Development of a Navigation System for Endoluminal Brachytherapy in Human Lungs

摘要

The endoluminal brachytherapy of peripherally located bronchial carcinoma is difficult because of the complexity to position an irradiation catheter led by a bronchoscope to a desired spot inside a human lung. Furthermore the size of the bronchoscope permits only rarely the insertion of a catheter into the fine segment bronchi. We are developing an image-guided navigation system which indicates a path for guidance to the desired bronchus. Thereby a thin catheter with an enclosed navigation probe can be led up directly to the target bronchus, either by the use of the video of the bronchoscope or by the use of virtual bronchoscopy. Because of the thin bronchi and their moving soft tissue, the navigation system has to be very precise. This accuracy is reached by a gradually registering navigation component which improves the accuracy in the course of the intervention through mapping the already covered path to the preoperatively generated graph based bronchial tree description. The system includes components for navigation, segmentation, preoperative planning, and intraoperative guidance. Furthermore the visualization of the path can be adapted to the lung specialist's habits (video of bronchoscope, 2D, 3D, virtual bronchoscopy etc.).