Computational tasks in computer-assisted transbronchial biopsy

Authors:
J. Bułat;K. Duda;M. Socha;P. Turcza;T. Zieliński;M. Duplaga
Affiliations:
Department of Telecommunications, AGH University of Science and Technology, al.Mickiewicza 30, 30-059 Kraków, Poland;Department of Measurement and Instrumentation, AGH University of Science and Technology, al.Mickiewicza 30, 30-059 Kraków, Poland;Department of Measurement and Instrumentation, AGH University of Science and Technology, al.Mickiewicza 30, 30-059 Kraków, Poland;Department of Measurement and Instrumentation, AGH University of Science and Technology, al.Mickiewicza 30, 30-059 Kraków, Poland;Department of Telecommunications, AGH University of Science and Technology, al.Mickiewicza 30, 30-059 Kraków, Poland;Collegium Medicum, Jagiellonian University, ul.Skawińska 8, 31-066 Kraków, Poland
Venue:
Future Generation Computer Systems
Year:
2010

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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 the principle of on-line registration of real images from endoscope camera and the 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 this paper the following computational aspects are described: correction of camera lens distortion, fast approximate estimation of endoscope ego-motion, reconstruction of bronchial tree from the 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 at present.