Computational Tasks in Bronchoscope Navigation During Computer-Assisted Transbronchial Biopsy

Authors:
Jarosław Bułat;Krzysztof Duda;Mirosław Socha;Paweł Turcza;Tomasz Zieliński;Mariusz Duplaga
Affiliations:
Department of Measurement and Instrumentation, AGH University of Science and Technology, Kraków, Poland 30-059;Department of Measurement and Instrumentation, AGH University of Science and Technology, Kraków, Poland 30-059;Department of Measurement and Instrumentation, AGH University of Science and Technology, Kraków, Poland 30-059;Department of Measurement and Instrumentation, AGH University of Science and Technology, Kraków, Poland 30-059;Department of Telecommunications, AGH University of Science and Technology, Kraków, Poland 30-059;Collegium Medicum, Jagiellonian University, Kraków, Poland 31-066
Venue:
ICCS '08 Proceedings of the 8th international conference on Computational Science, Part III
Year:
2008

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Abstract

The paper presents algorithmic solutions dedicated to computer navigation system which is to assist bronchoscope positioning during transbronchial needle-aspiration biopsy. The navigation exploits principle of on-line registration of real images coming from endoscope camera and virtual ones generated on the base of computed-tomography (CT) data of a patient. When these images are similar an assumption is made that the bronchoscope and virtual camera have approximately the same position and view direction. In the paper the following computational aspects are described: correction of camera lens distortion, fast approximate estimation of endoscope ego-motion, reconstruction of bronchial tree from CT data by means of their segmentation and its centerline calculation, virtual views generation, registration of real and virtual images via maximization of their mutual information and, finally, efficient parallel and network implementation of the navigation system which is under development.