Abstract: A method for debriding an infected implant area using a robotic-assisted surgery system. The method includes determining, by a processing circuit associated with a computer, an area to be debrided, the debridement area including at least a surface of an implant or patient tissue, and generating, by the processing circuit, a plan for debriding the debridement area. The method further includes controlling a debridement tool, by the robotic-assisted surgery system, while the debridement tool is used to carry out the debridement plan, and monitoring the debridement by the processing circuit.

Abstract: A method for characterizing tissues within a subject as cancerous or non-cancerous includes determining the electrical properties of the subject. The electrical properties of the subject are fit to a model and a specific range of a set of characteristic frequencies of each tissue is then calculated. Each tissue is finally characterized as cancerous or non-cancerous if the specific range of the set of characteristic frequencies inside or outside, respectively, a pre-determined spread of characteristic frequencies.

Abstract: The invention relates to a system for navigating a surgical instrument (1), comprising a processor configured for: obtaining a first 3D medical image of a first volume (V1) of a patient's body, said first volume (V1) comprising a reference marker (M), registering the first 3D image with said reference marker (M), obtaining a second 3D medical image of a second volume (V2) of the patient's body, said second volume (V2) being different from the first volume (V1) and not containing the reference marker (M) in its entirety, said first and second 3D images being obtained by a single imaging device, registering the second 3D medical image with the first 3D medical image, obtaining a virtual position of the surgical instrument (1) with respect to the reference marker (M) from a tracking system, determining a virtual position of the surgical instrument (1) with respect to the second 3D medical image.

Abstract: Quantification of body composition plays an important role in many clinical and research applications. Radiologic imaging techniques such as Dual-energy X-ray absorptiometry, magnetic resonance imaging (MRI), and computed tomography (CT) imaging make accurate quantification of the body composition possible. This disclosure presents an automated, efficient, accurate, and practical body composition quantification method for low dose CT images; method for quantification of disease from images; and methods for implementing virtual landmarks.

Abstract: A method for detecting intrusions in a monitored volume in which: N tridimensional sensors acquire local point clouds in respective local coordinate systems, a central processing unit receives the acquired local point clouds and, for each sensor, computes updated tridimensional position and orientation of the sensor in a global coordinate system of the monitored volume by aligning a local point cloud acquired by said tridimensional sensor with a global tridimensional map of the monitored volume, and generates an aligned local point cloud on the basis of the updated tridimensional position and orientation of the sensor, the central processing unit monitors an intrusion in the monitored volume by comparing a free space of the aligned local point cloud with a free space of the global tridimensional map.

Abstract: A method of tracking motion of a body part, the method comprising: (a) gathering motion data from a body part repositioned within a range of motion, the body part having mounted thereto a motion sensor; (b) gathering a plurality of radiographic images taken of the body part while the body part is in different positions within the range of motion, the plurality of radiographic images having the body part and the motion sensor within a field of view; and, (c) constructing a virtual three dimensional model of the body part from the plurality of radiographic images using a structure of the motion sensor identifiable within at least two of the plurality of radiographic images to calibrate the radiographic images.

Abstract: A method includes, identifying, in a three-dimensional (3D) anatomical image of a patient organ, multiple anatomical points corresponding to respective predefined locations on a skin of the patient organ in a first coordinate system. Multiple positions in a second coordinate system, measured by a position sensor of a position-tracking system at the respective predefined locations on the skin of the patient organ, are received. At each predefined location, a distance is calculated between a respective anatomical point and closest bone tissue of the patient organ. Weights are assigned to the predefined locations based on respective distances between the anatomical points and the closest bone tissue. The first and second coordinate systems are registered, by correlating between the positions and the respective anatomical points using the assigned weights.

Abstract: System and methods for simulating a surgical procedure are provided. The system includes a non-transitory computer-readable medium including instructions, which when executed by one or more processors, are configured to execute a surgical planning program. The surgical planning program is configured to track a tool relative to a model of an anatomy during a preoperative surgical simulation, generate a planning parameter based on the tracking of the tool relative to the model of the anatomy during the preoperative surgical simulation, and store the generated planning parameter. The system also includes a surgical system configured to load the generated planning parameter from the surgical planning program, and facilitate intraoperative surgery based on the generated parameter.

Abstract: The exemplary embodiments of the present disclosure are described and illustrated below to encompass methods and devices for designing patient specific prosthetic cutting jigs and, more specifically, to devices and methods for segmenting bone of the knee and the resulting cutting guides themselves. Moreover, the present disclosure relates to systems and methods for manufacturing customized surgical devices, more specifically, the present disclosure relates to automated systems and methods of arthroplasty cutting guides, systems and methods for image segmentation in generating computer models of knee joint.

Abstract: Systems and methods are disclosed for evaluating cardiovascular treatment options for a patient. One method includes creating a three-dimensional model representing a portion of the patient's heart based on patient-specific data regarding a geometry of the patient's heart or vasculature; and for a plurality of treatment options for the patient's heart or vasculature, modifying at least one of the three-dimensional model and a reduced order model based on the three-dimensional model. The method also includes determining, for each of the plurality of treatment options, a value of a blood flow characteristic, by solving at least one of the modified three-dimensional model and the modified reduced order model; and identifying one of the plurality of treatment options that solves a function of at least one of: the determined blood flow characteristics of the patient's heart or vasculature, and one or more costs of each of the plurality of treatment options.

Abstract: Disclosed are methods and systems to determine a subject's metabolic vulnerability index (MVX) score using at least one defined mathematical model of risk. The methods comprise evaluating various biomarkers to distinguish various health risks. In one embodiment, the method comprises evaluating biomarkers to determine a relative risk of premature all-cause mortality. The model may include NMR-derived measurements of GlycA, S-HDLP, branched chain amino acids (BCAAs), ketone bodies, total serum protein, and citrate in at least one biosample of the subject.

Abstract: An image processor (IP) and a related method. The processor (IP) comprises an input interface (IN) for receiving an input sequence (F) of frames acquired by an imaging apparatus (IA). A temporal noise filter (NP) of the processor (IP) is configured to bidirectionally process the input sequence into at least two noise processed sequences (FLR, FRL). A merger (SUM) of the processor (IP) is configured to merge said at least two noise processed sequences into an output sequence (Formula (A)).

Abstract: A process and a device are provided for a contactless determination of a measuring location (32) on a body, which point is intended for the measurement of a skin temperature of a human being (10). A signature (36) indicating a measuring location (32) on the body is detected by means of a sensor system (16). A skin temperature measurement is carried out on the measuring location (32) on the body. A signature (36) detectable in the infrared range and a sensor system (16) sensitive in the infrared range are used. Both the detection of the infrared range signature (36) and the measurement of the skin temperature at the measuring location (32) on the body are carried out by means of the sensor system (16) sensitive in the infrared range.

Abstract: The orthopedic systems are patient-specific and provided with two types of features for positioning and/or fixing the plate to the bone or bone fragments. A method for generating bone plates comprises: generating a model of the bone defect or envisaged osteotomy based on one or more images of the bone and the surgical plan; designing based on said model a model corresponding to the envisioned repair of said bone defect/envisaged result of the osteotomy; generating a bone plate based on the information above, comprising: one or more patient-specific features corresponding to the surface of a bone fragment in the area close to the defect; and one or more fixation features whose position and/or orientation is such that the fixation elements will enter the bone in areas suitable for fixing the bone plate to each bone fragment.

Abstract: A method and apparatus of generating a modified segmented structure is disclosed. This adds voxels in proximity to a segmented structure to create a larger volume or area than the segmented structure. Analysis of these layers provides insight to the disease pathology of the segmented structure. Additionally, this layer can serve as a visual transition region between a segmented item on a checklist under inspection whose visual appearance is optimized and the remaining structures on the checklist whose visual appearance is subdued (e.g., darkened) to help the imager (e.g., radiologist) better focus on the image.

Abstract: According to the present invention, switching of the monitoring images matching the intention of the observer can be automatically performed for images from a plurality of image capturing apparatus, and the load about the job of the observer can be reduced. The image monitoring apparatus includes an estimating unit configured to estimate attention degrees of a user for a plurality of images acquired from the plurality of image capturing apparatuses, a designating unit configured to designate one of the acquired images as an image to be displayed in accordance with an instruction from the user, a learning unit configured to cause the estimating unit to learn so as to increase an attention degree of the designated image, and a selecting unit configured to select one of the plurality of images based on an attention degree of each estimated image.

Abstract: A system and method for developing customized apparatus, such as guides, for use in one or more surgical procedures is disclosed. The system and method incorporates a patient's unique anatomical features or morphology, which may be derived from capturing MRI data or CT data, to fabricate at least one custom apparatus or guide. According to a preferred embodiment, the customized apparatus comprises at least one patient-specific surface and or contour, which may be derived from MRI or CT data. Apparatus may be matched in duplicate and oriented around the patient's own anatomy, and may further provide any desired axial alignments or surgical instrument insertional trajectories. In an alternate embodiment, the apparatus may further be aligned and/or matched and/or nested with at least one other apparatus during the surgical procedure.

Abstract: Thermal variations on an optical scanning device can affect measurements made by that device. Various ways are presented here to control the temperature of a device and compensate for temperature variations of the device.

Abstract: According to one embodiment, a depth map used for a reflection model is generated based on a power image as a blood flow image. A reflection image is generated from the depth map according to the reflection model. By synthesizing the reflection image 70 with the power image, a weighted power image is generated. Using the same method as described above, a weighted velocity image may be generated.

Abstract: A patient-specific cutting guide system comprises at least two instruments. One is a positioner configured to locate a fiducial marker on a patient's bone and to be secured in three axes. The second is a cutting guide that cooperates with the positioner and delineates cuts to be made. The instruments are designed from images of the bone with the marker already in place. Preferably, a positioner comprises at least three targeting apertures configured to locate at least three non-linear markers. The cutting guide comprises top surface contours that guide the depth of the cuts. A method of forming this system comprises placing at least one marker (preferably three) on a patient's bone, then imaging the bone, forming a positioner designed to incorporate the marker position, and forming a cutting guide configured to be oriented and anchored by the positioner.

Abstract: The present invention relates to a data processing method performed by a computer, for determining geometric parameters of a phantom leg bone using a cutting guide that defines a cutting plane and that is configured to abut a predetermined surface section of the phantom leg bone. The method comprises acquiring cutting guide position data describing the spatial position of the cutting guide, acquiring relative position data describing the spatial position of a first mechanical axis point relative to the predetermined surface section of the phantom leg bone, and determining, based on the cutting guide position data and the relative position data, first axis point position data describing the spatial position of the first mechanical axis point of the phantom leg bone. The present invention further relates to a corresponding cutting guide and a corresponding computer program and computer.

Abstract: The present embodiments relate generally to systems and methods for performing a measurement on an ultrasound image displayed on a touchscreen device. The method may include: receiving, via the touchscreen device, first input coordinates corresponding to a point on the ultrasound image; using the first input coordinates as a seed for performing a contour identification process on the ultrasound image, wherein the contour identification process performs contour evolution using morphological operators to iteratively dilate from the first input coordinates; upon identification of a contour from the contour identification process, placing measurement calipers on the identified contour; and storing a value identified by the measurement calipers as the measurement.

Abstract: A method and an apparatus are disclosed for displaying to a user a transition between a first rendered projection of a first image data and a final rendered projection of a second image data, the method comprising obtaining said first image data and said second image data, each generated by a corresponding 3D scanning device scanning a structure; displaying a first view corresponding to a first rendered projection of said first image data in a given window; obtaining an input from the user, said input being indicative of said final rendered projection of a portion of said second image data and displaying in sequence a plurality of views in the given window, each view corresponding to a different rendered projection of at least one of the first image data and the second image data, wherein the plurality of rendered projections are defined so as to perform a transition between the first rendered projection and the final rendered projection, further wherein the transition enables a sequential display of a contin

Abstract: Provided is a method for applying filters for dental CT imaging, including: acquiring the dental CT imaging using a dental CT apparatus; extracting an artifact region from the acquired image; applying a first filter to a region other than the artifact region in the acquired image; and outputting the dental CT imaging to which the filter is applied. Dental CT imaging is provided without an artifact region to assist in medical treatment. More specifically, the dental CT imaging without the artifact region around the metal or tooth is able to be provided to assist in dental treatment. Further, the dental CT imaging without a white artifact region is able to be provided at a boundary portion of field of view (FOV) to assist in dental treatment.

Abstract: A method and system for fusing image data. The method may include obtaining a first volume image and a second volume image. The method may further include casting a plurality of rays through at least one of the first volume image or the second volume image. Each of the plurality of rays may correspond to a pixel of an image to be displayed. For each of at least a portion of the plurality of rays, the at least one processor may further be directed to cause the system to set a series of sampling positions along the ray. The method may further include selecting a reference position from the series of sampling positions. The method may further include determining fusion data of the ray. The method may further include determining a pixel value of a pixel of the image to be displayed that corresponds to the ray.

Abstract: The present disclosure relates to systems and methods for extracting a vessel of a lower limb. The methods may include obtaining an original image including a plurality of image data, in some embodiments, each of the plurality of image data may correspond to a pixel (or a voxel), the plurality of image data may include a target data set, the target data set may represent a first structure; extracting a first reference data set from the plurality of image data, in some embodiments, the first reference data set may include the target data set and a second reference data set, the second reference data set may include data of a second structure; extracting the second reference data set from the plurality of image data; and obtaining the target data set based on the first reference data set and the second reference data set.

Abstract: An ophthalmologic apparatus comprises an optical system that includes an optical scanner, deflects light from a light source using the optical scanner, projects the light onto a subject's eye, and receives light based on returning light from the subject's eye, a movement mechanism that moves the subject's eye and the optical system relative to each other, an image acquisition unit that acquires an image of the subject's eye, an abnormality detector that detects abnormality based on a reference image and the image of the subject's eye, a scan controller that controls the optical scanner to re-perform a first scan or a second scan so as to project light from the light source onto a start position of the first scan, which is being performed for the subject's eye at an acquisition timing of the image of the subject's eye, or a start position of the second scan performed before the first scan, when the abnormality is detected by the abnormality detector, and a tracking controller that controls the movement mechani

Abstract: An information processing device includes: an information acquisition unit that acquires information on a target included in an image; and a transmission unit that determines a transmission destination of the image or information on the image according to the information on the target and transmits the image or the information on the image to the determined transmission destination.

Abstract: A number of orthopaedic surgical instruments are also disclosed. A method, apparatus, and system for fabricating such instruments are also disclosed.

Abstract: A medical image processing apparatus according to a present embodiment includes processing circuitry. The processing circuitry is configured to: acquire a subject image relating to a subject; acquire a standard image indicating a morphological structure of a human body and sections of a morphological structure from a memory which stores each standard image in association with sections of a morphological structure; set a comparison target portion of the subject image based on the subject image; set a comparison target portion of the standard image based on a comparison between the subject image and the standard image; specify a section in the comparison target portion of the subject image based on a comparison between the comparison target portion of the subject image and the comparison target portion of the standard image; and output the subject image and the section in association with each other.

Abstract: An medical viewing system (10) adapted for acquiring a first set of X-ray fluoroscopy images of an ultrasonic probe (40) of an echocardiography imaging device at two different viewing angles, wherein a processing unit (30) of the system is adapted for registering live echocardiography and live X-ray images based on the first set of X-ray fluoroscopy images, localizing cusp nadirs positions of a set of characteristic features (42, 44, 46) in the X-ray subsequent frames, establishing a set of markers to match the localized positions of the cusp nadirs characteristic features (42, 44, 46), and determining an optimal viewing angle of the X-ray image acquisition device (12), in which the markers of the second set of markers lie on a single line and are equidistant from each other in the X-ray field of view. This enables a precise alignment of the X-ray imaging device, especially for TAVR procedures.

Abstract: Apparatus, systems, and methods to improve automated identification, monitoring, processing, and control of a condition impacting a patient using image data and artificial intelligence classification are disclosed. An example image processing apparatus includes an artificial intelligence classifier to: process first image data for a patient from a first time to determine a first classification result indicating a first severity of a condition for the patient; and process second image data for the patient from a second time to determine a second classification result indicating a second severity of the condition for the patient. The example image processing apparatus includes a comparator to compare the first classification result and the second classification result to determine a change and a progression of the condition associated with the change. The example image processing apparatus includes an output generator to trigger an action when the progression corresponds to a worsening of the condition.

Abstract: Apparatus, including a probe having a distal end insertable into a nasal sinus of a human patient, and a location sensor positioned within the distal end. A sinuplasty balloon is positioned on the distal end at a selected opening of the nasal sinus. A processor receives first signals from the location sensor while the distal end is inserted into the nasal sinus and prior to positioning of the balloon at the selected opening, and generates a first map of the sinus. The processor inflates the balloon when it is at the selected opening, so as to enlarge the selected opening, and subsequently deflates the balloon. The processor then receives second signals from the location sensor and generates therefrom a second map of the sinus. The processor registers the first map with the second map and generates from the registered maps a numerical increase in size of the selected opening.

Abstract: An image processing apparatus includes a cell image acquisition unit configured to acquire a cell image captured with cells, a characteristic amount calculation unit configured to calculate a plurality of types of characteristic amounts on the cell image acquired by the cell image acquisition unit, and a correlation extraction unit configured to extract specific correlations from among a plurality of correlations among the characteristic amounts calculated by the characteristic amount calculation unit, based on likelihood of the characteristic amounts.

Abstract: An interactive 3D cursor facilitates selection and manipulation of a three-dimensional volume from any three-dimensional image. The selected volume image may be transparency-adjusted and filtered to remove selected items from view. Qualitative and quantitative analysis within a selected volume may be performed. Location indicators, annotations, and registration markers may be overlaid on selected volume images.

Abstract: An image processing apparatus includes first alignment means configured to perform an alignment in a horizontal direction on a plurality of two-dimensional tomographic images based on measurement light controlled to scan an identical position of an eye according to a first method, and second alignment means configured to perform an alignment in a depth direction on the plurality of two-dimensional tomographic images according to a second method that is different from the first method.

Abstract: Systems and methods are disclosed for removing details from three dimensional (3D) objects, such as cavities and holes. Complexity reduction via hole filling reduces storage, transfer, and rendering costs without adversely impacting quality and is implemented in an automated manner. In some examples, a 3D object is dilated and eroded, and undesirable webbing is removed to preserve a higher percentage of exterior detail. Holes and cavities, which are obscured in many viewing angles, are filled in (e.g., removed), thereby reducing the burden of storing and processing hidden interior surfaces. Various approaches, leveraging distance fields, may be combined for improved benefit.

Abstract: A dynamic analysis system includes a hardware processor. A first plurality of frame images showing a dynamic state of a chest of an intubated first examinee is obtained by radiation imaging of the chest of the first examinee. Based on the first plurality of frame images, the hardware processor calculates a signal value change amount and/or a shape change amount of a predetermined structure of the chest in the first plurality of frame images. Based on the calculated signal value change amount and/or shape change amount, the hardware processor generates assessment information to assess a respiratory status of the first examinee at time of intubation or extubation.

Abstract: A system and a method for cloud medical image analysis are provided. The system for cloud medical image analysis has a cloud medical analysis platform and an electronic device. The electronic device obtains a medical image. The electronic device quantifies the medical image to obtain a first feature value. The electronic device sends the first feature value to the cloud medical analysis platform. The cloud medical analysis platform inputs the first feature value into an analysis module to obtain an analysis result, wherein the analysis module uses a self-learning module and the analysis module is trained via a plurality of training images. The cloud medical analysis platform sends the analysis result to the electronic device.

Abstract: A method and system are provided for at least symbolically reconstructing a reconstruction data set of at least one vessel segment in a vessel tree of a patient. Input data for the reconstruction comprises at least two two-dimensional angiographic projection images taken in different acquisition geometries. At least one first angiographic projection image showing the vessel segment is acquired. An evaluation measure is automatically determined for each first angiographic projection image using three-dimensional preliminary information for the vessel segment. The evaluation measure describes the suitability of the at least one angiographic projection image for reconstructing the reconstruction data set. When a quality criterion evaluating the evaluation measure is not fulfilled, at least one additional acquisition geometry is determined using the three-dimensional preliminary information and/or the evaluation measure.

Abstract: A planning tool, system and method include a processor (114) and memory (116) coupled to the processor which stores a planning module (144). A user interface (120) is coupled to the processor and configured to permit a user to select a path through a pathway system (148). The planning module is configured to upload one or more slices of an image volume (111) corresponding to a user-controlled cursor point (108) guided using the user interface such that as the path is navigated the one or more slices are updated in accordance with a depth of the cursor point in the path.

Abstract: A method for registration of digital medical images is provided. The method includes the step of storing a 3D digital medical image having a 3D anatomical feature and a first coordinate system and storing a 2D digital medical image having a 2D anatomical feature and a second coordinate system. The method further includes the steps of storing a placement of a digital medical object on the 3D digital medical image and the 2D digital medical image and generating a simulated 2D digital medical image from the 3D digital medical image, wherein the simulated 2D digital medical image comprises a simulated 2D anatomical feature corresponding to the 3D anatomical feature. The 2D anatomical feature is compared with the simulated 2D anatomical feature until a match is reached and a registration of the first coordinate system with the second coordinate system based on the match is determined.

Abstract: In various embodiments, the invention teaches systems and methods for analyzing an image of cells, including an image obtained by confocal microscopy, and delineating cell nuclei in the image. In some embodiments, the systems and methods apply a three-dimensional (3-D) radial symmetry transform followed by adaptive post processing of symmetry images to arrive at a mask of seeds that can guide watershed-based segmentation.

Abstract: Embodiments of the present invention provide a method, system and computer program product for video clip quality determination in medical device imaging and diagnosis. In an embodiment of the invention, a method for video clip quality determination in medical imaging includes first retrieving from a data store into memory of a host computer, video clip imagery of a target organ. Then, a quality value assigned to the video clip imagery may be identified in connection with the retrieved video clip imagery. A measurement of the target organ is computed based upon the retrieved video clip imagery. Finally, a confidence in respect to the computed measurement is determined based upon the identified quality value and the confidence determination displayed in a user interface provided by the host computer.

Abstract: According to one embodiment, a medical image processing apparatus includes processing circuitry. The processing circuitry obtains first and second blood vessel image by image generation processing which obtains time phase changes in concentrations of a contrast agent based on X-ray contrast image and generates time phase image according to a gray or color scale. The time phase image has pixel values corresponding to time phases at which the concentrations of the contrast agent become a specific condition. The image generation processing is performed multiple times based on X-ray contrast images acquired at different times. Further, the processing circuitry determines or corrects pixel values or time phases of at least one of the first and second blood vessel image, to make a pixel value of a time phase of the first blood vessel image coincident with that of the second blood vessel image.

Abstract: The present disclosure concerns a method and apparatus for measuring a sensor (10) comprising multiple optical resonators (11, 12) optically connected to a single optical output interface (16). The optical resonators (11, 12) are interrogated with a light input signal (Si). A light output signal (So) is measured from the optic al output interface (16) to determine a combined spectral response (Sa) covering a wavelength range (W) including a plurality of resonance peaks (?1,i, ?2,j) for each of the optical resonators (11, 12). A Fourier transform spectrum (FT) of the combined spectral response (Sa) is calculated and a harmonic series of periodic peaks (n·f1) is identified in the Fourier transform spectrum (FT). The harmonic series of periodic peaks is filtered to obtain a filtered Fourier transform spectrum (FT1) and a sensor signal is calculated (X1) based on the filtered Fourier transform spectrum (FT1).

Abstract: A drug delivery device includes a blunt cannula and a reservoir. The blunt cannula has a cylindrical wall that defines an axial passage between a first end and a second end of the blunt cannula. The wall has at least a first tapered region at the first end to define an opening in fluid communication with the axial passage and adapted at the first end to resist interruption of fluid flow through the axial passage and out of the first end of the blunt cannula. The reservoir is connected to the second end of the blunt cannula.

Abstract: A nondestructive coating inspection system to inspect a component without removal of a coating thereon, the system including an airflow source to directed heated or cooled air into the component; a sensor directed toward the component to generate an infrared radiation image data of component heated by the heated or cooled air; and a controller in communication with the sensor to register the current infrared radiation image data to at least one infrared reference image data to classify the component based on the comparing.

Abstract: Tools are described for preparing digital dental models for use in dental restoration production processes, along with associated systems and methods. Dental modeling is improved by supplementing views of three-dimensional models with still images of the modeled subject matter. Video data acquired during a scan of the model provides a source of still images that can be displayed alongside a rendered three-dimensional model, and the two views (model and still image) may be synchronized to provide a common perspective of the model's subject matter. This approach provides useful visual information for disambiguating surface features of the model during processing steps such as marking a margin of a prepared tooth surface for a restoration. Interactive modeling tools may be similarly enhanced.

Abstract: A global registration system and method identifies bronchoscope position without the need for significant bronchoscope maneuvers, technician intervention, or electromagnetic sensors. Virtual bronchoscopy (VB) renderings of a 3D airway tree are obtained including VB views of branch positions within the airway tree. At least one real bronchoscopic (RB) video frame is received from a bronchoscope inserted into the airway tree. An algorithm according to the invention is executed on a computer to identify the several most likely branch positions having a VB view closest to the received RB view, and the 3D position of the bronchoscope within the airway tree is determined in accordance with the branch position identified in the VB view. The preferred embodiment involves a fast local registration search over all the branches in a global airway-bifurcation search space, with the weighted normalized sum of squares distance metric used for finding the best match.