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WO2012156873A1 - Correction de segmentation endoscopique pour recouvrement d'images 3d-2d - Google Patents

Correction de segmentation endoscopique pour recouvrement d'images 3d-2d Download PDF

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Publication number
WO2012156873A1
WO2012156873A1 PCT/IB2012/052331 IB2012052331W WO2012156873A1 WO 2012156873 A1 WO2012156873 A1 WO 2012156873A1 IB 2012052331 W IB2012052331 W IB 2012052331W WO 2012156873 A1 WO2012156873 A1 WO 2012156873A1
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Prior art keywords
image
icon
endoscopic
blood vessel
registration error
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Ceased
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PCT/IB2012/052331
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English (en)
Inventor
Aleksandra Popovic
Ameet Kumar Jain
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Koninklijke Philips NV
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Koninklijke Philips Electronics NV
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    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T11/00—2D [Two Dimensional] image generation
    • G06T11/60—Editing figures and text; Combining figures or text
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/10—Image acquisition modality
    • G06T2207/10068—Endoscopic image
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T2207/00—Indexing scheme for image analysis or image enhancement
    • G06T2207/30—Subject of image; Context of image processing
    • G06T2207/30004—Biomedical image processing
    • G06T2207/30101—Blood vessel; Artery; Vein; Vascular

Definitions

  • the present invention generally relates to an overlay of a pre-operative volume (“3D") blood vessel tree image as registered to intra-operative endoscopic blood vessel tree image.
  • the present invention specifically relates to an interactive correction of any registration error in the overlay of the pre-operative volume blood vessel tree image as registered to the intra-operative endoscopic blood vessel tree image.
  • Coronary artery bypass grafting is a surgical procedure for revascularization of obstructed coronary arteries. Approximately 500,000 operations are performed annually in the United States. In conventional CABG, the patient's sternum is opened and the patient's heart is fully exposed to a surgeon. Despite the exposure of the heart, some arteries may be partially invisible due to fatty tissue layer above them. For such arteries, the surgeon may palpate the heart surface and feel both blood pulsating from the arteries and a stenosis of the arteries. However, this data is sparse and might not be sufficient to transfer a surgical plan to the surgical site.
  • minimally invasive CABG In minimally invasive CABG, the aforementioned problem of conventional CABG is amplified because a surgeon cannot palpate the heart surface. Additionally, the length of surgical instruments used in minimally invasive CABG prevents any tactile feedback from the proximal end of the tool.
  • One known technique for addressing the problems with conventional CABG is to register an intra-operative site with a pre-operative 3D coronary artery tree.
  • an optically tracked pointer is used to digitalize position of the arteries in an open heart setting and the position data is registered to pre-operative tree using an Iterative Closest Point ("ICP") algorithm known in art.
  • ICP Iterative Closest Point
  • this technique as with any related approach matching digitized arteries and pre-operative data, is impractical for minimally invasive CABG because of spatial constraints imposed by a small port access. Also, this technique requires most of the arteries to be either visible or palpated by the surgeon, which is impossible in minimally invasive CABG.
  • One known technique for addressing the problems with minimally invasive CABG is to implement a registration method in which the heart surface is reconstructed using an optically tracked endoscope and matched to pre-operative computer tomography ("CT") data of the same surface.
  • CT computer tomography
  • this technique may fail if the endoscope view used to derive the surface is too small.
  • the algorithm of this technique more often than not operates in a suboptimal local maximum of the algorithm.
  • Another known technique for addressing the problems with minimally invasive CABG is to label a coronary tree extracted from a new patient using a database of previously labeled cases and graph based matching.
  • this technique works only if a complete tree is available and it's goal is to label the tree rather to match the geometry.
  • a further problem of minimally invasive CABG is an orientation and a guidance of the endoscope once the global positioning with respect to pre-operative 3D image is reached.
  • the goal of registration is to facilitate localization of the anastomosis site and the stenosis.
  • the endoscope In a standard setup, the endoscope is being held by an assistant, while the surgeon holds two instruments. The surgeon issues commands to the assistant and the assistant moves the endoscope accordingly.
  • This kind of setup hinders hand-eye coordination of the surgeon, because the assistant needs to intuitively translate surgeon's commands, typically issued in the surgeon's frame of reference, to the assistant's frame of reference and the endoscope's frame of reference.
  • Plurality of coordinate systems may cause various handling errors, prolong the surgery or cause misidentification of the coronary arteries.
  • a surgical endoscope assistant robot designed to allow a surgeon to directly control an endoscope via a sensed movement of the surgeon head may solve some of those problems by removing the assistant from the control loop, but the problem of transformation between the surgeon's frame of reference and the endoscope's frame of reference remains.
  • a solution to the aforementioned problems with CABG is a prior art matching method of registering a pre-operative volume image (e.g., CT, MRI, X-ray) of an arterial tree with an intra-operative endoscopic image of the arterial tree.
  • a pre-operative volume image e.g., CT, MRI, X-ray
  • Topological similarities in the two image modalities are utilized to find correspondence between furication points, particularly bifurcation points, to thereby generate an accurate overlay image of a
  • the present invention improves upon the aforementioned matching method by providing methods for generating and displaying interactive icons to visualize and correct any registration error(s) in the overlay image due to a presence of noise for any reason in the preoperative volume image of a blood vessel tree (e.g., an arterial tree) and/or in the intra- operative endoscopic image of the blood vessel tree. This is of particular importance in view of the fact that the intra-operative endoscopic image of the blood vessel tree will typically be partially visible in the intra-operative endoscopic image.
  • a blood vessel tree e.g., an arterial tree
  • One form of the present invention is an endoscopic imaging system employing an endoscope, and endoscopic image workstation.
  • the endoscope generates an intra-operative endoscopic image of a blood vessel tree within an anatomical region.
  • the endoscopic imaging workstation generates an overlay image of a pre-operative volume image of the blood vessel tree as registered to the intra-operative endoscopic image of the blood vessel tree.
  • the endoscopic imaging workstation generates a registration error icon relative to the overlay image, the registration error being visually indicative of a magnitude of a spatial differential between a volume image point of the blood vessel tree within the pre-operative volume image as registered to an endoscopic image point of the blood vessel tree within the intra-operative endoscopic image.
  • a second form of the present invention is an endoscopic imaging method involving a generation of an intra-operative endoscopic image of a blood vessel tree within an anatomical region, a display of an overlay image of a pre-operative volume image of the blood vessel tree as registered to the intra-operative endoscopic image of the blood vessel tree, and a display of a registration error icon relative to the overlay image.
  • the registration error is visually indicative of a magnitude of a spatial differential between a volume image point of the blood vessel tree within the pre-operative volume image as registered to an endoscopic image point of the blood vessel tree within the intra-operative endoscopic image.
  • pre-operative as used herein is broadly defined to describe any activity executed before, during or after an endoscopic imaging of an anatomical region for purposes of acquiring a three-dimensional image of the anatomical region
  • intra-operative as used herein is broadly defined to describe any activity associated with an endoscopic imaging of the anatomical region.
  • Examples of an endoscopic imaging of an anatomical region include, but are not limited to, a CABG, a bronchoscopy, a colonscopy, a laparascopy, and a brain endoscopy.
  • FIG. 1 illustrates an exemplary embodiment of an endoscopic imaging system in accordance with the present invention.
  • FIG. 2 illustrates an exemplary embodiment of a robotic guiding
  • FIG. 3 illustrates a flowchart representative of an exemplary
  • FIGS. 4A-4E illustrate an exemplary 3D-2D image overlay correction in
  • FIG. 5 illustrates a flowchart representative of one embodiment in accordance with the present invention of the endoscopic imaging method shown in FIG. 3.
  • FIG. 6 illustrates an exemplary illustration of a surgical environment of executing the endoscopic imaging method as shown in FIG. 5.
  • FIG. 7 illustrates an exemplary embodiment of 3D projection of a 2D image as known in the art.
  • FIGS. 8A-8C illustrates an exemplary sequence of registration error
  • FIGS. 9 A and 9B illustrate exemplary examples of registration correction prediction in accordance with the present invention.
  • an endoscopic imaging system 10 of the present invention employs an endoscope 20, a video capture device 21 and an endoscopic imaging workstation 30 for any endoscopic procedure involving an endoscopic imaging of a blood vessel tree having one or more furcations (i.e., branches).
  • endoscopic procedures include, but are not limited to, minimally invasive cardiac surgery (e.g., coronary artery bypass grafting or mitral valve replacement).
  • Endoscope 20 is broadly defined herein as any device structurally configured with ability to image from inside a body.
  • Examples of endoscope 20 for purposes of the present invention include, but are not limited to, any type of scope, flexible or rigid (e.g., endoscope, arthroscope, bronchoscope, choledochoscope, colonoscope, cystoscope, duodenoscope, gastroscope, hysteroscope, laparoscope, laryngoscope, neuroscope, otoscope, push enteroscope, rhino laryngoscope, sigmoidoscope, sinuscope, thorascope, etc.) and any device similar to a scope that is equipped with an image system (e.g., a nested cannula with imaging).
  • the imaging is local, and surface images may be obtained optically with fiber optics, lenses, and miniaturized (e.g. CCD based) imaging systems.
  • Video capture device 21 is broadly defined herein as any device structurally configured with a capability to convert a video signal from endoscope 20 into a computer readable temporal sequence of an endoscopic image ("IOEI") 22.
  • video capture device 21 may employ a frame grabber of any type for capturing individual digital still frames from the endoscopic video signal.
  • endoscopic imaging workstation is broadly defined herein as any device structurally configured for implementing the endoscopic imaging methods of the present invention as described in FIGS. 3-9.
  • endoscopic imaging workstation station 30 includes a video processor (“VP") 31 that generates an overlay image 33 of pre-operative volume image 44 of a blood vessel tree as registered to intra-operative endoscopic image 22 of the blood vessel tree and a graphical user interface ("GUI") 32 for generating one or more interactive registration icons 34 to correct any registration error(s) in overlay image 33 of the blood vessel tree due to the presence of noise for any reason in the pre-operative volume image 44 of the blood vessel tree and/or in the intra-operative endoscopic image 22 of the blood vessel tree.
  • VP video processor
  • GUI graphical user interface
  • overlay image 33 is broadly defined herein as an image generated in accordance with any technique for overlaying pre-operative volume image 44 onto intra-operative endoscopic image 22 in accordance with any technique for registering images 22 and 44.
  • interactive registration icon(s) 34 may have any form for visualizing and correcting registration error(s) in overlay image 33.
  • endoscopic imaging workstation 30 may be also structurally configured for deriving an endoscopic path from overlay image 33 as known in the art.
  • FIG. 2 illustrates a robot guiding system 11 incorporating the endoscopic imaging system 10 of FIG. 1 with a robot 35 and a robot controller 36.
  • Robot 35 is broadly defined herein as any device structurally configured with motorized control of one or more joints for maneuvering an end-effector as desired for the particular endoscopic procedure.
  • robot 35 may have four (4) degrees-of-freedom, such as, for example, a serial robot having joints serially connected with rigid segments, a parallel robot having joints and rigid segments mounted in parallel order (e.g., a Stewart platform known in the art) or any hybrid combination of serial and parallel kinematics.
  • endoscope 20 is mounted to the end-effector of robot 35.
  • a pose of the end-effector of robot 35 is a position and an orientation of the end-effector within a coordinate system of robot 35 actuators.
  • any given pose of the field-of-view of endoscope 20 within an anatomical region corresponds to a distinct pose of the end-effector of robot 35 within the robotic coordinate system. Consequently, each individual endoscopic image of a blood vessel tree generated by endoscope 20 may be linked to a corresponding pose of endoscope 20 within the anatomical region.
  • Robot controller 36 is broadly defined herein as any controller structurally configured to provide one or more robot actuator commands ("RAC") 37 to robot 35 for controlling a pose of the end-effector of robot 35 as desired for the endoscopic procedure.
  • robot controller 36 employs a visual servo module broadly defined herein as any module structurally configured for generating robot actuator commands in accordance with an endoscopic path leading to a desired 3D position of a field-of-view of endoscope 20 within an anatomical region whereby the endoscopic path is derived from overlay image 33 as known in the art.
  • FIGS. 3-9 provide a description of the various methods of the present invention for generating, displaying and interacting with interactive icon(s) 34.
  • a flowchart 50 representative of an endoscopic imaging method of the present invention is shown in FIG. 3.
  • a stage S51 of flowchart 50 encompasses a registration of a pre-operative volume image 44 of the blood vessel tree to intra-operative endoscopic image 22 of the blood vessel tree.
  • any registration technique may be implemented for the image registration of stage S51.
  • a stage S52 of flowchart 50 encompasses an overlay of pre-operative volume image 44 of the blood vessel tree as registered to intra-operative endoscopic image 22 of the blood vessel tree.
  • any overlay technique may be for the image overlay of stage S52.
  • FIG. 4A illustrates an overlay image having an overlay of a blood vessel tree 60 segmented and extracted from a pre-operative volume image onto a blood vessel tree 70 segmented from an intra-operative endoscopic image.
  • bifurcation nodes 61-64 of blood vessel tree 60 serve as volume image points and bifurcation nodes 71-74 serve as endoscopic image points to facilitate a registration of the images includes a matching of bifurcation nodes 61-64 of blood vessel tree 60 to respective bifurcation nodes 71-74 of blood vessel tree 70.
  • a registration error e is a spatial differential between a pairing of respective bifurcation nodes of blood vessel trees 60 and 70 as shown in FIG. 4B.
  • FIG. 4C illustrates interactive icons 34 in the form of radial icons 91-94 encircling respective bifurcation nodes 61-64 of blood vessel tree 60.
  • a radius of each radial icon 91-94 provides a visual indication of a magnitude of the spatial differential between respective bifurcation nodes of blood vessel trees 60 and 70.
  • graphical user interface 32 provides for an interactive translation of one or more of bifurcation nodes 61-64 in a direction of bifurcation nodes 71-74 and/or an interactive translation of one or more bifurcation codes 71-74 in a direction of bifurcation nodes 61-64.
  • flowchart 50 will cycle between stages S53 and S54 whereby each radius of radial icons 91-94 will be updated until such time radial icons 91-94 are removed as a visual indication that registration errors e are completely eliminated (if possible) or until such time one or more radial icons 91-94 are minimized to an acceptable degree as shown in FIG. 4D.
  • radial icons 91-94 may encircle bifurcation nodes 71-74 of blood vessel tree 70.
  • FIG. 4E illustrates interactive icons 34 in the form of gradient icons 101-104 encircling bifurcation nodes 61-64 of blood vessel tree 60 and bifurcation nodes 71-74 of blood vessel tree 60.
  • Each gradient icon 101-104 provides a magnetic spectrum of a spatial differential between respective bifurcation nodes of blood vessel trees 60 and 70 with the magnetic spectrum increasing in a direction from a bifurcation node of blood vessel tree 60 to a respective bifurcation node of blood vessel tree 70.
  • graphical user interface 32 provides for an interactive translation of one or more of bifurcation nodes 61-64 in a direction of bifurcation nodes 71-74 and/or an interactive translation of one or more bifurcation codes 71-74 in a direction of bifurcation nodes 61-64.
  • flowchart 50 will cycle between stages S53 and S54 whereby each magnitude spectrum of gradient icons 101-104 will be updated until such time such time gradient icons 101-104 are removed as a visual indication that registration errors e are completely eliminated (if possible) or until such time one or more gradient icons 101-104 minimized to an acceptable degree as shown in FIG. 4D.
  • a stage S55 of flowchart 50 encompasses a generation of an endoscopic path from the corrected overlay image.
  • the purpose of the overlay image is to provide a visual of the blood vessel tree 70 (which in reality is blurry or invisible to some degree in the intraoperative endoscopic image) via a virtual projection of blood vessel tree 60 onto blood vessel tree 70.
  • blood vessel tree 60 enables an endoscopic path to be determined along the endoscopic image of the cardiac region.
  • an image point is broadly defined herein as one or more pixels of an image illustrating a portion of the blood vessel tree.
  • flowchart 50 To facilitate an understanding of flowchart 50, a description of a flowchart 100 as shown in FIG. 5, which is representative of one embodiment of flowchart 50, will now be provided herein.
  • a stage SlOl of flowchart 100 encompasses a segmentation and extraction of a blood vessel tree from images 22 and 44.
  • an imaging device 41 of an imaging modality 40 e.g., CT, MRI, X-ray
  • endoscope 20 is navigated within cardiac region 111 of patient 110 whereby video capturing device 20 generates endoscopic image 22 for segmentation by workstation 30.
  • a stage SI 02 of flowchart 100 encompasses a registration of images 22 and 44 by workstation 30. In one embodiment, this registration is accomplished by a known bifurcation node matching as previously described herein.
  • a stage SI 03 of flowchart 100 encompasses a determination of a pose of endoscope 20 relative to pre-operative volume image 44 of the extracted blood vessel tree.
  • stage SI 03 as shown in FIG. 7, a correspondence between N bifurcation image points in images 22 and 44 are known from the following equation [1] :
  • R and t are a 3x3 rotation matrix and 3x1 translation vector, respectively, describing coordinate system transformation between coordinate system 44a of the 3D model and coordinate system 24 of endoscope 20,
  • the values or fon ., /, and c legally ., c may be read from the endoscope specifications or measured using methods known in art.
  • the values of matrix R and vector t are not known and may be computed from the 3D-2D correspondences building set of N equations for all points from equation [1] and an application of equation [2].
  • a Direct Linear Transformation may be used to compute the approximate values of matrix R and vector t, which may be used as initialization to an optimization framework (e.g., a Levenberg-Marquardt algorithm).
  • the result is a pose of a virtual endoscope camera in coordinate system 43 a of 3D image data 44 is accordance with the following equation [4]: ft . i.- R T
  • a stage SI 04 of flowchart 100 encompasses a virtual projection of the 3D data 44 in to a virtual 2D plane representing virtual endoscope image using known camera position and camera properties.
  • the overlay may be achieved applying transparency filter on the virtual image and adding it to the live endoscope stream 22 or by adding a blood vessel tree from the virtual image 44 to the live image 22.
  • stage SI 05 of flowchart 100 encompasses a calculation of R f t to annotate an imperfect matching with a registration error e in an i-th point being in accordance with equation [6] :
  • a stage SI 06 of flowchart 100 encompasses a determination as to whether each registration error e is acceptable. In practice, an acceptable criteria for registration error e will be dependent upon the endoscopic procedure being implemented. If the determination of stage SI 06 is each registration error is acceptable, then flowchart 100 proceeds to terminate. Otherwise, flowchart 100 proceeds to a stage SI 07 to provide registration error icons for visually indicating each registration error e and registration correction icons for interactively correcting the registration error(s) e and a stage SI 08 of flowchart 100 provides an update of the attempted correction of the registration error(s) e in real-time.
  • Stages SI 07 and SI 08 are executed within a loop until such time, during a stage SI 09 of flowchart 100, it is determined that the registration error(s) e have been eliminated or minimized to an acceptable degree.
  • the registration errors icons are radical icons (e.g., 91-94 as shown in FIG. 4C) visually indicating a magnitude of spatial differential between a set of volume image points (e.g., image points 61-64 as shown in FIG. 4D) and a respective set of endoscopic image points (e.g., image points 71-74 as shown in FIG. 4C).
  • one of the set of image points are interactive as registration correction icons to facilitate a translation of the corresponding image points within the overlay image whereby the registration error icon may be eliminated or minimized to an acceptable degree.
  • FIG. 8 A illustrates an overlay image 120 of a pre-operative volume image 121 of an extracted arterial tree as registered to an intra-operative endoscopic image 122 of the arterial tree.
  • a registration error icon 123 is associated with volume image point of volume image 121
  • registration correction icon 124 is associated with an endoscopic image point of endoscopic image 122.
  • a translation vector 125 visually indicates a magnitude and a direction of an interactive translation of the registration correction icon 124 while each registration error icon is provided with a projection vector 124 visually indicative of a magnitude and a direction of translation of each volume image point to a respective endoscopic image point.
  • the registration errors icons are gradient icons (e.g., 101-104 as shown in FIG. 4E) visually indicating a magnitude spectrum of the spatial differential between a set of volume image points (e.g., image points 61-64 as shown in FIG. 4C) and a respective set of endoscopic image points (e.g., image points 71-74 as shown in FIG. 4C).
  • one of the set of image points are interactive as registration correction icons to facilitate a translation of the corresponding image points within the overlay image whereby the registration error icon may be eliminated or minimized to an acceptable degree.
  • FIG. 9A illustrates the overlay image 120 of the pre-operative volume image 121 of an extracted arterial tree as registered to the intraoperative endoscopic image 122 of the arterial tree.
  • the registration error icon 123 is associated with volume image point of volume image 121
  • the registration correction icon 124 is associated with the endoscopic image point of endoscopic image 122.
  • a translation vector 126 visually indicates a magnitude and a direction of an interactive translation of the registration correction icon 124 while the remaining registration error icons 127 visually indicate a positioning of a corresponding endoscopic image point within the magnitude spectrum.
  • the other points can be moved to 'bluer' areas with lower potential error.
  • this embodiment 'anticipates' how the other image points might be moved after the current point has been moved, such as, for example, the other image points may be moved to 'bluer' areas with lower potential error.
  • a spec may be shown for how to move it.
  • the workstation automatically moves each endoscopic image point in the vicinity of the currently segmented point, and computes the registration error e from how all the endoscopic image points will potentially get change. This then is displayed to the user to help decide which endoscopic image point to update first and what will be the best position to move it.
  • a registration error icon 128 is displayed to as part of a spec to show how registration correction icon 124 may be moved.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
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  • Computer Vision & Pattern Recognition (AREA)
  • Endoscopes (AREA)

Abstract

La présente invention concerne un système d'imagerie endoscopique (10) utilisant un endoscope (20) et un poste de travail d'imagerie endoscopique (30). Durant le fonctionnement, l'endoscope (20) génère une image endoscopique intraopératoire (22) d'un arbre de vaisseau sanguin à l'intérieur d'une région anatomique. Le poste de travail d'imagerie endoscopique (30) génère, en vue d'un affichage, une image de recouvrement (33) d'une image volumique préopératoire (44) de l'arbre de vaisseau sanguin tel qu'enregistré sur l'image endoscopique intraopératoire (22) de l'arbre de vaisseau sanguin, et génère en outre, pour l'affichage, une icône d'erreur d'enregistrement (123) relative à l'image de recouvrement (33). L'erreur d'enregistrement est un indicateur visuel d'une magnitude d'un différentiel spatial entre un point d'image volumique de l'arbre de vaisseau sanguin sur l'image volumique préopératoire (44) tel qu'enregistré et un point d'image endoscopique de l'arbre de vaisseau sanguin sur une image endoscopique intraopératoire (22).
PCT/IB2012/052331 2011-05-18 2012-05-10 Correction de segmentation endoscopique pour recouvrement d'images 3d-2d Ceased WO2012156873A1 (fr)

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WO2013093761A3 (fr) * 2011-12-21 2013-08-08 Koninklijke Philips N.V. Recouvrement et compensation de mouvement de structures de modalités volumétriques sur une vidéo d'un endoscope non étalonné
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WO2016019439A1 (fr) * 2014-08-06 2016-02-11 Commonwealth Scientific And Industrial Research Organisation Représentation de l'intérieur d'un volume
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Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013093761A3 (fr) * 2011-12-21 2013-08-08 Koninklijke Philips N.V. Recouvrement et compensation de mouvement de structures de modalités volumétriques sur une vidéo d'un endoscope non étalonné
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US11980505B2 (en) 2014-02-04 2024-05-14 Koninklijke Philips N.V. Visualization of depth and position of blood vessels and robot guided visualization of blood vessel cross section
WO2015157543A3 (fr) * 2014-04-09 2016-01-14 Virginia Tech Intellectual Properties, Inc. Surveillance de combustion à quatre dimensions (4d) à l'aide de techniques tomographiques et endoscopiques
WO2016019439A1 (fr) * 2014-08-06 2016-02-11 Commonwealth Scientific And Industrial Research Organisation Représentation de l'intérieur d'un volume
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CN108140242A (zh) * 2015-09-21 2018-06-08 西门子股份公司 视频摄像机与医学成像的配准

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