Int J Comput Assist Radiol Surg - A robust method to track colonoscopy videos with non-informative images.

Tópicos

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Resumo

RPOSE: Continuously, optical and virtual image alignment can significantly supplement the clinical value of colonoscopy. However, the co-alignment process is frequently interrupted by non-informative images. A video tracking framework to continuously track optical colonoscopy images was developed and tested.METHODS: A video tracking framework with immunity to non-informative images was developed with three essential components: temporal volume flow, region flow, and incremental egomotion estimation. Temporal volume flow selects two similar images interrupted by non-informative images; region flow measures large visual motion between selected images; and incremental egomotion processing estimates significant camera motion by decomposing each large visual motion vector into a sequence of small optical flow vectors. The framework was extensively evaluated via phantom and colonoscopy image sequences. We constructed two colon-like phantoms, a straight phantom and a curved phantom, to measure actual colonoscopy motion.RESULTS: In the straight phantom, after 48 frames were excluded, the tracking error was [Formula: see text]3?mm of 16?mm traveled. In the curved phantom, the error was [Formula: see text]4?mm of 23.88?mm traveled after 72 frames were excluded. Through evaluations with clinical sequences, the robustness of the tracking framework was demonstrated on 30 colonoscopy image sequences from 22 different patients. Four specific sequences among these were chosen to illustrate the algorithm's decreased sensitivity to (1) fluid immersion, (2) wall contact, (3) surgery-induced colon deformation, and (4) multiple non-informative image sequences.CONCLUSION: A robust tracking framework for real-time colonoscopy was developed that facilitates continuous alignment of optical and virtual images, immune to non-informative images that enter the video stream. The system was validated in phantom testing and achieved success with clinical image sequences.

Resumo Limpo

rpose continu optic virtual imag align can signific supplement clinic valu colonoscopi howev coalign process frequent interrupt noninform imag video track framework continu track optic colonoscopi imag develop testedmethod video track framework immun noninform imag develop three essenti compon tempor volum flow region flow increment egomot estim tempor volum flow select two similar imag interrupt noninform imag region flow measur larg visual motion select imag increment egomot process estim signific camera motion decompos larg visual motion vector sequenc small optic flow vector framework extens evalu via phantom colonoscopi imag sequenc construct two colonlik phantom straight phantom curv phantom measur actual colonoscopi motionresult straight phantom frame exclud track error formula see textmm mm travel curv phantom error formula see textmm mm travel frame exclud evalu clinic sequenc robust track framework demonstr colonoscopi imag sequenc differ patient four specif sequenc among chosen illustr algorithm decreas sensit fluid immers wall contact surgeryinduc colon deform multipl noninform imag sequencesconclus robust track framework realtim colonoscopi develop facilit continu align optic virtual imag immun noninform imag enter video stream system valid phantom test achiev success clinic imag sequenc

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