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Fast 3D-2D image registration system with application to continuously guided endoscopy

  • US 8,064,669 B2
  • Filed: 02/07/2011
  • Issued: 11/22/2011
  • Est. Priority Date: 05/23/2005
  • Status: Active Grant
First Claim
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1. A system for registering images associated with a continuously guided endoscopic procedure, comprising:

  • a memory storing a plurality of reference images of a body lumen, each reference image including a viewpoint with a depth map and image gradients;

    a connector adapted for connection to an endoscope for receiving therefrom one or more live video frames associated with a body lumen; and

    a processor operative to register each video frame received from the endoscope to at least one of the reference images, the processor being programmed to perform the steps of;

    a) warping the video frame to the viewpoint of one reference image of the plurality of reference images or warping one reference image of the plurality of reference images at a viewpoint to the video frame;

    b) automatically computing an image difference between (i) the warped video frame and the reference image, or (ii) the warped reference image and the video frame;

    c) updating a viewpoint of the video frame using an optimization technique; and

    d) repeating steps a) through c) for each video frame until the viewpoint of the video frame converges on a final viewpoint or a next video frame becomes available.

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