The Software Implementation Of Endoscope Localization System Based On Virtual Human Model

Endoscope is being widely used in the diagnosis and treatment of diseases.Doctors judge the conditions of patients from the images of organs and tissue whichare taken by the probe of the endoscope. However it is impossible for doctors to tellwhere the endoscope is and which direction it faces when the endoscope goes into thepatient’s body and this might lead to misjudgment. To solve this problem, it isnecessary to design a visualized support system to help doctors decide the positionand orientation of the endoscope when is in the patient’s body.The endoscope localization system based on a virtual human model takesadvantage of the virtual human technology and magnetic field endoscope localizationto accomplish the visualized endoscope localization. Hardware of the system used agyroscope and magnetic field sensor which are fixed to the probe to track the positionand attitude of the endoscope. It then transmits the data of position and attitude to thePC via a serial port and the PC would display the result inside a virtual human modelwhich presents the actual patient in an intuitive way.This paper introduces the structure of the endoscope localization system and theprinciples of localization. It describes the process of reconstructing a virtual humanbody and building a software implementation based on this virtual human model indetail. Finally it verifies the feasibility of the system and the software being stable andreal-time by experiments.In this paper, the following work is done:1. Learning and investigating the principles and methods of magnetic localization.Designed a software implementation for the endoscope localization system based on avirtual human model considering the feature of magnetic localization and the need ofthe system;2.Studying algorithms about image processing and medical data processing,preprocessing the DICOM format CT scanning series and extracting the image serieswhich only contains the desired organ by using threshold segmentation andmorphological processing;3. Investigating the algorithms of three-dimensional data visualization andthree-dimensional reconstruction. Using the classical Marching Cubes algorithm toreconstruct a virtual human model with important organs inside it in consideration ofthe need of the system; 4. Studying about computer graphics and using OpenGL functions to accomplishmodel transformation, lighting and blending part. Enabling an interactive way todisplay the virtual human model in the software by using OpenGL in a MFCframework;5. Using the serial port communication, multithreading and inter-processcommunication technology to complete the communication with the hardware anddisplaying the result in the virtual human model in a real-time way;6. Using experiments to test the endoscope localization system and optimizing thesystem to make it achieve the ideal accuracy in position and attitude localization.