Combined endoscopic video tracking and virtual 3D CT registration for surgical guidance

J. P. Helferty, William Evan Higgins

Research output: Contribution to conferencePaperpeer-review

32 Scopus citations


Bronchoscopic needle biopsy is a common step for early lung-cancer detection. This procedure uses two steps: (1) 3D computed-tomography (CT) chest image analysis, to choose a biopsy site; (2) live bronchoscopy, to perform the biopsy. CT-based virtual endoscopic analysis can improve results of biopsies, yet errors still can occur. We describe a procedure to combine the endoscopic video tracking (the "real" world) and CT-based virtual endoscopic registration (the "virtual" world). By bringing both sources of information together, a more robust surgical guidance system is realizable. Both the endoscope's video and thoracic CT scan are used as data sources in the tracking. An optical flow algorithm estimates the endoscope motion between successive video frames. The virtual CT rendering creates a range map for the optical flow equation. This simplifies the endoscope movement calculation into a straighforward linear system. We demonstrate this method for a phantom human airway-tree example.

Original languageEnglish (US)
StatePublished - 2002
EventInternational Conference on Image Processing (ICIP'02) - Rochester, NY, United States
Duration: Sep 22 2002Sep 25 2002


OtherInternational Conference on Image Processing (ICIP'02)
Country/TerritoryUnited States
CityRochester, NY

All Science Journal Classification (ASJC) codes

  • Hardware and Architecture
  • Computer Vision and Pattern Recognition
  • Electrical and Electronic Engineering


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