Method and system for producing interactive, three-dimensional renderings of selected body organs having hollow lumens to enable simulated movement through the lumen

• US 6,083,162 A
• Filed: 04/28/1997
• Issued: 07/04/2000
• Est. Priority Date: 10/27/1994
• Status: Expired due to Term

• Current Assignee: Wake Forest University Health Sciences
• Original Assignee: Wake Forest University
• Inventors: Vining, David J.
• Primary Examiner(s): Casler, Brian L.
• Application Number:
  US08/817,901
• Time in Patent Office: 1,163 Days
• Field of Search: 600/407, 600/410, 600/420, 600/431, 378/4.901, 345/419-443, 345/952, 395/924, 128/920
• US Class Current: 600/407
• CPC Class Codes: A61B 6/027 characterised by the use of a particular data acquisition trajectory, e.g. helical or spiral
• CPC Class Codes: G06T 15/08 Volume rendering
• CPC Class Codes: G06T 17/20 Finite element generation, e.g. wire-frame surface description, tesselation
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images
• CPC Class Codes: G06T 2207/10081 Computed x-ray tomography [CT]
• CPC Class Codes: G06T 2207/10136 3D ultrasound image
• CPC Class Codes: G06T 2207/30028 Colon; Small intestine
• CPC Class Codes: G06T 2207/30032 Colon polyp
• CPC Class Codes: G06T 2207/30064 Lung nodule
• CPC Class Codes: G06T 2210/08 Bandwidth reduction
• CPC Class Codes: G06T 2210/41 Medical
• CPC Class Codes: G06T 7/0012 Biomedical image inspection
• CPC Class Codes: G06T 7/11 Region-based segmentation
• CPC Class Codes: G06T 7/155 involving morphological operators
• CPC Class Codes: G09B 23/285 for injections, endoscopy, bronchoscopy, sigmoidscopy, insertion of contraceptive devices or enemas
• CPC Class Codes: H04N 9/3141 Constructional details thereof details not peculiar to the presence of an electronic spatial light modulator G03B21/14
• CPC Class Codes: Y10S 128/92 Computer assisted medical diagnostics

Abstract

A method and system are provided for effecting interactive, three-dimensional renderings of selected body organs for purposes of medical observation and diagnosis. A series of CT images of the selected body organs are acquired. The series of CT images is stacked to form a three-dimensional volume file. To facilitate interactive three-dimensional rendering, the three-dimensional volume file may be subjected to an optional dataset reduction procedure to reduce pixel resolution and/or to divide the three-dimensional volume file into selected subvolumes. From a selected volume or subvolume, the image of a selected body organ is segmented of isolated. A wireframe model of the segmented organ image is then generated to enable interactive, three-dimensional rendering of the selected organ.

Claims

1. A method for interactively displaying three-dimensional structures comprising the steps of:

A. forming a three-dimensional volume of data from a series of two-dimensional images representing at least one physical property associated with a three-dimensional body;

B. segmenting a selected region of interest from the volume of data based on selected values of the physical property representing the selected region of interest; and

C. rendering the segmented region of interest as a surface rendering in an interactive three-dimensional display, therein producing a virtual three-dimensional environment, wherein the step of rendering the segmented region of interest comprises a volume rendering step for rendering selected volumes adjacent the segmented region of interest.

2. The method as recited in claim 1 comprising a reduction step of reducing the size of the volume of data before rendering the image of the segmented region of interest in the interactive three-dimensional display.

3. The method as recited in claim 2 wherein the reduction step comprises reducing pixel resolution.

4. The method as recited in claim 3 wherein the pixel resolution is reduced to 8 bits per pixel.

5. The method as recited in claim 2 wherein the reduction step comprises reducing spatial resolution.

6. The method as recited in claim 5 wherein the spatial resolution is reduced to 256 pixels by 256 pixels.

7. The method as recited in claim 2 wherein the reduction step comprises creating a subvolume of data.

8. The method as recited in claim 1 wherein the series of two-dimensional images comprises images taken at regularly spaced grid locations within the body.

9. The method as recited in claim 8 wherein the spacing between successive grid locations is selected to produce isocubic voxels for the three-dimensional display.

10. The method as recited in claim 1 wherein the physical property includes x-ray attenuation.

11. The method as recited in claim 1 wherein the series of two-dimensional images comprises images taken at 1 mm regularly spaced grid locations within the body.

12. The method as recited in claim 1 wherein the series of two-dimensional images comprises computed tomography images.

13. The method as recited in claim 12 wherein the computed tomography images comprise helical computed tomography images.

14. The method as recited in claim 1 wherein the series of two-dimensional images comprises x-ray images.

15. The method as recited in claim 1 wherein the body comprises a human body.

16. The method as recited in claim 1 wherein the selected region of interest comprises an air column within a body organ.

17. The method as recited in claim 16 wherein the air column comprises a colon.

18. The method as recited in claim 16 wherein the air column comprises the bronchi.

19. The method as recited in claim 16 wherein the air column comprises a larynx.

20. The method as recited in claim 16 wherein the air column comprises a trachea.

21. The method as recited in claim 1 wherein the region of interest comprises an air-tissue interface at a body organ.

22. The method as recited in claim 1 wherein the step of segmenting the selected region of interest comprises a thresholding step for determining threshold values corresponding to the selected values of the physical property to isolate the selected region of interest.

23. The method as recited in claim 22 including forming an isosurface wireframe model of the isolated selection region of interest.

24. The method as recited in claim 23 wherein the step of rendering an image includes the step of rendering a three-dimensional display of the wireframe model.

25. The method as recited in claim 22 wherein the thresholding step comprises:

i. a threshold selection step for selecting a threshold range corresponding to the selected values of the physical property representing the selected region of interest; and

ii. a threshold adjustment step for adjusting the threshold values to provide the threshold range for isolating the selected region of interest.

26. The method as recited in claim 25 wherein the threshold adjustment step comprises:

a. an orthoslice step of providing an orthoslice through the volume of data; and

b. a display step for displaying the orthoslice and a corresponding thresholded image of the orthoslice, so that the threshold values can be adjusted while comparing the thresholded image to the corresponding orthoslice.

27. The method as recited in claim 22 wherein the step of segmenting the selected region of interest comprises a morphological dilation step.

28. The method as recited in claim 27 wherein the morphological dilation step comprises the steps of:

i. undersegmenting the selected region of interest from the volume of data; and

ii. adding a layer of voxels to the undersegmented region of interest to form a segmented region of interest.

29. The method as recited in claim 27 including forming an isosurface wireframe model of the isolated selected region of interest.

30. The method as recited in claim 29 wherein the step of rendering an image includes the step of rendering a three-dimensional display of the wireframe model.

31. The method as recited in claim 1 wherein the volume rendering step comprises an opacity adjusting step for adjusting opacity values.

32. The method as recited in claim 31 wherein the opacity adjustment step comprises the step of adjusting the opacity values to the values determined along the inverse of a histogram curve representing the number of voxels of a given voxel value as a function of voxel value.

33. A method for interactively displaying three-dimensional structures comprising the steps of;

A. forming a three-dimensional volume of data from a series of two-dimensional images representing at least one physical property associated with a three-dimensional body;

B. segmenting a selected region of interest from the volume of data based on selected values of the physical property representing the selected region of interest, wherein the step of segmenting the selected region of interest comprises a thresholding step for determining threshold values corresponding to the selected values of the physical property to isolate the selected region of interest, wherein the thresholding step comprises;

a. a threshold selection step for selecting a threshold range corresponding to the selected values of the physical property representing the selected region of interest; and

b. a threshold adjustment step for adjusting the threshold values to provide the threshold range for isolating the selected region of interest; and

c. rendering the segmented region of interest as a surface rendering in an interactive three-dimensional display.

34. The method as recited in claim 33 wherein the threshold adjustment step comprises:

a. an orthoslice step of providing an orthoslice through the volume of data; and

b. a display step for displaying the orthoslice and a corresponding thresholded image of the orthoslice, so that the threshold values can be adjusted while comparing the thresholded image to the corresponding orthoslice.

35. A method for interactively displaying a colon in three dimensions comprising:

a. an image acquisition step wherein a series of two-dimensional images representing at least one physical property associated with the colon is acquired;

b. a volume formation step wherein a three-dimensional volume of data is formed by stacking the series of two-dimensional images in computer memory;

c. a segmentation step wherein a region of interest related to the colon is segmented from the volume of data based on selected values of the physical property representing the region of interest; and

d. a rendering step wherein the segmented region of interest is rendered as a surface rendering in an interactive three-dimensional display, therein producing a virtual three-dimensional environment, and wherein the rendering step comprises a volume rendering step for rendering selected volumes adjacent the segmented region of interest.

36. The method as recited in claim 35 comprising cleansing the colon before the image acquisition step.

37. The method as recited in claim 35 comprising inflating the colon with gas before the image acquisition step.

38. The method as recited in claim 35 wherein the series of two-dimensional images comprises images taken at regularly spaced grid locations within the body.

39. The method as recited in claim 38 wherein the spacing between successive grid locations is selected to produce isocubic voxels for the three-dimensional display.

40. The method as recited in claim 38 wherein the series of two-dimensional images comprises images taken at 1 mm regularly spaced grid locations within the body.

41. The method as recited in claim 35 wherein the physical property includes x-ray attenuation.

42. The method as recited in claim 35 wherein the series of two-dimensional images comprises computed tomography images.

43. The method as recited in claim 42 wherein the computed tomography images comprise helical computed tomography images.

44. The method as recited in claim 35 wherein the region of interest comprises an air-tissue interface.

45. The method as recited in claim 35 further comprising a data reduction step for reducing the size of the volume of data before rendering the segmented region of interest.

46. The method as recited in claim 45 wherein the reduction step comprises reducing pixel resolution.

47. The method as recited in claim 46 wherein the pixel resolution is reduced to 8 bits per pixel.

48. The method as recited in claim 45 wherein the reduction step comprises reducing spatial resolution.

49. The method as recited in claim 48 wherein the spatial resolution is reduced to 256 pixels by 256 pixels.

50. The method as recited in claim 45 wherein the reduction step comprises creating a subvolume of data.

51. The method as recited in claim 50 wherein the subvolume is a subvolume containing at least one of the rectum, the sigmoid colon, the descending colon, the splenic flexure, the transverse colon, the hepatic flexure, the ascending colon, and the cecum.

52. The method as recited in claim 35 wherein the rendering step comprises simulating movement along a line which passes along the center of the lumen of the colon.

53. The method as recited in claim 35 wherein the rendering step comprises splitting the colon open in lengthwise sections and displaying the split open colon so that inner surfaces of the split open colon are visible.

54. The method as recited in claim 35 wherein the segmentation step comprises a step of determining colon wall thickness.

55. The method as recited in claim 54 wherein the step of determining the colon wall thickness comprises displaying a cross-sectional image through the colon.

56. The method as recited in claim 54 wherein the step of determining colon wall thickness comprises a step of identifying a thickened section of the colon by visually differentiating a thickened section on a displayed image from normal thickness of the colon wall.

57. The method as recited in claim 35 wherein the volume rendering step comprises an opacity adjusting step for adjusting opacity values.

58. The method as recited in claim 57 wherein the opacity adjustment step comprises the step of adjusting the opacity values to the values determined along the inverse of a histogram curve representing the number of voxels of a given voxel value as a function of voxel value.

59. A method for interactively displayiny a colon in three dimensions comprising:

a. an image acquisition step wherein a series of two-dimensional images representing at least one physical property associated with the colon is acquired;

b. a volume formation step wherein a three-dimensional volume of data is formed by stacking the series of two-dimensional images in computer memory;

c. a data reduction step for reducing the size of the volume of data, wherein the size of the volume of data is reduced to less than about 10 megabytes;

d. a segmentation step wherein a region of interest related to the colon is segmented from the volume of data based on selected values of the physical properly representing the region of interest; and

e. a rendering step wherein the segmented region of interest is rendered in an interactive three-dimensional display, therein producing a virtual three-dimensional environment.

60. A method for interactively displaying a tracheobronchial airway in three dimensions comprising:

a. an image acquisition step wherein a series of two-dimensional images representing at least one physical property associated with the tracheobronchial tree is acquired;

b. a volume formation step wherein a three-dimensional volume of data is formed by stacking the series of two-dimensional images in computer memory;

c. a segmentation step wherein a region of interest is segmented from the volume of data based on selected values of the physical property representing the region of interest; and

d. a rendering step wherein the segmented region of interest is rendered as a surface rendering in an interactive three-dimensional display, therein producing a virtual three-dimensional environment, and wherein the rendering step comprises a volume rendering step.

61. The method as recited in claim 60 wherein the image acquisition step comprises a patient preparation step wherein a patient is administered a nonionic intravenous iodinated contrast bolus.

62. The method as recited in claim 60 wherein the series of two-dimensional images comprises images taken at regularly spaced grid locations within the body.

63. The method as recited in claim 62 wherein the spacing between successive grid locations is selected to produce isocubic voxels for three-dimensional display.

64. The method as recited in claim 62 wherein the series of two-dimensional images comprises images taken at 1 mm regularly spaced grid locations within the body.

65. The method as recited in claim 62 wherein the physical property includes x-ray attenuation.

66. The method as recited in claim 62 wherein the series of two-dimensional images comprises computed tomography images.

67. The method as recited in claim 66 wherein the computed tomography images comprise helical computed tomography images.

68. The method as recited in claim 60 wherein the region of interest comprises an air column.

69. The method as recited in claim 60 comprising a data reduction step for reducing the size of the volume of data before rendering the segmented region of interest.

70. The method as recited in claim 69 wherein the reduction step comprises reducing pixel resolution.

71. The method as recited in claim 70 wherein the pixel resolution is reduced to 8 bits per pixel.

72. The method as recited in claim 69 wherein the reduction step comprises reducing spatial resolution.

73. The method as recited in claim 72 wherein the spatial resolution is reduced to 256 pixels by 256 pixels.

74. The method as recited in claim 69 wherein the reduction step comprises creating a subvolume of data.

75. The method as recited in claim 60 wherein a portion of the tracheobronchial airway is rendered transparent.

76. The method as recited in claim 60 wherein a portion of the tracheobronchial airway is rendered semi-transparent.

77. The method as recited in claim 60 wherein the volume rendering step comprises an opacity adjusting step for adjusting opacity values.

78. The method as recited in claim 77 wherein the opacity adjustment step comprises the step of adjusting the opacity values to the values determined along the inverse of a histogram curve representing the number of voxels of a given voxel value as a function of voxel value.

79. A method for interactively displaying a tracheobronchial airway in three dimensions comprising:

a. an image acquisition step wherein a series of two-dimensional images representing at least one physical property associated with the tracheobronchial tree is acquired;

b. a volume formation step wherein a three-dimensional volume of data is formed by stacking the series of two-dimensional image in computer memory;

c. a segmentation step wherein a region of interest is segmented from the volume of data based on selected values of the physical property representing the region of interest;

d. a data reduction step for reducing the size of the volume of data before rendering the segmented region of interest, wherein the reduction step comprises creating a subvolume of data, wherein the subvolume comprises the mediastinum; and

e. a surface rendering step wherein the segmented region of interest is rendered as a surface rendering in an interactive three-dimensional display.

80. A method for interactively displaying a tracheobronchial airway in three dimensions comprising:

a. an image acquisition step wherein a series of two-dimensional images representing at least one physical property associated with the tracheobronchial tree is acquired;

b. a volume formation step wherein a three-dimensional volume of data is formed by stacking the series of two-dimensional image in computer memory;

c. a segmentation step wherein a region of interest is segmented from the volume of data based on selected values of the physical property representing the region of interest;

d. a data reduction step for reducing the size of the volume of data before rendering the segmented region of interest, wherein the size of the data is reduced to less than about 10 megabytes; and

e. a surface rendering step wherein the segmented region of interest is rendered as a surface rendering in an interactive three-dimensional display.

81. A system for interactively displaying three-dimensional structures comprising:

a. volume formation means for forming a three-dimensional volume of data from a series of two-dimensional images representing at least one physical property associated with a three-dimensional body;

b. segmentation means for segmenting a region of interest from the volume of data based on selected values of the physical property representing the selected region of interest; and

c. rendering means for rendering the segmented region of interest as a surface rendering in an interactive three-dimensional display, therein producing a virtual three-dimensional environment, and wherein the rendering means comprises a volume rendering means for rendering selected volumes adjacent the segmented region of interest.

82. The system as recited in claim 81 wherein the series of two-dimensional images comprises images taken at regularly spaced grid locations within the body.

83. The system as recited in claim 82 wherein the spacing between successive grid locations is selected to produce isocubic voxels for three-dimensional display.

84. The system as recited in claim 82 wherein the series of two-dimensional images comprises images taken at 1 mm regularly spaced grid locations within the body.

85. The system as recited in claim 82 wherein the series of two-dimensional images comprises computed tomography images.

86. The system as recited in claim 85 wherein the computed tomography images comprise helical computed tomography images.

87. The system as recited in claim 81 further comprising reduction means for reducing the size of the volume of data.

88. The system as recited in claim 87 wherein the reduction means comprises means for reducing pixel resolution.

89. The system as recited in claim 87 wherein the reduction means comprises means for reducing the spatial resolution.

90. The system as recited in claim 87 wherein the reduction means comprises means for creating a subvolume of data.

91. The system as recited in claim 81 wherein the segmentation means comprises a thresholding means for determining a threshold range used to isolate the region of interest.

92. The system as recited in claim 91 including means for producing a wireframe model of the isolated region of interest.

93. The system as recited in claim 91 wherein the segmentation means comprises a morphological dilation means for adjusting the segmented region of interest.

94. The system as recited in claim 93 wherein the morphological dilation means comprises:

A. undersegmentation means for undersegmenting the region of interest from the volume of data; and

B. layer means for adding a layer of voxels to the undersegmented region of interest to form a segmented region of interest.

95. The system as recited in claim 94 including means for producing a wireframe model of the isolated region of interest.

96. The system recited in claim 94 wherein the thresholding means comprises:

a. a threshold selection means for selecting threshold values; and

b. a threshold adjustment means for adjusting the threshold values.

97. The system as recited in claim 96 wherein the threshold adjustment means comprises:

a. orthoslice means for taking an orthoslice through the region of interest to produce an orthoslice image; and

b. display means for displaying the orthoslice image and a corresponding thresholded image, so that the threshold values can be adjusted while comparing the thresholded image to the corresponding orthoslice.

98. The system as recited in claim 81 wherein the volume rendering means comprises an opacity adjusting means for adjusting opacity values.

99. The system as recited in claim 98 wherein the opacity adjustment means comprises means for adjusting the opacity values to the values determined along the inverse of a histogram curve representing the number of voxels of a given voxel value as a function of voxel value.

101. The system as recited in claim 81 wherein the threshold adjustment means comprises:

a. orthoslice means for taking an orthoslice through the region of interest to produce an orthoslice image; and

b. display means for displaying the orthoslice image and a corresponding thresholded image, so that the threshold values can be adjusted while comparing the thresholded image to the corresponding orthoslice image.

113. The method as recited in claim 82 wherein the step of segmenting the selected region of interest comprises a thresholding step for determining threshold values corresponding to the selected values of the physical property to isolate the selected region of interest.

114. The method as recited in claim 82 wherein the step of segmenting the selected region of interest comprises a region growing step.

115. The method as recited in claim 82 wherein the step of adding a layer of voxels to the undersegmented region of interest comprises the step of adding all voxels in the three-dimensional volume of data that are adjacent to the undersegmented region of interest to the undersegmented region of interest.

100. A system for interactively displaying three-dimensional structures comprising:

a. volume formation means for forming a three-dimensional volume of data from a series of two-dimensional images representing at least one physical property associated with a three-dimensional body;

b. segmentation means for segmenting a region of interest from the volume of data based on selected values of the physical property representing the selected region of interest, wherein the segmentation means comprises a thresholding means for determining a threshold range used to isolate the region of interest and wherein the thresholding means comprises;

1. a threshold selection means for selecting the threshold values; and

2. a threshold adjustment means for adjusting the threshold values; and

c. a surface renderer for rendering the segmented region of interest as a surface rendering in an interactive three-dimensional display, therein producing a virtual three-dimensional environment.

102. A method for interactively displaying three-dimensional structures comprising the steps of:

A. forming a three-dimensional volume of data from a series of two-dimensional images representing at least one physical property associated with a three-dimensional body;

B. segmenting a selected region of interest from the volume of data based on selected values of the physical property representing the selected region of interest, wherein the step of segmenting the selected region of interest comprises a thresholding step for determining threshold values corresponding to the selected values of the physical Property to isolate the selected region of interest, wherein the step of segmenting the selected region of interest comprises a morphological dilation step; and

C. rendering the segmented region of interest in an interactive three-dimensional display.

103. The method as recited in claim 102 including forming an isosurface wireframe model of the isolated selected region of interest.

104. The method as recited in claim 103 wherein the step of rendering an image includes the step of rendering a three-dimensional display of the wireframe model.

105. The method as recited in claim 102 wherein the threshold adjustment step comprises:

a. an orthoslice step of providing an orthoslice through the volume of data; and

b. a display step for displaying the orthoslice and a corresponding thresholded image of the orthoslice, so that the threshold values can be adjusted while comparing the thresholded image to the corresponding orthoslice.

106. The method as recited in claim 102 wherein the morphological dilation step comprises the steps of:

i. undersegmenting the selected region of interest from the volume of data; and

ii. adding a layer of voxels to the undersegmented region of interest to form a segmented region of interest.

107. A system for interactively displaying three-dimensional structures comprising:

a. volume formation means for forming a three-dimensional volume of data from a series of two-dimensional images representing at least one physical property associated with a three-dimensional body;

b. segmentation means for segmenting a region of interest from the volume of data based on selected values of the physical property representing the selected region of interest, wherein the segmentation means comprises a thresholding means for determining a threshold range used to isolate the region of interest and a morphological dilation means for adjusting the segmented region of interest; and

c. rendering means for rendering the segmented region of interest in an interactive three-dimensional display.

108. The system as recited in claim 107 including means for producing a wireframe model of the isolated region of interest.

109. The system recited in claim 107 wherein the thresholding means comprises:

a. a threshold selection means for selecting threshold values; and

b. a threshold adjustment means for adjusting the threshold values.

110. The system as recited in claim 109 wherein the threshold adjustment means comprises:

a. orthoslice means for taking an orthoslice through the region of interest to produce an orthoslice image; and

b. display means for displaying the orthoslice image and a corresponding thresholded image, so that the threshold values can be adjusted while comparing the thresholded image to the corresponding orthoslice.

111. The system as recited in claim 107 wherein the morphological dilation means comprises:

A. undersegmentation means for undersegmenting the region of interest from the volume of data; and

B. layer means for adding a layer of voxels to the undersegmented region of interest to form a segmented region of interest.

112. A method for interactively displaying three-dimensional structures comprising the steps of:

A. forming a three-dimensional volume of data from a series of two-dimensional images representing at least one physical property associated with a three-dimensional body, wherein the three-dimensional volume of data comprises a three-dimensional matrix of voxels;

B. segmenting a selected region of interest from the volume of data based on selected values of the physical property representing the selected region of interest, wherein the segmentation step comprises the steps of;

i. undersegmenting the selected region of interest from the volume of data; and

ii. adding a layer of voxels to the undersegmented region of interest to form a segmented region of interest; and

C. rendering the segmented region of interest in an interactive three-dimensional display, therein producing a virtual three-dimensional environment.

116. The method as recited in claim 112 wherein the step of adding a layer of voxels to the undersegmented region of interest comprises the step of adding a thickness of voxels in the three-dimensional volume of data that are adjacent to the undersegmented region of interest to the undersegmented region of interest.

117. A system for interactively displaying three-dimensional structures comprising:

a. volume formation means for forming a three-dimensional volume of data from a series of two-dimensional images representing at least one physical property associated with a three-dimensional body;

b. segmentation means for segmenting a region of interest from the volume of data based on selected values of the physical property representing the selected region of interest, wherein the segmentation means comprises;

i. undersegmentation means for undersegmenting the region of interest from the volume of data; and

ii. morphological dilation means for adding a layer of voxels to the undersegmented region of interest to form a segmented region of interest; and

c. rendering means for rendering the segmented region of interest in an interactive three-dimensional display, therein producing a virtual three-dimensional environment.

118. The system as recited in claim 117 wherein the segmentation means comprises a thresholding means for determining threshold values corresponding to the selected values of the physical property to isolate the selected region of interest.

119. The system as recited in claim 117 wherein the segmentation means comprises a region growing means.

120. The system as recited in claim 117 wherein the morphological dilation means comprises means for adding all voxels in the three-dimensional volume of data that are adjacent to the undersegmented region of interest to the undersegmented region of interest.

121. The system as recited in claim 117 wherein the morphological dilation means comprises means for adding a thickness of voxels in the three-dimensional volume of data that are adjacent to the undersegmented region of interest to the undersegmented region of interest.

122. A method for interactively displaying three-dimensional structures comprising the steps of:

A. forming a three-dimensional volume of data from a series of two-dimensional images representing at least one physical property associated with a three-dimensional body;

B. segmenting a selected region of interest from the volume of data based on selected values of the physical property representing the selected region of interest; and

C. rendering the segmented region of interest in an interactive three-dimensional display, therein producing a virtual three-dimensional environment, wherein the rendering step comprises an opacity adjusting step for adjusting opacity values.

123. The method as recited in claim 122 wherein the opacity adjustment step comprises the step of adjusting the opacity values to the values determined along the inverse of a histogram curve representing the number of voxels of a given voxel value as a function of voxel value.

124. A method for interactively displaying a colon in three dimensions comprising:

a. an image acquisition step wherein a series of two-dimensional images representing at least one physical property associated with the colon is acquired;

b. a volume formation step wherein a three-dimensional volume of data is formed by stacking the series of two-dimensional images in computer memory;

c. a segmentation step wherein a region of interest related to the colon is segmented from the volume of data based on selected values of the physical property representing the region of interest; and

d. a rendering step wherein the segmented region of interest is rendered in an interactive three-dimensional display, therein producing a virtual three-dimensional environment, wherein the rendering step comprises an opacity adjusting step for adjusting opacity values.

125. The method as recited in claim 124 wherein the opacity adjustment step comprises the step of adjusting the opacity values to the values determined along the inverse of a histogram curve representing the number of voxels of a given voxel value as a function of voxel value.

126. A method for interactively displaying a tracheobronchial airway in three dimensions comprising:

a. an image acquisition step wherein a series of two-dimensional images representing at least one physical property associated with the tracheobronchial tree is acquired;

b. a volume formation step wherein a three-dimensional volume of data is formed by stacking the series of two-dimensional image in computer memory;

c. a segmentation step wherein a region of interest is segmented from the volume of data based on selected values of the physical property representing the region of interest; and

d. a rendering step wherein the segmented region of interest is rendered in an interactive three-dimensional display, therein producing a virtual three-dimensional environment, wherein the rendering step comprises an opacity adjusting step for adjusting opacity values.

127. The method as recited in claim 126 wherein the opacity adjustment step comprises the step of adjusting the opacity values to the values determined along the inverse of a histogram curve representing the number of voxels of a given voxel value as a function of voxel value.

128. A system for interactively displaying three-dimensional structures comprising:

a. volume formation means for forming a three-dimensional volume of data from a series of two-dimensional images representing at least one physical property associated with a three-dimensional body;

b. segmentation means for segmenting a region of interest from the volume of data based on selected values of the physical property representing the selected region of interest; and

c. rendering means for rendering the segmented region of interest in an interactive three-dimensional display, therein producing a virtual three-dimensional environment, wherein the rendering means comprises an opacity adjusting means for adjusting opacity values.

129. The system as recited in claim 128 wherein the opacity adjustment means comprises means for adjusting the opacity values to the values determined along the inverse of a histogram curve representing the number of voxels of a given voxel value as a function of voxel value.