IMAGE-BASED LOCALIZATION METHOD AND SYSTEM

• US 20110282151A1
• Filed: 10/12/2009
• Published: 11/17/2011
• Est. Priority Date: 10/20/2008
• Status: Abandoned Application

• Current Assignee: Koninklijke Philips N.V.
• Original Assignee: Koninklijke Philips Electronics N.V. (Koninklijke Philips N.V.)
• Inventors: Popovic, Aleksandra, Trovato, Karen Irene
• Application Number:
  US13/124,903
• Publication Number:
  US 20110282151A1
• Time in Patent Office: Days
• US Class Current: 600/117
• CPC Class Codes: A61B 1/000094 extracting biological structures
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• CPC Class Codes: A61B 2017/00809 Lung operations
• CPC Class Codes: A61B 2034/107 Visualisation of planned trajectories or target regions
• CPC Class Codes: A61B 34/10 Computer-aided planning, simulation or modelling of surgical operations
• CPC Class Codes: A61B 5/06 Devices, other than using radiation, for detecting or locating foreign bodies for removing same A61B17/50 ; determining position of probes within or on the body of the patient
• CPC Class Codes: A61B 5/065 Determining position of the probe employing exclusively positioning means located on or in the probe, e.g. using position sensors arranged on the probe
• CPC Class Codes: A61B 6/03 Computed tomography [CT] echo-tomography A61B8/14
• CPC Class Codes: A61B 6/466 adapted to display 3D data
• CPC Class Codes: A61B 6/5217 extracting a diagnostic or physiological parameter from medical diagnostic data
• CPC Class Codes: G06T 2207/10068 Endoscopic image
• CPC Class Codes: G06T 2207/10072 Tomographic images
• CPC Class Codes: G06T 2207/10116 X-ray image
• CPC Class Codes: G06T 2207/10132 Ultrasound image
• CPC Class Codes: G06T 2207/30061 Lung
• CPC Class Codes: G06T 7/248 involving reference images or patches
• CPC Class Codes: G06T 7/74 involving reference images or patches
• CPC Class Codes: G16H 50/30 for calculating health indices; for individual health risk assessment

Abstract

A pre-operative stage of an image-based localization method (30) involves a generation of a scan image (20) illustrating an anatomical region (40) of a body, and a generation of virtual information (21) including a prediction of virtual poses of endoscope (51) relative to an endoscopic path (52) within scan image (20) in accordance with kinematic and optical properties of endoscope (51). An intra-operative stage of the method (30) involves a generation of an endoscopic image (22) illustrating anatomical region (40) in accordance with endoscopic path (52) and a generation of tracking information (23) includes an estimation of poses of endoscope (51) relative to endoscopic path (52) within endoscopic image (22) corresponding to the prediction of virtual poses of endoscope (51) relative to endoscopic path (52) within scan image (20).

Claims

1. An image-based localization method (30), comprising:

generating a scan image (20) illustrating an anatomical region (40) of a body;

generating an endoscopic path (52) within the scan image (20) in accordance with kinematic properties of an endoscope (51); and

generating virtual video frames (21a) illustrating a virtual image of the endoscopic path (52) within the scan image (20) in accordance with optical properties of the endoscope (51).

2. The image-based localization method (30) of claim 1, further comprising:

assigning poses of the endoscopic path (52) within the scan image (20) to the virtual video frames (21a); and

extracting at least one virtual frame feature from each virtual video frame (21a).

3. The image-based localization method (30) of claim 2, further comprising:

generating a parameterized database (54) including the virtual video frames (21a) and a virtual pose dataset (21b) representative of the pose assignments of the endoscope (51) and the extracted at least one virtual frame feature.

4. The image-based localization method (30) of claim 1, further comprising:

executing a visual fly-through of the virtual video frames (21a) illustrating predicted poses of the endoscope (51) relative to the endoscopic path (52) within the anatomical region (40).

5. The image-based localization method (30) of claim 2, further comprising:

generating an endoscopic image (22) illustrating the anatomical region (40) of the body in accordance with the endoscopic path (52); and

extracting at least one endoscopic frame feature from each endoscopic video frame (22a) of the endoscopic image (22).

6. The image-based localization method (30) of claim 5, further comprising:

image matching the at least one endoscopic frame feature to the at least one virtual frame feature; and

corresponding assigned poses of the virtual video frames (21a) to the endoscopic video frames (22a) in accordance with the image matching.

7. The image-based localization method (30) of claim 6, further comprising:

generating a tracking pose image (23a) illustrating estimated poses of the endoscope (51) within the endoscopic image (22) in accordance with the pose assignments of the endoscopic video frames (22a); and

providing the tracking pose images frames (23a) to a display (56).

8. The image-based localization method (30) of claim 6, further comprising:

generating a tracking pose data (23b) representing the pose assignments of the endoscopic video frames (22a); and

providing the tracking pose data (23b) to an endoscope control mechanism (180) of the endoscope (51).

9. The image-based localization method (30) of claim 1, wherein the endoscopic path (52) is generated as a function of precise position values of neighborhood nodes within a discretized configuration space (80) associated with the scan image (20).

10. The image-based localization method (30) of claim 1, wherein the endoscope (51) is selected from a group including a bronchoscope and an imaging cannula.

11. An image-based localization method (30), comprising:

generating a scan image (20) illustrating an anatomical region (40) of a body; and

generating virtual information (21) derived from the scan image (20),

wherein the virtual information (21) includes a prediction of virtual poses of an endoscope (51) relative to an endoscopic path (53) within the scan image (20) in accordance with kinematic and optical properties of the endoscope (51).

12. The image-based localization method (30) of claim 11, further comprising:

generating an endoscopic image (22) illustrating the anatomical region (40) of the body in accordance with the endoscopic path (52); and

generating tracking information (23) derived from the virtual information and the endoscopic image (22),

wherein the tracking information (23) includes an estimation of poses of the endoscope (51) relative to the endoscopic path (52) within the endoscopic image (22) corresponding to the prediction of virtual poses of the endoscope (51) relative to the endoscopic path (52) within the scan image (20).

13. A image-based localization system, comprising;

a pre-operative virtual subsystem (171) operable to generate virtual information (21) derived from a scan image (20) illustrating an anatomical region (40) of the body,

wherein the virtual information (21) includes a prediction of virtual poses of an endoscope (51) relative to an endoscopic path (53) within the scan image (20) in accordance with kinematic and optical properties of the endoscope (51); and

an intra-operative tracking subsystem (172) operable to generate tracking information (23) derived from the virtual information (21) and an endoscopic image (22) illustrating the anatomical region (40) of the body in accordance with the endoscopic path (52),

wherein the tracking information (23) includes an estimation of poses of the endoscope (51) relative to the endoscopic path (52) within the endoscopic image (22) corresponding to the prediction of virtual poses of the endoscope (51) relative to the endoscopic path (52) within the scan image (20).

14. The image-based localization system of claim 13, further comprising:

a display (160),

wherein the intra-operative tracking subsystem (172) is further operable to provide a tracking pose image (23a) illustrating the estimated poses of the endoscope (51) relative to the endoscopic path (52) within the endoscopic image (22) to the display (56).

15. The image-based localization system of claim 13, further comprising:

an endoscope control mechanism (180),

wherein the intra-operative tracking subsystem (172) is further operable to provide a tracking pose data (23b) representing the estimated poses of the endoscope (51) relative to the endoscopic path (52) within the endoscopic image (22) to the endoscopic control mechanism (180).