Continuous endoscopic guidance via interleaved video tracking and image-video registration
Lav Rai, William Evan Higgins · Proceedings of SPIE, the International Society for Optical Engineering/Proceedings of SPIE · 2008
Endoscopic needle biopsy requires off-line 3D computed-tomography (CT) chest image analysis to plan a biopsy site followed by live endoscopy to perform the biopsy. We present a method for continuous image-based endoscopic guidance that interleaves periodic normalized-mutual-information-based CT-video registration with optical-flow-based endoscopic video motion tracking. The method operates at a near real-time rate and was successfully tested on endoscopic video sequences for phantom and human lung-cancer cases. We also illustrate its use when incorporated into a complete system for image-based planning and guidance of endoscopy.