System and method for performing a three-dimensional virtual examination

• US 5,971,767 A
• Filed: 09/16/1996
• Issued: 10/26/1999
• Est. Priority Date: 09/16/1996
• Status: Expired due to Term

• Current Assignee: The Research Foundation for The State University of New York (State University of New York)
• Original Assignee: The Research Foundation for The State University of New York (State University of New York)
• Inventors: Hong, Lichan, Viswambharan, Ajay, Liang, Zhengrong, Wax, Mark R., Kaufman, Arie E.
• Primary Examiner(s): Nguyen, Kien T.
• Application Number:
  US08/714,697
• Time in Patent Office: 1,135 Days
• Field of Search: 434/262, 434/267, 434/272, 345/418, 345/419, 345/420, 345/424, 345/426, 345/473, 345/474, 345/112, 345/952, 345/959
• US Class Current: 434/267
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images
• CPC Class Codes: G06T 2207/20044 Skeletonization; Medial axis transform
• CPC Class Codes: G06T 2207/30028 Colon; Small intestine
• CPC Class Codes: G06T 2210/28 Force feedback
• CPC Class Codes: G06T 2210/41 Medical
• CPC Class Codes: G06V 10/147 Details of sensors, e.g. sensor lenses fingerprint or palmprint sensors G06V40/13; vascular sensors G06V40/145; eye sensors G06V40/19
• CPC Class Codes: G06V 2201/03 Recognition of patterns in medical or anatomical images

Abstract

A system and method for generating a three-dimensional visualization image of an object such as an organ using volume visualization techniques and exploring the image using a guided navigation system which allows the operator to travel along a flight path and to adjust the view to a particular portion of the image of interest in order, for example, to identify polyps, cysts or other abnormal features in the visualized organ. An electronic biopsy can also be performed on an identified growth or mass in the visualized object.

Claims

1. A method for performing a three-dimensional virtual examination of at least one object comprising:

scanning with a scanning device and producing scan data representative of said object;

creating a three-dimensional volume representation of said object comprising volume elements from said scan data;

selecting a start volume element and a finish volume element from said three-dimensional volume representation;

generating a defined path between said start and finish volume elements;

performing a guided navigation of said three-dimensional representation along said path; and

displaying in real time said volume elements responsive to said path and an operator'"'"'s input during said guided navigation.

2. The method of claim 1, wherein said performing a navigation step includes assigning a potential value to each of said volume elements.

3. The method of claim 2, wherein said potential values are assigned to be the largest near said object'"'"'s walls.

4. The method of claim 1, wherein said defined path is located approximately equidistant from said object'"'"'s outer walls.

5. The method of claim 4, wherein a plurality of said volume elements are assigned low potential values and are located along said defined path.

6. The method of claim 1, wherein said object is an organ.

7. The method of claim 6, wherein said organ is a colon.

8. The method of claim 6, wherein said organ is a lung.

9. The method of claim 6, wherein said organ is at least one blood vessel.

10. The method of claim 1, wherein said displaying step includes identifying each of said volume elements which are visible along said path.

11. The method of claim 10, wherein said identifying is performed using a hierarchal data structure containing viewing data.

12. The method of claim 1, wherein said guided navigation performed is based on a physical model.

13. The method of claim 1, wherein said guided navigation uses a camera model to simulate a trip along said path.

14. The method of claim 13, wherein said camera model'"'"'s position can be changed in six degrees of freedom.

15. The method of claim 13, wherein said path is pre-selected and further allows for changes in said camera'"'"'s orientation based upon input from an operator.

16. The method of claim 13, wherein said virtual examination displays only said volume elements in a sight cone of said camera model.

17. The method of claim 1, wherein said navigation step includes selecting a center-line by removing volume elements closest to said object'"'"'s walls until only one path remains.

18. The method of claim 1, wherein said virtual examination further includes a step of assigning opacity coefficients to each of said volume elements.

19. The method of claim 18, wherein said opacity coefficients of selected volume elements are changed responsive to input from an operator.

20. The method of claim 19, wherein said volume elements with low opacity coefficients are not displayed during said display step.

21. The method of claim 20, wherein at least one said volume element'"'"'s opacity coefficient is changed so that said changed volume element is not displayed in said display step.

22. The method of claim 19, wherein said volume elements are displayed as translucent to a degree responsive to said opacity coefficients of said volume elements.

23. The method of claim 1, wherein at least one volume element'"'"'s associated data is changed so that said changed volume element is not displayed in said display step.

24. The method of claim 1, further comprising the step of preparing the object for scanning.

25. The method of claim 24, wherein said preparing step includes coating said object with a substance to improve the contrast of said object for scanning.

26. The method of claim 1, wherein said producing a discrete representation of said object step includes scanning a second object within said object.

27. The method of claim 1, wherein said producing a discrete data representation of said object step includes creating a voxel image from a geometric model.

28. A method for performing a three-dimensional internal virtual examination of at least one organ comprising:

scanning the organ with a radiological scanning device and producing scan data representative of said organ;

creating a three-dimensional volume representation of said organ comprising volume elements from said scan data;

selecting a start volume element and a finish volume element from said three-dimensional volume representation;

generating a defined path between said start and finish volume elements;

performing a guided navigation of said three-dimensional representation along said path; and

displaying in real time said volume elements responsive to said path and an operator'"'"'s input during said guided navigation.

29. The method of claim 28, wherein said performing a guided navigation step includes assigning a potential value to each of said volume elements.

30. The method of claim 29, wherein said potential values are assigned to be the largest near said organ'"'"'s walls.

31. The method of claim 28, wherein said pre-selected path is located approximately equidistant from said objects outer walls.

32. The method of claim 31, wherein a plurality of said volume elements are assigned low potential values and are located along said defined path.

33. The method of claim 28, wherein said organ is a colon.

34. The method of claim 28, wherein said organ is a lung.

35. The method of claim 28, wherein said organ is at least one blood vessel.

36. The method of claim 28, wherein said displaying step includes identifying each of said volume elements which are visible along said path.

37. The method of claim 36, wherein said identifying is performed using a hierarchical data structure containing viewing data.

38. The method of claim 28, wherein said guided navigation uses a camera model to simulate a trip along said path.

39. The method of claim 38, wherein said camera model'"'"'s position can be changed in six degrees of freedom.

40. The method of claim 38, wherein said path is pre-selected and further allows for changes in said camera'"'"'s orientation based upon input from an operator.

41. The method of claim 38, wherein said virtual examination displays only said volume elements in a sight line of said camera model.

42. The method of claim 28, wherein said guided navigation step includes selecting a center-line by removing volume elements closest to said organ'"'"'s walls until only one path remains.

43. The method of claim 28, wherein said virtual examination further includes a step of assigning opacity coefficients to each of said volume elements.

44. The method of claim 43, wherein said opacity coefficients of selected volume elements are changed responsive to input from an operator.

45. The method of claim 44, wherein said volume elements with low opacity coefficients are not displayed during said display step.

46. The method of claim 45, wherein at least one said volume element'"'"'s opacity coefficient is changed so that said changed volume element is not displayed in said display step.

47. The method of claim 44, wherein said volume elements are displayed as translucent to a degree responsive to said operating coefficients of said volume elements.

48. The method of claim 28, wherein at least one volume element is changed so that said changed volume element is not displayed in said display step.

49. The method of claim 28, further comprising the step of preparing the organ for scanning.

50. The method of claim 49, wherein said preparing step includes cleansing said organ of moveable objects.

51. The method of claim 49, wherein said preparing step includes coating said organ with a substance to improve the contrast of said organ for scanning.

52. A system for performing a virtual three-dimensional examination of an object comprising:

an apparatus for producing a discrete representation of said object;

an apparatus for converting said discrete representation into three-dimensional volume data elements;

an apparatus for selecting an area to be visualized from said three-dimensional volume data elements;

an apparatus for performing a guided navigation along a pre-selected path of said selected three-dimensional volume data elements; and

an apparatus for displaying in real time said volume elements in proximity along said path and responsive to an operator'"'"'s input.

53. The system of claim 52, wherein said three-dimensional data elements include opacity coefficients and said display apparatus is responsive to said opacity coefficients.

54. The system of claim 53, wherein said performing apparatus is capable of changing a selected volume data element'"'"'s opacity coefficients.

55. The system of claim 54, wherein said display apparatus is capable of displaying a volume element translucently responsive to said opacity coefficients.

56. The system of claim 52, wherein said conversion apparatus and said performing apparatus are contained within a single unit.

57. The system of claim 52, wherein said apparatus for producing a discrete representation of said object produces scan data and said scan data is stored separately from said converting apparatus.

58. The system of claim 52, wherein said apparatus for producing a discrete representation of said object produces scan data and said scan data is stored separately from said selecting apparatus.

59. The system of claim 52, further including at least one additional selecting apparatus, performing apparatus and displaying apparatus for performing additional virtual three-dimensional examinations of said object.

60. A system for performing a virtual three-dimensional internal examination of an organ comprising:

an apparatus for scanning said organ and producing scan data representative of said organ;

an apparatus for converting said scan data into three-dimensional volume data elements;

an apparatus for selecting an area to be visualized from said three-dimensional volume data elements;

an apparatus for performing a guided navigation along a pre-selected path of said selected three-dimensional volume data elements; and

an apparatus for displaying in real time said volume elements along said path responsive to an operator'"'"'s input.

61. The system of claim 60, wherein said three-dimensional volume data elements include opacity coefficients and said display apparatus is responsive to said opacity coefficients.

62. The system of claim 61, wherein said performing apparatus is capable of changing a selected said volume data element'"'"'s opacity coefficients.

63. The system of claim 62, wherein said display apparatus is capable of displaying a volume element translucently.

64. The system of claim 60, wherein said conversion apparatus and said performing apparatus are contained within a single unit.

65. The system of claim 60, wherein said scan data is stored separately from said converting apparatus.

66. The system of claim 60, wherein said scan data is stored separately from said selecting apparatus.

67. The system of claim 60, further including at least one additional selecting apparatus, performing apparatus and displaying apparatus for performing additional virtual three-dimensional examinations of said organ.