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conference on medical imaging - image-guided procedures, robotic interventions and modeling

作者： Simpson, Amber L. Burgner, Jessica Chen, Ishita Pheiffer, Thomas S. Sun, Kay Thompson, Reid C. Webster, Robert J., III Miga, Michael I. Vanderbilt Univ Dept Biomed Engn Nashville TN 37235 USA

ISBN: (纸本)9780819489654

Brain shift compromises the accuracy of neurosurgical image-guided interventions if not corrected by either intraoperative imaging or computational modeling. The latter requires intraoperative sparse measurements for constraining and driving model-based compensation strategies. Conoscopic holography, an interferometric technique that measures the distance of a laser light illuminated surface point from a fixed laser source, was recently proposed for non-contact surface data acquisition in image-guided surgery and is used here for validation of our modeling strategies. In this contribution, we use this inexpensive, hand-held conoscopic holography device for intraoperative validation of our computational modeling approach to correcting for brain shift. Laser range scan, instrument swabbing, and conoscopic holography data sets were collected from two patients undergoing brain tumor resection therapy at Vanderbilt University medical Center. The results of our study indicate that conoscopic holography is a promising method for surface acquisition since it requires no contact with delicate tissues and can characterize the extents of structures within confined spaces. We demonstrate that for two clinical cases, the acquired conoprobe points align with our model-updated images better than the uncorrected images lending further evidence that computational modeling approaches improve the accuracy of image-guided surgical interventions in the presence of soft tissue deformations.

关键词： Tumors Brain Holography Lawrencium Data acquisition 3D modeling Mathematical modeling Signal to noise ratio Neuroimaging Tissues

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Stabilized Ultrasound imaging of a Moving Object Using 2D B-mode images and Convolutional Neural Network

Stabilized Ultrasound Imaging of a Moving Object Using 2D B-...

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medical imaging conference - image-guided procedures, robotic interventions, and modeling

作者： Xie, Tian Shahbazi, Mahya Wu, Yixuan Taylor, Russell H. Boctor, Emad M. Johns Hopkins Univ Baltimore MD 21218 USA

ISBN: (纸本)9781510633988

We present a co-robotic ultrasound imaging system that tracks lesions undergoing physiological motions, e.g., breathing, using 2D B-mode images. The approach embeds the in-plane and out-of-plane transformation estimation in a proportional joint velocity controller to minimize the 6-degree-of-freedom (DoF) transformation error. Specifically, we propose a new method to estimate the out-of-plane translation using a convolutional neural network based on speckle decorrelation. The network is trained on anatomically featureless gray-scale B-mode images and is generalized to different tissue phantoms. The tracking algorithm is validated in simulation with mimicked respiratory motions, which demonstrates the feasibility of stabilizing biopsy through ultrasound guidance.

关键词： ultrasound tracking deep learning speckle decorrelation medical robotics

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Planning of image-guided interventions in the Liver

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IEEE PULSE 2011年第5期2卷 48-55页

作者： Schenk, Andrea Haemmerich, Dieter Preusser, Tobias Fraunhofer Inst Med Image Comp MEVIS Bremen Germany Med Univ S Carolina Dept Pediat Charleston SC USA Clemson Univ Dept Bioengn Clemson SC 29631 USA Jacobs Univ Bremen Sch Sci & Engn Bremen Germany

In the following, we demonstrate the use of computational modeling for treatment planning of interventional procedures on the example of two clinically used therapies for liver cancer, which are used for both primary ... 详细信息

关键词： Computed tomography Tumors Surgery Cancer Computational modeling medical image processing Biomedical imaging Magnetic resonance imaging Three dimensional displays

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3D Tissue Mimicking Biophantoms for Ultrasound imaging: Bioprinting and image Analysis

3D Tissue Mimicking Biophantoms for Ultrasound Imaging: Biop...

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conference on medical imaging - image-guided procedures, robotic interventions, and modeling

作者： Azizi, Shekoofeh Bayat, Sharareh Rajaram, Ajay Anas, Emran M. A. Mohamed, Tamer Walus, Konrad Abolmaesumi, Purang Mousavi, Parvin Univ British Columbia Vancouver BC Canada Queens Univ Kingston ON Canada Johns Hopkins Univ Baltimore MD USA Aspect Biosyst Vancouver BC Canada

ISBN: (数字)9781510616424

ISBN: (纸本)9781510616424

Tissue-mimicking phantoms can be used to study various diagnostic imaging techniques and image-guided therapeutic interventions. Bioprinting enables the incorporation of live cells into printed phantoms. Some advantages of bioprinted phantoms include their close similarity to in vivo condition and change in phantom composition with time as the cells proliferate and secrete the extra cellular matrix components. In this study, we 3D-print alginate to form three different types of phantoms;those containing human vascular smooth muscle cells, human liver cancer cells, and no cells, each representing benign tissue, cancer tissue, and controls, respectively. The phantoms are imaged with a clinical ultrasound scanner and Temporal Enhanced Ultrasound (TeUS) data is collected. The comparison of the power spectrum of TeUS depicts separation among the three phantom types.

关键词： Tissue printing Ultrasound imaging Biophantom Temporal enhanced ultrasound Cancer detection

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A Fully Actuated robotic Assistant for MRI-guided Prostate Biopsy and Brachytherapy

A Fully Actuated Robotic Assistant for MRI-Guided Prostate B...

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conference on medical imaging - image-guided procedures, robotic interventions, and modeling

作者： Li, Gang Su, Hao Shang, Weijian Tokuda, Junichi Hata, Nobuhiko Tempany, Clare M. Fischer, Gregory S. Worcester Polytech Inst Dept Mech Engn Worcester MA 01609 USA

ISBN: (纸本)9780819494450

Intra-operative medical imaging enables incorporation of human experience and intelligence in a controlled, closed-loop fashion. Magnetic resonance imaging (MRI) is an ideal modality for surgical guidance of diagnostic and therapeutic procedures, with its ability to perform high resolution, real-time, high soft tissue contrast imaging without ionizing radiation. However, for most current image-guided approaches only static pre-operative images are accessible for guidance, which are unable to provide updated information during a surgical procedure. The high magnetic field, electrical interference, and limited access of closed-bore MRI render great challenges to developing robotic systems that can perform inside a diagnostic high-field MRI while obtaining interactively updated MR images. To overcome these limitations, we are developing a piezoelectrically actuated robotic assistant for actuated percutaneous prostate interventions under real-time MRI guidance. Utilizing a modular design, the system enables coherent and straight forward workflow for various percutaneous interventions, including prostate biopsy sampling and brachytherapy seed placement, using various needle driver configurations. The unified workflow compromises: 1) system hardware and software initialization, 2) fiducial frame registration, 3) target selection and motion planning, 4) moving to the target and performing the intervention (e.g. taking a biopsy sample) under live imaging, and 5) visualization and verification. Phantom experiments of prostate biopsy and brachytherapy were executed under MRI-guidance to evaluate the feasibility of the workflow. The robot successfully performed fully actuated biopsy sampling and delivery of simulated brachytherapy seeds under live MR imaging, as well as precise delivery of a prostate brachytherapy seed distribution with an RMS accuracy of 0.98mm.

关键词： Magnetic resonance imaging image-guided intervention MRI-compatible robot prostate biopsy prostate brachytherapy piezoelectric actuation automated needle insertion

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Characterization of tissue-simulating phantom materials for ultrasound-guided needle procedures

Characterization of tissue-simulating phantom materials for ...

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conference on medical imaging - image-guided procedures, robotic interventions and modeling

作者： Buchanan, Susan Moore, John Lammers, Deanna Baxter, John Peters, Terry Robarts Res Inst Med Imaging Labs London ON N6A 5C1 Canada

ISBN: (纸本)9780819489654

Needle biopsies are standard protocols that are commonly performed under ultrasound (US) guidance or computed tomography (CT) 1. Vascular access such as central line insertions, and many spinal needle therapies also rely on US guidance. Phantoms for these procedures are crucial as both training tools for clinicians and research tools for developing new guidance systems. Realistic imaging properties and material longevity are critical qualities for needle guidance phantoms. However, current commercially available phantoms for use with US guidance have many limitations, the most detrimental of which include harsh needle tracks obfuscating US images and a membrane comparable to human skin that does not allow seepage of inner media. To overcome these difficulties, we tested a variety of readily available media and membranes to evaluate optimal materials to fit our current needs. It was concluded that liquid hand soap was the best medium, as it instantly left no needle tracks, had an acceptable depth of US penetration and portrayed realistic imaging conditions, while because of its low leakage, low cost, acceptable durability and transparency, the optimal membrane was 10 gauge vinyl.

关键词： Ultrasound image-guided procedures ultrasound phantoms phantom materials

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Surface-based Volumetric image Reconstruction for image-guided procedures Using a Data-Driven Framework

Surface-based Volumetric Image Reconstruction for Image-Guid...

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conference on medical imaging - image-guided procedures, robotic interventions, and modeling

作者： Chang, Chih-Wei Pan, Shaoyan Tian, Zhen Wang, Tonghe Axente, Marian Shelton, Joseph Liu, Tian Roper, Justin Yang, Xiaofeng Emory Univ Dept Radiat Oncol Atlanta GA 30308 USA Emory Univ Winship Canc Inst Atlanta GA 30308 USA Emory Univ Dept Biomed Informat Atlanta GA 30308 USA Univ Chicago Dept Radiat & Cellular Oncol Chicago IL 60637 USA Mem Sloan Kettering Canc Ctr Dept Med Phys New York NY 10065 USA Mt Sinai Med Ctr Dept Radiat Oncol New York NY 10029 USA

ISBN: (纸本)9781510671614;9781510671607

The advent of computed tomography significantly improves patients' health regarding diagnosis, prognosis, and treatment planning and image-guided radiotherapy. However, tomographic imaging cannot achieve real-time imaging and the imaging escalates concomitant radiation doses to patients, inducing potential secondary cancer by 4%. We demonstrate the feasibility of a data-driven approach to synthesize volumetric images using patients' surface images, which can be obtained from a zero-dose surface imaging system. This study includes 500 computed tomography (CT) image sets from 50 patients. Compared to the ground truth CT, the synthetic images result in the evaluation metric values of 26.9 +/- 4.1 Hounsfield units, 39.1 +/- 1.0 dB, and 0.97 +/- 0.01 regarding the mean absolute error, peak signal-to-noise ratio, and structural similarity index measure. This approach provides a data integration solution that can potentially enable real-time imaging, which is free of radiation-induced risk and could be applied to image-guided medical procedures.

关键词： Radiotherapy Computed tomography 3D image processing Anatomy image restoration 3D image reconstruction 3D modeling Deep learning image quality Machine learning

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Virtual Reality Assisted Cardiac Catheterization

Virtual Reality Assisted Cardiac Catheterization

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conference on medical imaging - image-guided procedures, robotic interventions, and modeling

作者： Bettati, Patric Dormer, James D. Young, Jeff Shahedi, Maysam Fei, Baowei Univ Texas Dallas Dept Bioengn Richardson TX 75083 USA Univ Texas Southwestern Med Ctr Dallas Dept Radiol Dallas TX 75390 USA Univ Texas Southwestern Med Ctr Dallas Adv Imaging Res Ctr Dallas TX 75390 USA

ISBN: (纸本)9781510640269

Cardiac catheterization is a delicate strategy often used during various heart procedures. However, the procedure carries a myriad of risks associated with it, including damage to the vessel or heart itself, blood clots, and arrhythmias. Many of these risks increase in probability as the length of the operation increases, creating a demand for a more accurate procedure while reducing the overall time required. To this end, we developed an adaptable virtual reality simulation and visualization method to provide essential information to the physician ahead of time with the goal of reducing potential risks, decreasing operation time, and improving the accuracy of cardiac catheterization procedures. We additionally conducted a phantom study to evaluate the impact of using our virtual reality system prior to a procedure.

关键词： Heart

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image Reconstruction and Tissue Separation modeling with XFEM for Surgical Visualization and Guidance

Image Reconstruction and Tissue Separation Modeling with XFE...

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conference on medical imaging - image-guided procedures, robotic interventions, and modeling

作者： Pereira, Kyvia Ringel, Morgan Miga, Michael I. Vanderbilt Univ Dept Biomed Engn Nashville TN 37235 USA Vanderbilt Inst Surg & Engn Nashville TN 37232 USA Vanderbilt Univ Dept Radiol & Radiol Sci Nashville TN USA Vanderbilt Univ Dept Neurol Surg Med Ctr Nashville TN USA Vanderbilt Univ Dept Otolaryngol Head & Neck Surg Med Ctr Nashville TN USA

ISBN: (纸本)9781510671614;9781510671607

Surgical procedures require precise target localization to ensure optimal outcomes and minimize patient risks. This paper presents an approach that combines eXtended Finite Element Method (XFEM) for retraction modeling with medical image updating to improve target visualization and localization accuracy in surgical guidance. XFEM is employed to simulate tissue retraction, capturing the complex mechanical behavior of tissue separation during surgery. By incorporating XFEM-derived displacement fields, a strategy for updating preoperative medical images is introduced, enabling adjustments to better visualize the tissue deformation state. XFEM's ability to model discontinuities in mechanical behavior provides a realistic representation of tissue retraction. To validate the effectiveness of the approach, experiments were conducted on tissue phantom samples. The average displacement error between the ground-truth measurements and the reconstruction using the proposed method ranged from 1.5 to 2.1 mm, with an overall average error of 1.8 +/- 1.3 mm across different phantom samples. This demonstrates improvements in target localization compared to traditional methods that do not account for tissue retraction. The integration of XFEM-based retraction modeling and displacement field-driven image updating offers an interesting tool for improving surgical guidance systems, ultimately leading to more precise and successful interventions.

关键词： eXtended Finite Element Method (XFEM) tissue retraction modeling medical image updating

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imaging-compatible oral retractor system for use in image-guided transoral robotic surgery

Imaging-compatible oral retractor system for use in image-gu...

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conference on medical imaging - image-guided procedures, robotic interventions, and modeling

作者： Shi, Yuan Wu, Xiaotian Paydarfar, Joseph A. Halter, Ryan J. Dartmouth Coll Thayer Sch Engn Hanover NH 03755 USA Harvard Med Sch Massachusetts Gen Hosp Gordon Ctr Med Imaging Boston MA 02115 USA Dartmouth Hitchcock Med Ctr Sect Otolaryngol Audiol & Maxillofacial Surg Dept Surg Lebanon NH 03766 USA Dartmouth Coll Geisel Sch Med Hanover NH 03755 USA

ISBN: (纸本)9781510640269

Currently-available metallic retractors typically used in transoral robotic surgery (TORS) cause significant artifacts in CT imaging and cannot be safely used in MRI. The lack of imaging-compatible oral retractors poses a significant challenge to enabling intraoperative imaging in TORS. This work introduces a customizable compact 3D-printed polymer retractor system that enables multiple modes of adjustability, artifact-free CT and MR images, and adequate surgical exposure. The polymer retractor design was modeled after the traditional metal FK and Crowe-Davis retractors and can be used with an acrylic suspension system that rests over the patient's chest. Finite element analysis was conducted to evaluate the mechanical performance in relevant clinical loading conditions. Cadaver experiments followed by endoscopic, CT, and MR imaging were performed to demonstrate functionality. Artifact-free CT and MR images were obtained. An inter-incisive distance of 42.50 mm and 200.09 cm(3) working volume were achieved, which allow the introduction of robotic arms and necessary instruments in TORS. This polymer retractor system makes it possible to acquire intraoperative images and establishes a critical step to make image-guided TORS both feasible and effective.

关键词： transoral surgery CT/MR-compatible retractor 3D printing image guidance intraoperative imaging

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