Abstract
This paper develops a fully novel endoscopic navigation system that can simultaneously navigate a flexible endoscope and radial ultrasound miniature probe without using external tracking devices. Current navigated endoscopy (e.g., video- or electromagnetic-based navigation) usually tracks only the endoscope motion and inspects the interior of a body cavity or hollow organ and has no ability to visualize anatomical structures (e.g., pulmonary or abdominal lymph nodes) beyond the wall of the body cavity. To enhance endoscopic navigation, we introduce a radial ultrasound miniature probe that goes through the working channel of the endoscope to observe anatomical structures under the organ wall. However, the location of the ultrasound probe is difficult to determine inside the hollow organ. We propose a new navigation framework on the basis of video-volume registration, visual tracking, and ultrasound-volume alignment to simultaneously navigate the endoscope and probe in endoscopic interventions. Our framework can simultaneously and spatially synchronize pre-operative images, endoscopic video sequences, and ultrasound images to realize a fully new navigation system.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Luo, X., Mori, K.: A discriminative structural similarity measure and its application to video-volume registration for endoscope three-dimensional motion tracking. IEEE TMI 33(6), 1248–1261 (2014)
Shen, M., Giannarou, S., Yang, G.-Z.: Robust camera localisation with depth reconstruction for bronchoscopic navigation. IJCARS 10(6), 801–813 (2015)
Shen, M., Giannarou, S., Shah, P.L., Yang, G.-Z.: BRANCH: bifurcation recognition for airway navigation based on struCtural cHaracteristics. In: Descoteaux, M., Maier-Hein, L., Franz, A., Jannin, P., Collins, D.L., Duchesne, S. (eds.) MICCAI 2017. LNCS, vol. 10434, pp. 182–189. Springer, Cham (2017). https://doi.org/10.1007/978-3-319-66185-8_21
Luo, X., Wan, Y., He, X., Mori, K.: Observation-driven adaptive differential evolution and its application to accurate and smooth bronchoscope three-dimensional motion tracking. MedIA 24(1), 282–296 (2015)
Sorger, H., Hofstad, E.F., Amundsen, T., Lango, T., Leira, H.O.: A novel platform for electromagnetic navigated ultrasound bronchoscopy (EBUS). IJCARS 11(8), 1431–1443 (2016)
Hofstad, E.F., et al.: Intraoperative localized constrained registration in navigated bronchoscopy. Med. Phys. 44(8), 4204–4212 (2017)
Comaniciu, D., Ramesh, V., Meer, P.: Kernel-based object tracking. IEEE TPAMI 25(5), 564–577 (2003)
Acknowledgment
This work was partly supported by the Fundamental Research Funds for the Central Universities (No. 20720180062) and National Natural Science Foundation of China (No. 61971367).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2019 Springer Nature Switzerland AG
About this paper
Cite this paper
Luo, X., Zeng, HQ., Du, YP., Cheng, X. (2019). A Novel Endoscopic Navigation System: Simultaneous Endoscope and Radial Ultrasound Probe Tracking Without External Trackers. In: Shen, D., et al. Medical Image Computing and Computer Assisted Intervention – MICCAI 2019. MICCAI 2019. Lecture Notes in Computer Science(), vol 11768. Springer, Cham. https://doi.org/10.1007/978-3-030-32254-0_6
Download citation
DOI: https://doi.org/10.1007/978-3-030-32254-0_6
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-32253-3
Online ISBN: 978-3-030-32254-0
eBook Packages: Computer ScienceComputer Science (R0)