Method for navigating a virtual camera along a biological object with a lumen

• US 7,623,900 B2
• Filed: 09/02/2005
• Issued: 11/24/2009
• Est. Priority Date: 09/02/2005
• Status: Active Grant

• Current Assignee: Toshiba Medical Systems Europe BV (Toshiba Corporation)
• Original Assignee: Toshiba Medical Systems Europe BV (Toshiba Corporation)
• Inventors: Graham, Alan, Davey, Robert A., Lessieux, Laurent, Smout, Andrew
• Primary Examiner(s): Winakur; Eric F
• Assistant Examiner(s): Fernandez; Katherine L
• Application Number:
  US11/219,632
• Publication Number:
  US 20070052724A1
• Time in Patent Office: 1,544 Days
• Field of Search: 600/407, 600/103, 382/128, 345/619
• US Class Current: 600/407
• CPC Class Codes: G06T 19/003 Navigation within 3D models or images
• CPC Class Codes: G06T 2210/41 Medical

Abstract

A method of navigating along a biological object with a lumen represented by a three-dimensional volume data set comprises generating a plurality of navigation segments connectable in a sequence, each segment having a start point within the lumen, a direction and a length. The navigation may be used for a camera in a virtual endoscopic examination, for example. The direction of each segment is determined by casting groups of rays outwards from the start point of the segment to the object wall, and calculating an average ray length for each group. The group having the largest average ray length is selected, and the axial direction of this group is used as the direction for the segment. The average ray lengths of the groups may be weighted using the direction of the previous segments to bias the navigation generally forward, or may be weighted using a view direction of the camera to allow a user to turn the camera into a chosen branch in the object.

Claims

1. A computer-implemented method of navigating along a hollow tubular object bounded by a wall and represented by a three-dimensional volume data set, the data set comprising a plurality of voxels arranged in a three-dimensional array, the method comprising:

generating a plurality of navigation segments connectable in a sequence, each segment having a start point within the object, a direction and a length;

the direction of each segment being determined by;

calculating an average ray length for each of two or more groups of rays cast from the start point of the segment and that have a different direction, each group comprising a plurality of rays arranged about a central axis, and each ray extending from the start point to the wall;

selecting the group with the largest average ray length; and

setting the direction of the segment to the direction of the central axis of the selected group.

2. The method of claim 1, wherein the plurality of rays in each group are cast within a solid angle.

3. The method of claim 2, wherein the plurality of rays in each group are cast within a cone.

4. The method of claim 1, wherein the method further comprises, for each navigation segment:

defining a surface within the data set that encloses the start point;

dividing the surface into a plurality of pixels; and

for each pixel, casting a ray in the direction of the pixel from the start point to the wall and allocating to the pixel a value representing the length of the ray; and

calculating an average ray length for a group of rays comprises;

selecting a group of adjacent pixels arranged about a central pixel; and

calculating the average pixel value for the group of pixels;

where the average pixel value for the group of pixels corresponds to the average ray length of the group of rays, and the direction of the central pixel from the start point corresponds to the direction of the central axis of the group of rays.

5. The method of claim 4, wherein the surface is the surface of a cube comprising six square faces.

6. The method of claim 5, wherein the group of adjacent pixels is arranged in a circle, to approximate to a group of rays cast within a cone.

7. The method of claim 5, wherein each face of the cube is extended past the edges of the cube by adding pixels with values that match the values of pixels in proximate regions of the adjacent faces, to accommodate groups of pixels with central pixels near the edge of a face.

8. The method of claim 4, and further comprising, for at least one navigation segment, adjusting the start point towards the central longitudinal axis of the object using the values of the pixels on the surface.

9. The method of claim 1, wherein the average ray length is a weighted average ray length.

10. The method of claim 9, wherein the average ray length is weighted with the dot product of a vector describing the direction of the central axis of the group of rays and a vector derived from the direction of one or more previous navigation segments in the sequence.

11. The method of claim 9, wherein the navigation segments are used to navigate a virtual camera along the object, the camera having a view direction, and wherein the average ray length is weighted with the dot product of a vector describing the central axis of the group of rays and a vector describing the view direction of the camera.

12. The method of claim 9, wherein the navigation segments are used to navigate a virtual camera along the object, the camera having a view direction, and the method further comprising, after calculating the weighted average ray length for each group of rays, calculating a score for each group of rays based on the weighted average ray length and on the direction of the central axis relative to the direction of a previous navigation segment and to a previous or current viewing direction, and wherein selecting the group with the largest average ray length comprises selecting the group with the best score.

13. The method of claim 1, further comprising causing a virtual camera to travel along the navigation segments in sequence such that an image of the interior of the object from a point of view of the travelling camera is displayed to a user.

14. The method of claim 13, wherein one or more navigation segments are generated ahead of a current position of the camera.

15. The method of claim 14, wherein if the directions of two navigation segments are found to have an angular difference that exceeds a specified threshold, one or more intermediate navigation segments are generated by interpolating between the two navigation segments, and inserted in sequence between the two navigation segments to reduce the rate of angular change.

16. The method of claim 14, wherein, for at least some navigation segments, the camera has a view direction which is described by the direction of the navigation segment along which the camera is travelling.

17. The method of claim 14, wherein, for at least some navigation segments, the camera has a view direction interpolated from the direction of the navigation segment along which the camera is travelling and the direction of a navigation segment ahead of the navigation segment along which the camera is travelling.

18. The method of claim 17, wherein the view direction of the camera is rotated towards the interpolated direction as the camera travels along the navigation segment.

19. The method of claim 14, wherein the camera has a view direction that can be rotated by a user.

20. The method of claim 19, wherein a navigation segment can be selected by a user to have a direction substantially along the view direction of the camera.

21. The method of claim 20, wherein, for the selected navigation segment, the method further comprises weighting the average ray length for each group of rays with the dot product of a vector describing the central axis of the group of rays and a vector describing the view direction of the camera, before selecting the group with the largest weighted average ray length.

22. The method of claim 13, further comprising displaying to a user a reference view of the object including an indication of the current camera position.

23. The method of claim 21, wherein the reference view further includes a representation of one or more navigation segments.

24. The method of claim 22, wherein the reference view further includes, at a branch in the object, representations of navigation segments with different directions between which a user can choose.

25. The method of claim 13, wherein the image of the interior of the object includes an indication of the direction of travel of the camera.

26. The method of claim 13, wherein the camera travels at a velocity that can be adjusted by a user.

27. The method of claim 1, and further comprising, for at least one navigation segment, adjusting the start point towards the central longitudinal axis of the object.

28. The method of claim 1, wherein the three-dimensional volume data set is a time-evolving three-dimensional volume data set so that the navigation traverses the object in space and time.

29. The method of claim 1, further comprising connecting the navigation segments in sequence to create a path through the object.

30. The method of claim 29, further comprising, after creating the path, causing a virtual camera to travel along the path such that an image of the interior of the object from a point of view of the travelling camera is displayed to a user.

31. The method of claim 29, further comprising using the path for a purpose other than navigation of a virtual camera.

32. The method of claim 1, in which the hollow tubular object is a biological object with a lumen.

33. A computer program product comprising machine-readable instructions for implementing a computer-implemented method of navigating along a hollow tubular object bounded by a wall and represented by a three-dimensional volume data set, the data set comprising a plurality of voxels arranged in a three-dimensional array, the instructions being operable to instruct a machine to:

store a three-dimensional volume data set; and

generate a plurality of navigation segments connectable in a sequence, each segment having a start point within the object, a direction and a length;

the direction of each segment being determined by;

calculating an average ray length for each of two or more groups of rays cast from the start point of the segment and that have a different direction , each group comprising a plurality of rays arranged about a central axis, and each ray extending from the start point to the wall;

selecting the group with the largest average ray length; and

setting the direction of the segment to the direction of the central axis of the selected group.

34. The computer program product of claim 33, comprising a computer program product on a carrier medium.

35. A computer system for implementing a computer-implemented method of navigating along a hollow tubular object bounded by a wall and represented by a three-dimensional volume data set, the data set comprising a plurality of voxels arranged in a three-dimensional array, the computer system comprising:

memory for storing a three-dimensional volume data set; and

a processor programmed to;

generate a plurality of navigation segments connectable in a sequence, each segment having a start point within the object, a direction and a length;

the direction of each segment being determined by;

calculating an average ray length for each of two or more groups of rays cast from the start point of the segment and that have a different direction , each group comprising a plurality of rays arranged about a central axis, and each ray extending from the start point to the wall;

selecting the group with the largest average ray length; and

setting the direction of the segment to the direction of the central axis of the selected group.