Abstract: A method provides guidance to the physician during a live bronchoscopy or other endoscopic procedures. The 3D motion of the bronchoscope is estimated using a fast coarse tracking step followed by a fine registration step. The tracking is based on finding a set of corresponding feature points across a plurality of consecutive bronchoscopic video frames, then estimating for the new pose of the bronchoscope. In the preferred embodiment the pose estimation is based on linearization of the rotation matrix. By giving a set of corresponding points across the current bronchoscopic video image, and the CT-based virtual image as an input, the same method can also be used for manual registration. The fine registration step is preferably a gradient-based Gauss-Newton method that maximizes the correlation between the bronchoscopic video image and the CT-based virtual image. The continuous guidance is provided by estimating the 3D motion of the bronchoscope in a loop.

Abstract: Endoscopic poses are used to indicate the exact location and direction in which a physician must orient the endoscope to sample a region of interest (ROI) in an airway tree or other luminal structure. Using a patient-specific model of the anatomy derived from a 3D MDCT image, poses are chosen to be realizable given the physical characteristics of the endoscope and the relative geometry of the patient's airways and the ROI. To help ensure the safety of the patient, the calculations also account for obstacles such as the aorta and pulmonary arteries, precluding the puncture of these sensitive blood vessels. A real-time visualization system conveys the calculated pose orientation and the quality of any arbitrary bronchoscopic pose orientation. A suggested pose orientation is represented as an icon within a virtual rendering of the patient's airway tree or other structure. The location and orientation of the icon indicates the suggested pose orientation to which the physician should align during the procedure.

Abstract: Methods and apparatus provide continuous guidance of endoscopy during a live procedure. A data-set based on 3D image data is pre-computed including reference information representative of a predefined route through a body organ to a final destination. A plurality of live real endoscopic (RE) images are displayed as an operator maneuvers an endoscope within the body organ. A registration and tracking algorithm registers the data-set to one or more of the RE images and continuously maintains the registration as the endoscope is locally maneuvered. Additional information related to the final destination is then presented enabling the endoscope operator to decide on a final maneuver for the procedure. The reference information may include 3D organ surfaces, 3D routes through an organ system, or 3D regions of interest (ROIs), as well as a virtual endoscopic (VE) image generated from the precomputed data-set.

Abstract: Methods and apparatus assist in planning routes through hollow, branching organs in patients to optimize subsequent endoscopic procedures. Information is provided about the organ and a follow-on endoscopic procedure associated with the organ. The most appropriate navigable route or routes to a target region of interest (ROI) within the organ are then identified given anatomical, endoscopic-device, or procedure-specific constraints derived from the information provided. The method may include the step of modifying the viewing direction at each site along a route to give physically meaningful navigation directions or to reflect the requirements of a follow-on live endoscopic procedure. An existing route may further be extended, if necessary, to an ROI beyond the organ. The information provided may include anatomical constraints that define locations or organs to avoid; anatomical constraints that confine the route within specific geometric locations; or a metric for selecting the most appropriate route.

Abstract: An x-ray fluoroscopic imaging system including a portable cabinet, a monitor having two video displays, a support arm, an articulated arm assembly connecting the support arm to the cabinet, a C-arm carried by the support arm assembly, an x-ray source and detector located at opposing locations on the C-arm, and a control panel mounted on the source or the detector, wherein the two displays are SVGA multiscan CRTs, mounted in a single rotating enclosure, which provide certain functions of the imaging system. A single driver interface is provided for the two displays for 100% synchronous operation of both displays to display images required by the fluoroscopic imaging system.

Abstract: In an x-ray fluoroscopic imaging system including a portable cabinet, at least one monitor, a support arm, an articulated arm assembly connecting the support arm to the cabinet, a C-arm carried by the support arm assembly, an x-ray source and detector located at opposing locations on the C-arm, and a control panel mounted on the source or the detector, three “x-ray on” lighted indicators are disposed at visible locations in the system, one of these indicators being a switch with a light-up perimeter on the control panel, the second being incorporated in the monitor, and the third being incorporated in the cabinet.

Abstract: A method of joining together two composite honeycomb panels each having internal cellular structure wherein related bores are formed in the respective panels with at least one of said bores extending entirely through its panel, the panels are placed in tightly abutting relation with the bores in alignment, a hollow tubular fastener is inserted through the one bore to project into and along the aligned bores, and fluent anchoring glue type adhesive is forced into the fastener so that some of the adhesive extrudes from within the fastener through side apertures to randomly occupy adjacent space in the cellular structures of both panels, and the anchoring adhesive is hardened in situ; and the resultant coupled panel assembly.

Abstract: Synchronizing and coordination apparatus and circuit arrangement, at a junction terminal in a coded carrier remote control system where two branch communication channels diverge from the main channel from the control office, to establish and enforce a preselected order of priority for code transmission in both directions between the control office and stations connected along the main and branch channels. Each section of the channel network is provided with separate carrier apparatus to transmit codes in both directions. Retransmission means at the junction repeat control codes received from the office to all branch and satellite stations and indication codes received from these stations to the office office. Control codes from the office and indication codes from main channel stations are given first and second transmission priority, respectively. Indication codes from junction terminal satellite stations are third in priority order, over similar codes from stations along both branch channels.