Multidetector computed-tomography (MDCT) scanners provide large high-resolution three-dimensional (3-D) images of the chest. MDCT scanning, when used in tandem with bronchoscopy, provides a state-of-the-art approach for lung-cancer assessment. We have been building and validating a lung-cancer assessment system, which enables virtual-bronchoscopic 3-D MDCT image analysis and follow-on image-guided bronchoscopy. A suitable path planning method is needed, however, for using this system. We describe a rapid, robust method for computing a set of 3-D airway-tree paths from MDCT images. The method first defines the skeleton of a given segmented 3-D chest image and then performs a multistage refinement of the skeleton to arrive at a final tree structure. The tree consists of a series of paths and branch structural data, suitable for quantitative airway analysis and smooth virtual navigation. A comparison of the method to a previously devised path-planning approach, using a set of human MDCT images, illustrates the efficacy of the method. Results are also presented for human lung-cancer assessment and the guidance of bronchoscopy.

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Three-dimensional path planning for virtual bronchoscopy

A method and system for identifying a portion of an image data is disclosed. The image data can include image data of an anatomy, such as a brain of a patient. The identified portion can be used for planning a procedure. The identified portions can include anatomical landmarks that can be used to determine anatomical targets of the patient. The plan can include a path or trajectory to reach the anatomical target.

Method for Planning a Surgical Procedure

A system and a method to determine an anatomical landmark in an anatomy, comprising: a processor operable to execute instructions; a memory system to store instructions to be executed by the processor and image data (45) of the anatomy; a display operable to display the determined anatomical landmark in the image data in the anatomy; and a user input to provide a seed datum (48) in the image data to the processor; wherein the processor is operable to execute instructions stored in the memory system to determine the anatomical landmark (52) in the anatomy based upon the seed datum in the image data.

System for identification of anatomical landmarks

A system including a processor and/or processor system can be used to create a plan for a procedure, such as a surgical procedure. The plan for the surgical procedure can be based on various elements, including determined anatomical landmarks that can be used to determine anatomical targets of a patient. The planning processor can be used to determine the anatomical landmarks and identify anatomical targets in image data of a subject, even if the anatomical targets are indistinguishable in the image data.

System for navigating a planned procedure within a body

Purpose
The optimal electrode trajectory is needed to assist surgeons in planning Deep Brain Stimulation (DBS). A method for image-based trajectory planning was developed and tested.

Automatic computation of electrode trajectories for Deep Brain Stimulation: a hybrid symbolic and numerical approach

This paper describes an improvement of automatic neurosurgical path searching algorithm which incorporates the structure of blood vessels. We have proposed an automatic searching method for surgical path planning on neurosurgery to realize minimally invasive operations within the range of soft tissues. This path searching is based on importance values we defined, and an anatomical structure database generated from MRI images and surgeon experiences. This paper introduces blood vessels into the path searching because we cannot give them damages during operation. We first obtain the structure of blood vessels from MRA, then also give them importance values, and finally incorporate the structure into path searching. Experimental results show that the path obtained by the proposed method is better than searching without vessel structure.

Neuropath planner–automatic path searching for neurosurgery

We are developing a neurosurgical planning system, and this paper presents a method of automatic path searching from skin surface of the head to tumor inside the brain The path obtained by our system is an optimal one in minimally invasive neurosurgery and it is calculated automatically based on a 3D atlas The 3D atlas is a voxel based 3D matrix, and consists of two parts, structural part and knowledge part The structural part includes the geometrical information with respect to each tissue The knowledge part is generated based on experiences of doctors, and numeric value is provided as importance value for each tissue The path searching consists of two steps, path finding and path smoothing Path finding is to select an optimal path from surface of the head to the affected part based on minimization of importance value integrating along with the path We applied the algorithm into a head MRI data set The path obtained by path finding is reformed smoothly to approach the natural path of surgeon

Automatic Path Searching for Minimally Invasive Neurosurgical Planning

PROBLEM TO BE SOLVED: To provide a cerebral blood vessel extraction program capable of extracting the accurate three-dimensional structure data high in anti-noise properties of the center line of a cerebral blood vessel by utilizing an MRA image, and an apparatus therefor. SOLUTION: A slice is searched from the vicinity of a neck part to a head top part to calculate the blood vessel region start point of an artery and a blood vessel region is searched on the slice from the start point by a region expansion method and the center line of the cerebral blood vessel is extracted by tracking the center-of-gravity point of the searched blood vessel region. By this constitution, the extraction of the blood vessel region from the MRA image of the whole of the head is completed. Next, as the treatment of an unnecessary blood vessel due to the effect of noise, or the like, the unification of the center line and the removal of a short branch line are performed.

Cerebral blood vessel extraction program in mra image and apparatus therefor

PROBLEM TO BE SOLVED: To provide a program capable of automatically searching a surgical operation path which can be executed even in an actual operation and contributes to the advance of a medical technique as well with simple constitution, and the device. SOLUTION: By utilizing the surgical operation path obtained by a conventional method as a candidate path and applying it to a dynamic contour model, an effective surgical operation path executable even in the actual operation is automatically searched.

Hiroshi Emoto

Papers

Neuropath planner–automatic path searching for neurosurgery

Automatic Path Searching for Minimally Invasive Neurosurgical Planning

Cerebral blood vessel extraction program in mra image and apparatus therefor

Automatic surgical operation path search program and device therefor