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Proceedings Paper

Colonoscope navigation system using colonoscope tracking method based on line registration
Author(s): Masahiro Oda; Hiroaki Kondo; Takayuki Kitasaka; Kazuhiro Furukawa; Ryoji Miyahara; Yoshiki Hirooka; Hidemi Goto; Nassir Navab; Kensaku Mori
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Paper Abstract

This paper presents a new colonoscope navigation system. CT colonography is utilized for colon diagnosis based on CT images. If polyps are found while CT colonography, colonoscopic polypectomy can be performed to remove them. While performing a colonoscopic examination, a physician controls colonoscope based on his/her experience. Inexperienced physicians may occur complications such as colon perforation while colonoscopic examinations. To reduce complications, a navigation system of colonoscope while performing the colonoscopic examinations is necessary. We propose a colonoscope navigation system. This system has a new colonoscope tracking method. This method obtains a colon centerline from a CT volume of a patient. A curved line (colonoscope line) representing the shape of colonoscope inserted to the colon is obtained by using electromagnetic sensors. A coordinate system registration process that employs the ICP algorithm is performed to register the CT and sensor coordinate systems. The colon centerline and colonoscope line are registered by using a line registration method. The position of the colonoscope tip in the colon is obtained from the line registration result. Our colonoscope navigation system displays virtual colonoscopic views generated from the CT volumes. A viewpoint of the virtual colonoscopic view is a point on the centerline that corresponds to the colonoscope tip. Experimental results using a colon phantom showed that the proposed colonoscope tracking method can track the colonoscope tip with small tracking errors.

Paper Details

Date Published: 12 March 2014
PDF: 7 pages
Proc. SPIE 9036, Medical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling, 903626 (12 March 2014); doi: 10.1117/12.2043426
Show Author Affiliations
Masahiro Oda, Nagoya Univ. (Japan)
Hiroaki Kondo, Nagoya Univ. (Japan)
Takayuki Kitasaka, Aichi Institute of Technology (Japan)
Kazuhiro Furukawa, Nagoya Univ. Graduate School of Medicine (Japan)
Ryoji Miyahara, Nagoya Univ. Graduate School of Medicine (Japan)
Yoshiki Hirooka, Nagoya Univ. Hospital (Japan)
Hidemi Goto, Nagoya Univ. Graduate School of Medicine (Japan)
Nassir Navab, Technische Univ. München (Germany)
Kensaku Mori, Nagoya Univ. (Japan)


Published in SPIE Proceedings Vol. 9036:
Medical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling
Ziv R. Yaniv; David R. Holmes, Editor(s)

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