Reliable path for virtual endoscopy: ensuring complete examination of human organs

Virtual endoscopy is a computerized, noninvasive procedure for detecting anomalies inside human organs. Several preliminary studies have demonstrated the benefits and effectiveness of this modality. Unfortunately, previous work cannot guarantee that an existing anomaly will be detected, especially for complex organs with multiple branches. In this paper, we introduce the concept of reliable navigation, which ensures the interior organ surface is fully examined by the physician performing the virtual endoscopy procedure. To achieve this, we propose computing a reliable fly-through path that ensures no blind areas during the navigation. Theoretically, we discuss the criteria of evaluating a reliable path and prove that the problem of generating an optimal reliable path for virtual endoscopy is NP-complete. In practice, we develop an efficient method for the calculation of an effective reliable path. First, a small set of center observation points are automatically located inside the hollow organ. For each observation point, there exists at least one patch of interior surface visible to it, but that cannot be seen from any of the other observation points. These chosen points are then linked with a path that stays in the center of the organ. Finally, new points inside the organ are recursively selected and connected into the path until the entire organ surface is visible from the path. We present encouraging results from experiments on several data sets. For a medium-size volumetric model with several hundred thousand inner voxels, an effective reliable path can be generated in several minutes.