3D pathfinder visualization
In one embodiment, an apparatus includes a medical instrument, a position tracking system to track coordinates of the instrument within a passage in a body, a processor to register the system and a 3D CT image of at least a part of the body, find a path of the instrument through the passage, compute segments of the path, compute respective locations along the path of respective virtual cameras responsively to the computed segments, select the respective virtual cameras for rendering respective virtual endoscopic images responsively to the tracked coordinates, compute respective orientations of the respective virtual cameras, and render and display the respective virtual endoscopic images, based on the 3D CT image, of the passage in the body viewed from the respective locations and orientations of the respective virtual cameras including an animated representation of the instrument positioned in the respective virtual endoscopic images in accordance with the tracked coordinates.
1. A medical apparatus, comprising:
a medical instrument, which is configured to move within a passage in a body of a patient;
a position tracking system, which is configured to track coordinates of the medical instrument within the body;
a display screen; and
a processor, which is configured to:
register the position tracking system and a three-dimensional (3D) computerized tomography (CT) image of at least a part of the body within a common frame of reference;
compute segments of a 3D path of the medical instrument through the passage from a start point to a termination point;
compute respective different locations along the 3D path of respective virtual cameras responsively to the computed segments and position, for each of the computed segments, at least one virtual camera at a location along that computed segment;
select the respective virtual cameras for rendering respective virtual endoscopic images responsively to the tracked coordinates of the medical instrument and the respective locations of the respective virtual cameras within the common frame of reference;
compute respective orientations of the respective virtual cameras; and
render and display on the display screen the respective virtual endoscopic images, based on the 3D CT image, of the passage in the body viewed from the respective locations and orientations of the respective virtual cameras including an animated representation of the medical instrument positioned in the respective virtual endoscopic images in accordance with the tracked coordinates.
2. The apparatus according to claim 1 , wherein the processor is configured to: find turning points in the 3D path above a threshold turning; and compute the segments of the 3D path and the respective different locations along the 3D path of the respective virtual cameras responsively to the found turning points.
3. The apparatus according to claim 2 , wherein the processor is configured to position at least one of the virtual cameras in a middle of one of the segments responsively to a distance between adjacent ones of the virtual cameras exceeding a limit.
4. The apparatus according to claim 2 , wherein the processor is configured to: check a line of sight between two adjacent ones of the virtual cameras; and position at least one of the virtual cameras between the two adjacent virtual cameras responsively to the line of sight being blocked.
5. The apparatus according to claim 2 , wherein the processor is configured to compute the segments based on an n-dimensional polyline simplification.
6. The apparatus according to claim 5 , wherein the n-dimensional polyline simplification includes the Ramer-Douglas-Peucker algorithm.
7. The apparatus according to claim 1 , wherein the processor is configured to:
compute respective bisectors for respective ones of the virtual cameras; and
select the respective virtual cameras for rendering respective virtual endoscopic images responsively to which side the tracked coordinates of the medical instrument fall with respect to a respective one of the bisectors of a respective one of the virtual cameras closest to the tracked coordinates.
8. The apparatus according to claim 7 , wherein the processor is configured to compute the respective bisectors as respective planes perpendicular to the 3D path at respective ones of the locations of respective ones of the virtual cameras on the 3D path.
9. The apparatus according to claim 1 , wherein the processor is configured to:
compute an average direction of vectors from a respective one of the locations of a respective one of the virtual cameras to different points along the 3D path; and
compute a respective one of the orientations of the respective one of the virtual cameras responsively to the computed average direction.
10. The apparatus according to claim 9 , wherein the processor is configured to shift the respective one of the locations of the respective one of the virtual cameras in an opposite direction to the computed average direction.
11. The apparatus according to claim 1 , wherein the processor is configured to render and display on the display screen a transition between two respective ones of the virtual endoscopic images of two respective adjacent ones of the virtual cameras based on successively rendering respective transitional virtual endoscope images of the passage in the body viewed from respective locations of respective additional virtual cameras disposed between the two respective adjacent ones of the virtual cameras.
12. The apparatus according to claim 1 , wherein the position tracking system comprises an electromagnetic tracking system, which comprises one or more magnetic field generators positioned around the part of the body and a magnetic field sensor at a distal end of the medical instrument.
13. A medical method, comprising:
tracking coordinates of a medical instrument within a body of a patient using a position tracking system, the medical instrument being configured to move within a passage in the body of the patient;
registering the position tracking system and a three-dimensional (3D) computerized tomography (CT) image of at least a part of the body within a common frame of reference;
computing segments of a 3D path of the medical instrument through the passage from a start point to a termination point;
computing respective different locations along the 3D path of respective virtual cameras responsively to the computed segments and positioning, for each of the computed segments, at least one virtual camera at a location along that computed segment;
selecting the respective virtual cameras for rendering respective virtual endoscopic images responsively to the tracked coordinates of the medical instrument and the respective locations of the respective virtual cameras within the common frame of reference;
computing respective orientations of the respective virtual cameras; and
rendering and displaying on a display screen the respective virtual endoscopic images, based on the 3D CT image, of the passage in the body viewed from the respective locations and orientations of the respective virtual cameras including an animated representation of the medical instrument positioned in the respective virtual endoscopic images in accordance with the tracked coordinates.
14. The method according to claim 13 , further comprising finding turning points in the 3D path above a threshold turning, and wherein the computing the segments includes computing the segments of the 3D path and the respective different locations along the 3D path of the respective virtual cameras responsively to the found turning points.
15. The method according to claim 14 , further comprising positioning at least one of the virtual cameras in a middle of one of the segments responsively to a distance between adjacent ones of the virtual cameras exceeding a limit.
16. The method according to claim 14 , further comprising: checking a line of sight between two adjacent ones of the virtual cameras; and positioning at least one of the virtual cameras between the two adjacent virtual cameras responsively to the line of sight being blocked.
17. The method according to claim 13 , further comprising computing respective bisectors for respective ones of the virtual cameras, and wherein the selecting includes selecting the respective virtual cameras for rendering respective virtual endoscopic images responsively to which side the tracked coordinates of the medical instrument fall with respect to a respective one of the bisectors of a respective one of the virtual cameras closest to the tracked coordinates.
18. The method according to claim 13 , further comprising computing an average direction of vectors from a respective one of the locations of a respective one of the virtual cameras to different points along the 3D path, and wherein computing the respective orientations includes computing a respective one of the orientations of the respective one of the virtual cameras responsively to the computed average direction.
19. The method according to claim 13 , further comprising rendering and displaying on the display screen a transition between two respective ones of the virtual endoscopic images of two respective adjacent ones of the virtual cameras based on successively rendering respective transitional virtual endoscope images of the passage in the body viewed from respective locations of respective additional virtual cameras disposed between the two respective adjacent ones of the virtual cameras.
20. A software product, comprising a non-transient computer-readable medium in which program instructions are stored, which instructions, when read by a central processing unit (CPU), cause the CPU to:
track coordinates of a medical instrument within a body of a patient using a position tracking system, the medical instrument being configured to move within a passage in the body of the patient;
register the position tracking system and a three-dimensional (3D) computerized tomography (CT) image of at least a part of the body within a common frame of reference;
compute segments of a 3D path of the medical instrument through the passage from a start point to a termination point;
compute respective different locations along the 3D path of respective virtual cameras responsively to the computed segments and position, for each of the computed segments, at least one virtual camera at a location along that computed segment;
select the respective virtual cameras for rendering respective virtual endoscopic images responsively to the tracked coordinates of the medical instrument and the respective locations of the respective virtual cameras within the common frame of reference;
compute respective orientations of the respective virtual cameras; and
render and display on a display screen the respective virtual endoscopic images, based on the 3D CT image, of the passage in the body viewed from the respective locations and orientations of the respective virtual cameras including an animated representation of the medical instrument positioned in the respective virtual endoscopic images in accordance with the tracked coordinates.