Colonoscope navigation system using colonoscope tracking method based on line registration

Masahiro Oda, Hiroaki Kondo, Takayuki Kitasaka, Kazuhiro Furukawa, Ryoji Miyahara, Yoshiki Hirooka, Hidemi Goto, Nassir Navab, Kensaku Mori

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

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.

Original languageEnglish
Title of host publicationMedical Imaging 2014
Subtitle of host publicationImage-Guided Procedures, Robotic Interventions, and Modeling
PublisherSPIE
ISBN (Print)9780819498298
DOIs
Publication statusPublished - 01-01-2014
EventMedical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling - San Diego, CA, United States
Duration: 18-02-201420-02-2014

Publication series

NameProgress in Biomedical Optics and Imaging - Proceedings of SPIE
Volume9036
ISSN (Print)1605-7422

Conference

ConferenceMedical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling
CountryUnited States
CitySan Diego, CA
Period18-02-1420-02-14

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Biomaterials
  • Atomic and Molecular Physics, and Optics
  • Radiology Nuclear Medicine and imaging

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  • Cite this

    Oda, M., Kondo, H., Kitasaka, T., Furukawa, K., Miyahara, R., Hirooka, Y., Goto, H., Navab, N., & Mori, K. (2014). Colonoscope navigation system using colonoscope tracking method based on line registration. In Medical Imaging 2014: Image-Guided Procedures, Robotic Interventions, and Modeling [903626] (Progress in Biomedical Optics and Imaging - Proceedings of SPIE; Vol. 9036). SPIE. https://doi.org/10.1117/12.2043426