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Proceedings Paper

Computer vision-guided bronchoscopic navigation using dual CNN-generated depth images and ICP registration
Author(s): Xinqi Liu; Jonah Berg; Franklin King; Nobuhiko Hata
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Paper Abstract

Navigated bronchoscopy for the lung biopsy using an electro-magnetic (EM) sensor is often inaccurate due to patient breathing movement during procedures. The objective of this study is to evaluate whether registration of neural network- generated depth images can localize the bronchoscope in navigated bronchoscopy negating the need for EM sensor and error caused by breathing motion. [Methods] Dual CNN-generated depth images followed chained ICP registration were validated in the study. Accuracy was measured by the error between the location after registration and the location of the standard electromagnetic sensor. Difference in accuracy between regions that the neural networks had trained on (seen regions) and regions the networks had never encountered (unseen regions) was validated. [Results] The data collected points to the success of the bronchoscopic localization. Overall mean error of accuracy was 8.75 mm and the overall standard deviation was 4.76mm. For the seen region, the mean error was 6.10mm and the standard deviation was 2.65mm. For the unseen region, the mean error was 11.6mm and the standard deviation was 4.87mm. The results of the two-sample t-test shows that there is a statistically significant difference between the unseen and the seen region. [Conclusion] The results for registration demonstrate that this technique has potential to be implemented in navigational bronchoscopy. The technique produced less error than the electromagnetic sensor in practice, especially accounting for the estimated practical error due to experimental setup.

Paper Details

Date Published: 16 March 2020
PDF: 6 pages
Proc. SPIE 11315, Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling, 113152C (16 March 2020); doi: 10.1117/12.2549719
Show Author Affiliations
Xinqi Liu, Brigham and Women's Hospital (United States)
Harvard Medical School (United States)
Jonah Berg, Brigham and Women's Hospital (United States)
Harvard Medical School (United States)
Franklin King, Brigham and Women's Hospital (United States)
Harvard Medical School (United States)
Nobuhiko Hata, Brigham and Women's Hospital (United States)
Harvard Medical School (United States)


Published in SPIE Proceedings Vol. 11315:
Medical Imaging 2020: Image-Guided Procedures, Robotic Interventions, and Modeling
Baowei Fei; Cristian A. Linte, Editor(s)

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