Virtual fly over of complex tubular anatomical structures
View Patent ↗An embodiment of the invention is method, which can be implemented in software, firmware, hardware, etc., for virtual fly over inspection of complex anatomical tubular structures. In a preferred embodiment, the method is implemented in software, and the software reconstructs the tubular anatomical structure from a binary imaging data that is originally acquired from computer aided tomography scan or comparable biological imaging system. The software of the invention splits the entire tubular anatomy into exactly two halves. The software assigns a virtual camera to each half to perform fly-over navigation. Through controlling the elevation of the virtual camera, there is no restriction on its field of view (FOV) angle, which can be greater than 90 degrees, for example. The camera viewing volume is perpendicular to each half of the tubular anatomical structure, so potential structures of interest, e.g., polyps hidden behind haustral folds in a colon are easily found. The orientation of the splitting surface is controllable, the navigation can be repeated at another or a plurality of another split orientations. This avoids the possibility that a structure of interest, e.g., a polyp that is divided between the two halves of the anatomical structure in a first fly over is missed during a virtual inspection. Preferred embodiment software conducts virtual colonoscopy fly over. Experimental virtual fly over colonoscopy software of the invention that performed virtual fly over on 15 clinical datasets demonstrated average surface visibility coverage is 99.59+/−0.2%.
1. A method for virtual fly over inspection of complex tubular anatomical structures that exist in more than one plane, comprising steps for:
reconstructing a tubular anatomical structure from a binary imaging data;
splitting the entire tubular anatomical structure into exactly two halves without transformation of the tubular anatomical structure;
assigning a virtual camera to each of the two halves; and
conducting a virtual fly over inspection of each of the two halves while controlling the elevation of the virtual camera such that the camera viewing volume is perpendicular to each half of two halves.
2. The method of claim 1 , further comprising steps for:
outputting the virtual fly over inspect to a display;
accepting navigation input to interactively control the virtual fly over.
3. The method of claim 1 , wherein the method further includes a step of changing orientation used in said step of splitting such that said step of conducting can be repeated at another one or plurality of split orientations.
4. The method of claim 1 , further comprising outputting the virtual fly over to memory.
5. A method for virtual fly over inspection of complex anatomical tubular structures, comprising steps for:
reconstructing a tubular anatomical structure from a binary imaging data.
splitting the entire tubular anatomical structure into exactly two halves;
assigning a virtual camera to each of the two halves; and
conducting a virtual fly over inspection of each of the two halves while controlling the elevation of the virtual camera such that the camera viewing volume is perpendicular to each half of two halves, wherein said step of splitting comprise steps of:
dividing the tubular anatomical structure into consecutive rings;
halving the consecutive rings into halves by passing an infinite plane through ring centerlines;
concatenating consecutive half rings; and
reconstructing the surface of the tubular anatomical structure.
6. The method of claim 5 , wherein said step of reconstructing comprises applying marching cubes algorithm.
7. The method of claim 5 , wherein said step of dividing comprise segmenting a centerline of the tubular anatomical structure into a plurality of segments and computing a normal to the centerline between each segment.
8. The method of claim 7 , wherein said step of halving comprises aligning orientation of computed normals and passing the infinite plane through the centerline along the aligned normals to the centerline.
9. The method of claim 8 , further comprising aligning computed normals at a second orientation and passing a second infinite plane through the centerline along the normals at the second orientation, and repeating said steps of assigning and conducting.
10. A non-transitory computer-readable medium encoded with a computer program for virtual fly over inspection of complex anatomical tubular structures, comprising code for
reconstructing a tubular anatomical structure from binary imaging data.
computing a centerline of the tubular anatomical structure;
segmenting the centerline of the tubular anatomical structure into a plurality of segments and computing a normal to the centerline between each segment;
aligning orientation of computed normals and passing an infinite plane through the centerline along the aligned normals to the centerline to divide the tubular anatomical structure into halves;
assigning a virtual camera to each of the two halves; and
conducting a virtual fly over inspection of each of the two halves while controlling the elevation of the virtual camera such that the camera viewing volume is perpendicular to each half of two halves.
11. A method for virtual fly over inspection of complex anatomical tubular structures, comprising steps for:
reconstructing a tubular anatomical structure from binary imaging data;
computing a centerline of the tubular anatomical structure;
dividing a surface of the tubular anatomical structure into a plurality of consecutive rings;
splitting each of the consecutive rings into two halves along commonly aligned normals;
concatenating consecutive half rings and reconstructing the surface of the tubular anatomical structure and generate two halves;
conducting a virtual fly over inspection of each of the two halves while controlling the elevation of the virtual camera such that the camera viewing volume is perpendicular to each half of two halves.