Global and semi-global registration for image-based bronchoscopy guidance

• US 9,757,021 B2
• Filed: 01/31/2012
• Issued: 09/12/2017
• Est. Priority Date: 02/04/2011
• Status: Active Grant

• Current Assignee: Penn State Research Foundation (Pennsylvania State University)
• Original Assignee: Penn State Research Foundation (Pennsylvania State University)
• Inventors: Higgins, William E., Khare, Rahul
• Primary Examiner(s): Leubecker, John P
• Assistant Examiner(s): Torres Diaz, Arnaldo
• Application Number:
  US13/362,252
• Publication Number:
  US 20120203065A1
• Time in Patent Office: 2,051 Days
• CPC Class Codes: A61B 1/2676 Bronchoscopes
• CPC Class Codes: A61B 2090/365 augmented reality, i.e. correlating a live optical image with another image
• CPC Class Codes: A61B 5/066 Superposing sensor position on an image of the patient, e.g. obtained by ultrasound or x-ray imaging
• CPC Class Codes: A61B 6/12 Arrangements for detecting or locating foreign bodies
• CPC Class Codes: A61B 6/5217 extracting a diagnostic or physiological parameter from medical diagnostic data
• CPC Class Codes: A61B 6/5247 combining images from an ionising-radiation diagnostic technique and a non-ionising radiation diagnostic technique, e.g. X-ray and ultrasound
• CPC Class Codes: A61B 6/583 using calibration phantoms
• CPC Class Codes: G06V 10/754 involving a deformation of the sample pattern or of the reference pattern; Elastic matching
• CPC Class Codes: G06V 10/98 Detection or correction of errors, e.g. by rescanning the pattern or by human intervention; Evaluation of the quality of the acquired patterns
• CPC Class Codes: G06V 20/647 by matching two-dimensional images to three-dimensional objects
• CPC Class Codes: G06V 20/653 by matching three-dimensional models, e.g. conformal mapping of Riemann surfaces
• CPC Class Codes: G16H 50/30 for calculating health indices; for individual health risk assessment

Abstract

Two system-level bronchoscopy guidance solutions are presented. The first incorporates a global-registration algorithm to provide the physician with updated navigational and guidance information during bronchoscopy. The system can handle general navigation to a region of interest (ROI), as well as adverse events, and it requires minimal commands so that it can be directly controlled by the physician. The second solution visualizes the global picture of all the bifurcations and their relative orientations in advance and suggests the maneuvers needed by the bronchoscope to approach the ROI. Guided bronchoscopy results using human airway-tree phantoms demonstrate the potential of the two solutions.

Claims

1. A semi-global method for image-guided bronchoscopy adapted for use with a bronchoscope capable of articulation and rotation, including the steps of:

providing a processor coupled to a display device, the processor being programmed to pre-compute a route to a region of interest (ROI) within an airway tree including bifurcations along the pre-computed route;

presenting a global picture to a user of a bronchoscope one or more bifurcations along the pre-computed route to the region of interest (ROI) within the airway tree, the global picture symbolically displaying preferred bronchoscope orientations associated with each bifurcation;

providing discrete bronchoscope rotation and articulation maneuver instructions at one or more locations along the pre-computed route to guide the user of the bronchoscope to the ROI based upon the preferred bronchoscope orientations, wherein the maneuver instructions are displayed in dialog form.

2. The method of claim 1, including the step of presenting two views for every bifurcation along the route to the ROI.

3. The method of claim 2, wherein one view depicts the bifurcation as seen by the bronchoscope when that bifurcation is approached by the bronchoscope.

4. The method of claim 2, wherein one view depicts the bifurcation as seen by the bronchoscope after a suggested discrete bronchoscope maneuver is carried out.

5. The method of claim 1, including the step of using an animated sequence to suggest a bronchoscope maneuver.

6. The method of claim 1, including the step of suggesting a standard bronchoscope maneuver such as a rotate-flex-advance maneuver at a bifurcation.

7. The method of claim 1, wherein the bronchoscope has a known maneuverability limitation, and the limitation is used to deteimine discrete bronchoscope maneuvers at a bifurcation.

8. The method of claim 7, wherein the known limitation in the maneuverability of the bronchoscope includes rotation.

9. The method of claim 1, including the step of determining discrete bronchoscope maneuvers to minimize the total rotation of the bronchoscope at a bifurcation.

10. The method of claim 1, wherein user preferences for bifurcation orientations are used to determine a discrete bronchoscope maneuver at a bifurcation.

11. The method of claim 1, wherein airway tree topology is used to determine the discrete bronchoscope rotation and articulation maneuver at a bifurcation.

12. The method of claim 1, wherein branch length, orientation and airway tree topology are used to determine if bifurcations that can be skipped in conjunction with the step of presenting the global picture to guide a user.

13. The method of claim 12, including user-defined parameters to detemiine if a bifurcation may be skipped.

14. The method of claim 1, wherein the step of providing instructions comprises providing instructions at each bifurcation along the pre-computed route to the ROI.

15. The method of claim 1, wherein the the step of providing the instructions comprises computing rotate, flex, and advance maneuvers of the bronchoscope associated with a corresponding VB view at a branch junction.

16. The method of claim 15, further comprising the step of determining a global position of the bronchoscope being advanced through the airway tree, wherein the step of determining comprises using a computer-based image-processing global algorithm to register real bronchoscopic (RB) views obtained from the bronchoscope to virtual bronchoscopic (VB) views obtained from a precomputed data-set based on 3D image data.

17. The method of claim 16, further comprising the step of indicating to the user at least one of the following:

i) a confirmation instruction that the global position is a point along the predefined route if the global position is presently along the predefined route; and

ii) a corrective instruction in order to lead the bronchoscope towards the predefined route if the global position is presently off the predefined route.

18. The method of claim 16, wherein the step of determining a global position of the bronchoscope being advanced through the airway tree is invoked by depressing a foot pedal by a user of the bronchoscope.

19. The method of claim 16, wherein the corrective instruction includes retracting the bronchoscope to a nearby upstream airway bifurcation.