Three-Dimensional Image Processing System for the Ureter and Urethra Using Endoscopic Video

Abstract

We developed new software that enables three-dimensional (3D) images of the ureter and urethra to be automatically processed from the video image of a conventional endoscope. The entire image of the ureter or urethra is displayed opened in a picture like a 3D map. The locations of lesions and the 3D structure of the prostatic urethra are depicted using this method, which enables quantitative evaluation of lesions and the obstructive potential of the prostatic urethra. Application of the technology in the urinary tract is discussed.

Urine Flow Dynamics Through Prostatic Urethra With Tubular Organ Modeling Using Endoscopic Imagery

“…Besides, image acquisition using CT or MRI is not practical because of extra-ordinal voiding condition for the patients and limitations of time- and spatial-resolution of the apparatuses. In contrast, endoscopy could be a useful method for precisely constructing the 3D shape of the prostatic urethra [9] – [11] . During cystourethroscopy, the urinary tract is filled with irrigant set at a pressure of 80 cm \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{upgreek} \usepackage{mathrsfs} \setlength{\oddsidemargin}{-69pt} \begin{document} }{}${\rm H}_{2}{\rm O}$ \end{document} , which opens and cleans the prostatic urethra and the bladder, enabling optimal observation of the tract with reproducibility.…”

Analysis of Energy Loss Mediated by an Alpha-1 Blocker in Patients with Benign Prostatic Hyperplasia Using a Virtual Urethra Processed from an Endoscopic Video Image

“…10,11 A further study has led to the development of a method that makes it possible to construct a virtual urethra using cystourethroscopic video images. 12 By using this virtual 3D urethra construct, it is possible to simulate urine flow and calculate the energy loss associated with urination.…”

Stitching and Surface Reconstruction From Endoscopic Image Sequences: A Review of Applications and Methods

“…Reynolds et al [118] (2001) used an unwrapped map to quantitatively describe Barrett's esophagus. Igarashi et al [71], [72] (2008-2009) and Ishii et al [73] presented opened panoramic images of tubular organs such as the male urethra, porcine colon, and human colon, using a "shape-from-shading" approach. They assumed a cylindrical model for the organs and perfect alignment of the optical axis with the cylindrical axis.…”

“…A bootstrapping method, which starts with a simple two-parameter translational model and extends to a complex twelve-parameter quadratic model (which consequently allows for a spherical scene) has been proposed by Can et al [34] and Stewart et al [137]. A cylindrical projection surface is usually the first choice for stitching and reconstruction of tubular organs such as the esophagus (Seibel et al [126], Yang et al [168], Shar et al [130], Kim et al [78], Reynolds et al [118]) or the urethra (Igarashi et al [71], [72], Ishii et al [73]). …”