Apparatuses and Methods for Navigation in and Local Segmentation Extension of Anatomical Treelike Structures

A local extension method for segmentation of anatomical treelike structures includes receiving an initial segmentation of 3D image data including an initial treelike structure. A target point in the 3D image data is defined, and a region of interest based on the target point is extracted to create a sub-image. Highly tubular voxels are detected in the sub-image, and a spillage-constrained region growing is performed using the highly tubular voxels as seed points. Connected components are extracted from the results of the region growing. The extracted components are pruned to discard components not likely to be connected to the initial treelike structure, keeping only candidate components likely to be a valid sub-tree of the initial treelike structure. The candidate components are connected to the initial treelike structure, thereby extending the initial segmentation in the region of interest.