GLOBAL REGISTRATION FOR BRONCHOSCOPY NAVIGATION WITH MICRO CAMERA
Publication Date: 2015-Feb-18
The IP.com Prior Art Database
For global registration in bronchoscopy a micro camera can be integrated into a guidance system. By using both the micro camera and the bronchoscope, stereo image feedback can be created. Thus, it is possible to establish global registration through 3D virtual to real image registration. Technician free image-guided bronchoscopy navigation is made possible
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Global Registration for Bronchoscopy Navigation with Micro Camera
For global registration in bronchoscopy a micro camera can be integrated into a guidance system. By using both the micro camera and the bronchoscope, stereo image feedback can be created. Thus, it is possible to establish global registration through 3D virtual to real image registration. Technician free image-guided bronchoscopy navigation is made possible.
Image-based registration and electromagnetic (EM) tracking have been recently introduced to alleviate the burden on pulmonologists in planning and performing bronchoscopic procedures. Both guidance approaches have their advantages and disadvantages. EM tracking enables global localization of the tip of the endoscope, but it adds additional cost to patient and is not inexpensive. EM-based guidance also requires adequate clinical environment setup to avoid interference. Image registration based approach is an inexpensive solution. It does not add additional equipment other than a platform to run and interact with. The current image registration is, however, reliable for local registration, thus an experienced technician is needed to assist in running the guidance system to lead the procedure. Global registration is more challenging. Additional facilities and setup are required to assist in 2D image registration to enable global localization of the bronchoscope tip for initialization.
Recently, the micro camera has been recognized as a useful tool with great potential in medical imaging and clinical applications. Commercially available micro cameras (e.g. Awaiba, Medigus and Fijikura cameras) are video image systems that typically based on CMOS or CCD technology. One of the most popular micro cameras is a camera module which consists of a CMOS image sensor with a size of 1mm x 1mm and optionally adapted miniature optics. It has 250 x 250 pixels with a 3um x 3um pixel size. The camera has 1.2mm diameter and 1.75mm diameter with fiber optic illumination.
A micro camera can be added to a guidance system by placing the camera in the working channel of a bronchoscope. Once the micro camera and bronchoscope are calibrated, stereo image feedback is created. Thus, it is possible to establish global registration through 3D virtual to 3D real image alignment.
EM-CT registration will typically:
1. Use several skin sensors that can be tracked by EM system and recognized in a CT or other image, but the patient must have a scan with the sensor on, and the user has to identify the sensors one by one manually;
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2. Require the physician to physically touch several anatomical landmarks using bronchoscope so that those landmarks are recognized in both EM and imaging coordinate system;
3. Require the physician to have a survey of the major bronchi, including trachea, left and right main bronchi, and lobe bronchi. Then the recorded video frame or the tracked bronchoscope tip location will be used for EM-CT registration.