Interactive 3-D virtual colonoscopy system

AN INTERACTIVE 3D VISUALIZATION SYSTEM BASED ON PC USING INTEL SIMD, 3D TEXTURING AND THINNING TECHNIQUES

An efficient 3D visualization system has not only fast volume rendering algorithms but also effective navigation methods. Rendering speed is one of key technologies in most 3D visualization applications. We exploit software, Pentium 4 and graphics hardware technologies, such as threshold segmentation, Intel SIMD and 3D texturing, to obtain interactive volume rendering on a standard PC without specialized expensive hardware. Path planning is essential in many 3D visualization applications, such as virtual endocopy, in order to accelerate exploring. There are three major types of methods to extract the navigation path from a 3D data set, including manual, 3D distance transform and thinning based techniques. 3D thinning is a desirable method to extract skeletons of objects, but it has some severe problems to be solved. It is time consuming with discontinuity and small branches. An effective encoding and coordinates transform based scheme is presented to generate a look up table of 3D thinning templates to speed up path extracting, and a two-pass tracking technique is followed to trim the small branches of skeletons. Tri-pass cubic Bezier technique is proposed to decrease large curvatures caused by discrete representation of path. A smooth and C 1 continuity navigation path is thus produced by our algorithms. Following this path, the camera moves and rotates smoothly without any dithering. Our system is very useful and can be widely applied due to full utilization of the existing inexpensive capabilities of PCs.

Fast path planning in virtual colonoscopy

We propose a fast path planning algorithm using multi-resolution path tree propagation and farthest visible point. Initial path points are robustly generated by propagating the path tree, and all internal voxels locally most distant from the colon boundary are connected. The multi-resolution scheme is adopted to increase computational efficiency. Control points representing the navigational path are successively selected from the initial path points by using the farthest visible point. The position of the initial path point in a down-sampled volume is accurately adjusted in the original volume. Using the farthest visible point, the number of control points is adaptively changed according to the curvature of the colon shape so that more control points are assigned to highly curved regions. Furthermore, a smoothing step is unnecessary since our method generates a set of control points to be interpolated with the cubic spline interpolation. We applied our method to 10 computed tomography datasets. Experimental results showed that the path was generated much faster than using conventional methods without sacrificing accuracy, and clinical efficiency. The average processing time was approximately 1s when down-sampling by a factor of 2, 3, or 4. We concluded that our method is useful in diagnosing colon cancer using virtual colonoscopy.

Three-Dimensional Modeling From Endoscopic Video Using Geometric Constraints Via Feature Positioning

The endoscope is a popular imaging modality used in many preevaluations and surgical treatments, and is also one of the essential tools in minimally invasive surgery. However, regular endoscopes provide only 2-D images. Even though stereoendoscopy systems can display 3-D images, the real anatomical structure of the observed lesion is unavailable and can only be judged by the surgeon's imagination. In this paper, we present a constraint-based factorization method for reconstructing 3-D structures registered to the patient, from 2-D endoscopic images. The proposed method incorporates the geometric constraints from the tracked surgical instrument into the traditional factorization method based on frame-to-frame feature motion on the endoscopically viewed scene. Experiments with real and synthetic data demonstrate good real-scale 3-D extraction, with greater accuracy than is available from traditional methods. The reconstruction process can also be accomplished in a few seconds, making it suitable for on-line surgical applications to provide surgeons with additional 3-D shape information, critical distance monitoring and warnings.

An improved electronic colon cleansing method for detection of colonic polyps by virtual colonoscopy

Electronic colon cleansing (ECC) aims to segment the colon lumen from a patient abdominal image acquired using an oral contrast agent for colonic material tagging, so that a virtual colon model can be constructed. Virtual colonoscopy (VC) provides fly-through navigation within the colon model, looking for polyps on the inner surface in a manner analogous to that of fiber optic colonoscopy. We have built an ECC pipeline for a commercial VC navigation system. In this paper, we present an improved ECC method. It is based on a partial-volume (PV) image-segmentation framework, which is derived using the well-established statistical expectation-maximization algorithm. The presented ECC method was evaluated by both visual inspection and computer-aided detection of polyps (CADpolyp) within the cleansed colon lumens obtained using 20 patient datasets. Compared to our previous ECC pipeline, which does not sufficiently consider the PV effect, the method presented in this paper demonstrates improved polyp detection by both visual judgment and CADpolyp measure.

A new path planning algorithm for maximizing visibility in computed tomography colonography

In virtual colonoscopy, minimizing the blind areas is important for accurate diagnosis of colonic polyps. Although useful for describing the shape of an object, the centerline is not always the optimal camera path for observing the object. Hence, conventional methods in which the centerline is directly used as a path produce considerable blind areas, especially in areas of high curvature. Our proposed algorithm first approximates the surface of the object by estimating the overall shape and cross-sectional thicknesses. View positions and their corresponding view directions are then jointly determined to enable us to maximally observe the approximated surface. Moreover, by adopting bidirectional navigations, we may reduce the blind area blocked by haustral folds. For comfortable navigation, we carefully smoothen the obtained path and minimize the amount of rotation between consecutive rendered images. For the evaluation, we quantified the overall observable area on the basis of the temporal visibility that reflects the minimum interpretation time of a human observer. The experimental results show that our algorithm improves visibility coverage and also significantly reduces the number of blind areas that have a clinically meaningful size. A sequence of rendered images shows that our algorithm can provide a sequence of centered and comfortable views of colonography.

Edge displacement field-based classification for improved detection of polyps in CT colonography

Colorectal cancer can easily be prevented provided that the precursors to tumors, small colonic polyps, are detected and removed. Currently, the only definitive examination of the colon is fiber-optic colonoscopy, which is invasive and expensive. Computed tomographic colonography (CTC) is potentially a less costly and less invasive alternative to FOC. It would be desirable to have computer-aided detection (CAD) algorithms to examine the large amount of data CTC provides. Most current CAD algorithms have high false positive rates at the required sensitivity levels. We developed and evaluated a postprocessing algorithm to decrease the false positive rate of such a CAD method without sacrificing sensitivity. Our method attempts to model the way a radiologist recognizes a polyp while scrolling a cross-sectional plane through three-dimensional computed tomography data by classification of the changes in the location of the edges in the two-dimensional plane. We performed a tenfold cross-validation study to assess its performance using sensitivity/specificity analysis on data from 48 patients. The mean specificity over all experiments increased from 0.19 (0.35) to 0.47 (0.56) for a sensitivity of 1.00 (0.95).