WO2006127713A3 - A fast 2d-3d image registration method with application to continuously guided endoscopy - Google Patents

A fast 2d-3d image registration method with application to continuously guided endoscopy Download PDF

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Publication number
WO2006127713A3
WO2006127713A3 PCT/US2006/019927 US2006019927W WO2006127713A3 WO 2006127713 A3 WO2006127713 A3 WO 2006127713A3 US 2006019927 W US2006019927 W US 2006019927W WO 2006127713 A3 WO2006127713 A3 WO 2006127713A3
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WO
WIPO (PCT)
Prior art keywords
viewpoint
video frame
frame
fast
reference source
Prior art date
Application number
PCT/US2006/019927
Other languages
French (fr)
Other versions
WO2006127713A2 (en
Inventor
William E Higgins
Scott A Merritt
Lav Rai
Original Assignee
Penn State Res Found
William E Higgins
Scott A Merritt
Lav Rai
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Penn State Res Found, William E Higgins, Scott A Merritt, Lav Rai filed Critical Penn State Res Found
Priority to JP2008513625A priority Critical patent/JP5153620B2/en
Priority to EP06770961A priority patent/EP1889204A2/en
Publication of WO2006127713A2 publication Critical patent/WO2006127713A2/en
Publication of WO2006127713A3 publication Critical patent/WO2006127713A3/en

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B5/00—Measuring for diagnostic purposes; Identification of persons
    • A61B5/41—Detecting, measuring or recording for evaluating the immune or lymphatic systems
    • A61B5/414—Evaluating particular organs or parts of the immune or lymphatic systems
    • A61B5/415—Evaluating particular organs or parts of the immune or lymphatic systems the glands, e.g. tonsils, adenoids or thymus
    • G06T3/153—
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G06T7/33—Determination of transform parameters for the alignment of images, i.e. image registration using feature-based methods
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V10/00—Arrangements for image or video recognition or understanding
    • G06V10/70—Arrangements for image or video recognition or understanding using pattern recognition or machine learning
    • G06V10/74—Image or video pattern matching; Proximity measures in feature spaces
    • G06V10/75—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries
    • G06V10/754—Organisation of the matching processes, e.g. simultaneous or sequential comparisons of image or video features; Coarse-fine approaches, e.g. multi-scale approaches; using context analysis; Selection of dictionaries involving a deformation of the sample pattern or of the reference pattern; Elastic matching
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G06V20/647—Three-dimensional objects by matching two-dimensional images to three-dimensional objects
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
    • G06V20/00—Scenes; Scene-specific elements
    • G06V20/60—Type of objects
    • G06V20/64—Three-dimensional objects
    • G06V20/653—Three-dimensional objects by matching three-dimensional models, e.g. conformal mapping of Riemann surfaces
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/267—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor for the respiratory tract, e.g. laryngoscopes, bronchoscopes
    • A61B1/2676—Bronchoscopes
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10028—Range image; Depth image; 3D point clouds
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10068—Endoscopic image
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10072—Tomographic images
    • G06T2207/10081—Computed x-ray tomography [CT]
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30061—Lung

Abstract

A novel framework for fast and continuous registration between two imaging modalities is disclosed The approach includes computing or captuπng a set of reference images complete with corresponding depth maps and image gradients The collection of these images and depth maps constitutes the reference source Given one frame from this video feed, and starting from an initial guess of viewpoint, the real-time video frame is warped to the nearest viewing site of the reference source An image difference is computed between the warped video frame and the reference image The viewpoint is updated via a Gauss-Newton parameter update and certain of the steps are repeated for each frame until the viewpoint converges or the next video frame becomes available The final viewpoint gives an estimate of the relative rotation and translation between the camera at that particular video frame and the reference source.
PCT/US2006/019927 2005-05-23 2006-05-23 A fast 2d-3d image registration method with application to continuously guided endoscopy WO2006127713A2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2008513625A JP5153620B2 (en) 2005-05-23 2006-05-23 System for superimposing images related to a continuously guided endoscope
EP06770961A EP1889204A2 (en) 2005-05-23 2006-05-23 A fast 2d-3d image registration method with application to continuously guided endoscopy

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
US68358805P 2005-05-23 2005-05-23
US60/683,588 2005-05-23
US11/437,230 US7889905B2 (en) 2005-05-23 2006-05-19 Fast 3D-2D image registration method with application to continuously guided endoscopy
US11/437,230 2006-05-19

Publications (2)

Publication Number Publication Date
WO2006127713A2 WO2006127713A2 (en) 2006-11-30
WO2006127713A3 true WO2006127713A3 (en) 2007-09-20

Family

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Application Number Title Priority Date Filing Date
PCT/US2006/019927 WO2006127713A2 (en) 2005-05-23 2006-05-23 A fast 2d-3d image registration method with application to continuously guided endoscopy

Country Status (4)

Country Link
US (3) US7889905B2 (en)
EP (1) EP1889204A2 (en)
JP (1) JP5153620B2 (en)
WO (1) WO2006127713A2 (en)

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CN112155734B (en) * 2020-09-29 2022-01-28 苏州微创畅行机器人有限公司 Readable storage medium, bone modeling and registering system and bone surgery system

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