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1. 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。

2. 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。

3. 发明申请

WO2007008289A2 GUIDANCE METHOD BASED ON 3D-2D POSE ESTIMATION AND 3D-CT REGISTRATION WITH APPLICATION TO LIVE BRONCHOSCOPY 审中-公开
标题翻译：基于三维2D位置估计和3D-CT注册的指导方法，适用于实时布隆方程
公开(公告)号：WO2007008289A2
公开(公告)日：2007-01-18
申请号：PCT/US2006/019926
申请日：2006-05-23
申请人： THE PENN STATE RESEARCH FOUNDATION , 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： 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 bronchoscopy or other endoscopic procedures. 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 bronchoscopic video frames, then estimating for the new pose of the bronchoscope. In the preferred embodiment the pose estimation is based on linearization of the rotation matrix. By giving a set of corresponding points across the current bronchoscopic video image, and the CT-based virtual image as an input, the same method can also be used for manual registration. The fine registration step is preferably a gradient-based Gauss-Newton method that maximizes the correlation between the bronchoscopic video image and the CT-based virtual image. The continuous guidance is provided by estimating the 3D motion of the bronchoscope in a loop. Since depth-map information is available, tracking can be done by solving a 3D-2D pose estimation problem. A 3D-2D pose estimation problem is more constrained than a 2D-2D pose estimation problem and does not suffer from the limitations associated with computing an essential matrix. The use of correlation-based -cost, instead of mutual information as a registration cost^ makes it simpler to use gradient-based methods for registration.
摘要翻译：一种方法在活支气管镜检查或其他内窥镜手术过程中向医生提供指导。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支气管镜视频帧之间找到一组对应的特征点，然后估计支气管镜的新姿势。在优选实施例中，姿态估计基于旋转矩阵的线性化。通过在目前的支气管镜视频图像上提供一组对应的点，并且基于CT的虚像作为输入，同样的方法也可以用于手动注册。精细登记步骤优选地是使支气管镜视频图像和基于CT的虚拟图像之间的相关性最大化的基于梯度的高斯 - 牛顿方法。通过在循环中估计支气管镜的3D运动来提供连续的指导。由于深度图信息可用，可以通过解决3D-2D姿态估计问题来进行跟踪。 3D-2D姿态估计问题比2D-2D姿态估计问题更受约束，并且不受与计算基本矩阵相关联的限制的影响。使用基于相关性的成本代替互信息作为注册成本，使得使用基于梯度的方法进行注册变得更为简单。

4. 发明申请

WO2006127713A3 A FAST 2D-3D IMAGE REGISTRATION METHOD WITH APPLICATION TO CONTINUOUSLY GUIDED ENDOSCOPY 审中-公开
公开(公告)号：WO2006127713A3
公开(公告)日：2006-11-30
申请号：PCT/US2006/019927
申请日：2006-05-23
申请人： THE PENN STATE RESEARCH FOUNDATION , HIGGINS, William, E. , MERRITT, Scott, A. , RAI, Lav
发明人： HIGGINS, William, E. , MERRITT, Scott, A. , RAI, Lav
IPC分类号： G06K9/00
摘要： A novel framework for fast and continuous registration between two imaging modalities is disclosed The approach includes computing or captuπng a set of reference images complete with corresponding depth maps and image gradients The collection of these images and depth maps constitutes the reference source 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.

5. 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。

6. 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。

7. 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。

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