Virtual bronchoscopy method based on marching cubes and an efficient collision detection and resolution algorithm

A novel system for electromagnetic navigation in bronchoscopy (NaviCAD) to improve peripheral lesion targeting and diagnostic is currently under development. The virtual bronchoscopy module of this system, including the collision and resolution algorithm, together with some preliminary tests on a complex phantom are presented in this paper. The NaviCAD system consists of a planning and orientation software, a navigation forceps, and an electromagnetic tracking system connected to a computer running the NaviCAD software. NaviCAD can be used with any bronchoscopy system, it has a short set-up procedure time and learning curve. The system proves to be easy to use, accurate and useful for experienced users and novices, with precision in reaching targets in sub-segmental bronchi where a video-bronchoscope cannot reach.