踪步骤，接着是精细配准步骤来估计。跟踪是基于在多个连续的肉眼观察视频帧中找到一组对应的特征点，然后估计支气管镜的新姿势。通过估计循环中支气管镜的3D运动来提供连续的指导，并且可以通过解决3D-2D姿态估计问题来进行跟踪。

8. 发明申请

WO2006127713A2 A FAST 2D-3D IMAGE REGISTRATION METHOD WITH APPLICATION TO CONTINUOUSLY GUIDED ENDOSCOPY 审中-公开
标题翻译：应用于连续指导内窥镜的快速2D-3D图像注册方法
公开(公告)号：WO2006127713A2
公开(公告)日：2006-11-30
申请号：PCT/US2006019927
申请日：2006-05-23
申请人： PENN STATE RES FOUND , HIGGINS WILLIAM E , MERRITT SCOTT A , RAI LAV
发明人： HIGGINS WILLIAM E , MERRITT SCOTT A , RAI LAV
IPC分类号： A61B5/05
CPC分类号： A61B1/00147 , A61B1/2676 , A61B5/415 , G06K9/00208 , G06K9/00214 , G06K9/6206 , G06T3/0081 , G06T7/33 , G06T2207/10028 , G06T2207/10068 , G06T2207/10081 , G06T2207/30061
摘要： A novel framework for fast and continuous registration between two imaging modalities is disclosed. The approach makes it possible to completely determine the rigid transformation between multiple sources at real-time or near real-time frame-rates in order to localize the cameras and register the two sources. A disclosed example includes computing or capturing a set of reference images within a known environment, complete with corresponding depth maps and image gradients. The collection of these images and depth maps constitutes the reference source. The second source is a real-time or near-real time source which may include a live video feed. Given one frame from this video feed, and starting from an initial guess of viewpoint, the real-time video frame is warped to the nearest viewing site of the reference source. An image difference is computed between the warped video frame and the reference image. The viewpoint is updated via a Gauss- Newton parameter update and certain of the steps are repeated for each frame until the viewpoint converges or the next video frame becomes available. The final viewpoint gives an estimate of the relative rotation and translation between the camera at that particular video frame and the reference source. The invention has far-reaching applications, particularly in the field of assisted endoscopy, including bronchoscopy and colonoscopy. Other applications include aerial and ground-based navigation.
摘要翻译：公开了一种用于两种成像模式之间的快速连续配准的新颖框架。该方法使得可以完全确定实时或接近实时帧速率的多个源之间的刚性变换，以便本地化摄像机并注册两个源。所公开的示例包括在已知环境内计算或捕获一组参考图像，其具有相应的深度图和图像梯度。这些图像和深度图的集合构成参考源。第二个来源是实时或近实时源，其可以包括实时视频馈送。从这个视频馈送提供一帧，并从最初的观点开始，将实时视频帧扭曲到参考源的最近的观看站点。在翘曲的视频帧和参考图像之间计算图像差异。通过高斯 - 牛顿参数更新来更新视点，并且对于每个帧重复某些步骤，直到视点收敛或下一个视频帧变得可用。最终观点给出了在该特定视频帧处的摄像机与参考源之间的相对旋转和平移的估计。本发明具有深远的应用，特别是在辅助内窥镜检查领域，包括支气管镜检查和结肠镜检查。其他应用包括空中和地面导航。

9. 发明申请

WO2011094518A2 IMAGE-BASED GLOBAL REGISTRATION SYSTEM AND METHOD APPLICABLE TO BRONCHOSCOPY GUIDANCE 审中-公开
标题翻译：基于图像的全球注册系统和方法适用于支配镜指导
公开(公告)号：WO2011094518A2
公开(公告)日：2011-08-04
申请号：PCT/US2011022891
申请日：2011-01-28
申请人： PENN STATE RES FOUND , HIGGINS WILLIAM E , KHARE RAHUL , MERRITT SCOTT A
发明人： HIGGINS WILLIAM E , KHARE RAHUL , MERRITT SCOTT A
IPC分类号： A61B5/00 , A61B1/01 , A61B1/04 , A61B17/94
CPC分类号： A61B1/2676 , A61B1/00009 , G06K9/00208 , G06K9/00214 , G06K9/6206 , G06T7/75 , G06T2207/10068 , G06T2207/30061
摘要： 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.
摘要翻译：全球注册系统和方法可以确定支气管镜的位置，而不需要显着的支气管镜操作，技术人员干预或电磁传感器。获得3D气道树的虚拟支气管镜（VB）渲染，包括气道树内分支位置的VB视图。从插入气道树的支气管镜接收至少一个真实支气管镜（RB）视频帧。在计算机上执行根据本发明的算法以识别具有最接近所接收的RB视图的VB视图的几个最可能的分支位置，并且根据识别的分支位置确定气道树内的气管镜的3D位置在VB视图中。优选实施例涉及在全球气道分叉搜索空间中的所有分支上的快速本地登记搜索，其中用于寻找最佳匹配的加权归一化平方和距离度量。

10. 发明申请

WO2011094518A3 IMAGE-BASED GLOBAL REGISTRATION SYSTEM AND METHOD APPLICABLE TO BRONCHOSCOPY GUIDANCE 审中-公开
标题翻译：基于图像的全球注册系统和方法适用于支配镜指导
公开(公告)号：WO2011094518A3
公开(公告)日：2011-08-04
申请号：PCT/US2011/022891
申请日：2011-01-28
申请人： THE PENN STATE RESEARCH FOUNDATION , HIGGINS, William, E. , KHARE, Rahul , MERRITT, Scott, A.
发明人： HIGGINS, William, E. , KHARE, Rahul , MERRITT, Scott, A.
IPC分类号： A61B5/00 , A61B17/94 , A61B1/01 , A61B1/04
摘要： 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.
摘要翻译：全球注册系统和方法识别支气管镜位置，而不需要显着的支气管镜操作，技术人员干预或电磁传感器。获得3D气道树的虚拟支气管镜（VB）渲染，包括气道树内分支位置的VB视图。从插入气道树的支气管镜接收至少一个真实支气管镜（RB）视频帧。在计算机上执行根据本发明的算法以识别具有最接近所接收的RB视图的VB视图的几个最可能的分支位置，并且根据识别的分支位置确定气道树内的气管镜的3D位置在VB视图中。优选实施例涉及在全球气道分叉搜索空间中的所有分支上的快速本地登记搜索，其中用于寻找最佳匹配的加权归一化平方和距离量度。

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