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检索条件"任意字段=Conference on SPIE Image-Guided Procedures, Robotic Interventions, and Modeling"

共 167 条记录，以下是141-150 订阅

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Automatic auditory nerve fiber localization using geodesic paths

Automatic auditory nerve fiber localization using geodesic p...

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conference on Medical Imaging - image-guided procedures, robotic interventions, and modeling

作者： Liu, Ziteng Bratu, Erin L. Noble, Jack H. Vanderbilt Univ Dept Comp Sci Nashville TN 37235 USA Vanderbilt Univ Dept Elect & Comp Engn Nashville TN USA

ISBN: (纸本)9781510671614;9781510671607

Cochlear implants (CIs) are considered standard treatment for patients who experience sensory-based hearing loss. During the surgery, an electrode array will be inserted into the cochlea to directly stimulate auditory nerve fibers (ANFs). Although CI devices have been remarkably successful at restoring audibility, the neural interface is unknown to audiologists, and patients need to experience programming sessions that are frustratingly long and usually lead to suboptimal results. Our group developed a high-resolution computational model in order to simulate the neural response triggered by CIs. However, the semi-automatic ANF segmentation approach we used for that model relies heavily on manual adjustment, and the central axons of those ANFs may still pass through the bone mistakenly due to the limitation of only one set of landmarks in the modiolus. In this work, we introduced a fully automatic ANF segmentation method. The peripheral and central axon of an ANF will be estimated individually based on five sets of automatically generated landmarks. The fast marching method is used to find the geodesic paths for the peripheral axons between the surfaces of the scala tympani (ST) and scala vestibuli (SV) meshes. Cylindrical coordinate systems are constructed based on landmarks and are used to smoothly interpolate trajectories for the spiral central axons. Experiments show that our proposed method outperforms the original method and achieves impressive performance with 0 overlapping ANFs and 0 ANFs passing through the bone. The number of ANFs that pass through ST or SV is also reduced by 36.1%.

关键词： Cochlea auditory nerves modeling

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Medical Imaging 2013: image-guided procedures, robotic interventions, and modeling

Medical Imaging 2013: Image-Guided Procedures, Robotic Inter...

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Medical Imaging 2013: image-guided procedures, robotic interventions, and modeling

ISBN: (纸本)9780819494450

The proceedings contain 87 papers. The topics discussed include: technician-free system for image-guided bronchoscopy;robust feature tracking for endoscopic pose estimation and structure recovery;towards designing an optical-flow based colonoscopy tracking algorithm: a comparative study;image guidance system for flexible endoscopes considering tissue deformation;endoscopic laser range scanner for minimally invasive, mage guided kidney surgery;evaluation of non-rigid constrained CT/CBCT registration algorithms for delineation propagation in the context of prostate cancer radiotherapy;fast radioactive seed localization in intraoperative cone beam CT for low-dose-rate prostate brachytherapy;a dynamic dosimetry system for prostate brachytherapy;fully automated prostate magnetic resonance imaging and transrectal ultrasound fusion via a probabilistic registration metric;nonrigid liver registration for image-guided surgery using partial surface data: a novel iterative approach;cryo-balloon catheter localization in fluoroscopic images;and respiratory motion influence on catheter contact force during radio frequency ablation procedures.

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modeling patterns of anatomical deformations in prostate patients undergoing radiation therapy with an endorectal balloon

Modeling patterns of anatomical deformations in prostate pat...

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conference on Medical Imaging - image-guided procedures, robotic interventions, and modeling

作者： Brion, Eliott Richter, Christian Macq, Benoit Stutzer, Kristin Exner, Florian Troost, Esther Hoelscher, Tobias Bondar, Luiza Catholic Univ Louvain ICTEAM Imagx Res Louvain La Neuve Belgium Tech Univ Dresden Fac Med OncoRay Natl Ctr Radiat Res Oncol Dresden Germany Tech Univ Dresden Helmoltz Zentrum Dresden Rossendorf Univ Hosp Carl Gustav Carus Dresden Germany Tech Univ Dresden Fac Med Dept Radiotherapy & Radiat Oncol Dresden Germany Tech Univ Dresden Univ Hosp Carl Gustav Carus Dresden Germany Helmholtz Zentrum Dresden Rossendorf Inst Radiooncol Dresden Germany Univ Wurzburg Dept Radiat Oncol Wurzburg Germany TMC Grp Eindhoven Netherlands

ISBN: (数字)9781510607163

ISBN: (纸本)9781510607156;9781510607163

External beam radiation therapy (EBRT) treats cancer by delivering daily fractions of radiation to a target volume. For prostate cancer, the target undergoes day-to-day variations in position, volume, and shape. For stereotactic photon and for proton EBRT, endorectal balloons (ERBs) can be used to limit variations. To date, patterns of non-rigid variations for patients with ERB have not been modeled. We extracted and modeled the patient-specific patterns of variations, using regularly acquired CT-images, non-rigid point cloud registration, and principal component analysis (PCA). For each patient, a non-rigid point-set registration method, called Coherent Point Drift, (CPD) was used to automatically generate landmark correspondences between all target shapes. To ensure accurate registrations, we tested and validated CPD by identifying parameter values leading to the smallest registration errors (surface matching error 0.13 +/- 0.09 mm). PCA demonstrated that 88 +/- 3.2% of the target motion could be explained using only 4 principal modes. The most dominant component of target motion is a squeezing and stretching in the anterior-posterior and superior-inferior directions. A PCA model of daily landmark displacements, generated using 6 to 10 CT-scans, could explain well the target motion for the CT-scans not included in the model (modeling error decreased from 1.83 +/- 0.8 mm for 6 CT-scans to 1.6 +/- 0.7 mm for 10 CT-scans). PCA modeling error was smaller than the naive approximation by the mean shape (approximation error 2.66 +/- 0.59 mm). Future work will investigate the use of the PCA-model to improve the accuracy of EBRT techniques that are highly susceptible to anatomical variations such as, proton therapy.

关键词： External beam radiation therapy non-rigid registration principal component analysis mathematical modeling motion management in radiotherapy prostate cancer

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Progress in Biomedical Optics and Imaging - Proceedings of spie

Progress in Biomedical Optics and Imaging - Proceedings of S...

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Medical Imaging 2015: image-guided procedures, robotic interventions, and modeling

ISBN: (纸本)9781628415056

The proceedings contain 91 papers. The topics discussed include: rendering-based Video-CT registration with physical constraints for image-guided endoscopic sinus surgery;image-based tracking of the suturing needle during laparoscopic interventions;toward real-time endoscopically-guided robotic navigation based on a 3D virtual surgical field model;electrical impedance map (EIM) for margin assessment during robot-assisted laparoscopic prostatectomy (RALP) using a microendoscopic probe;thalamic nuclei segmentation in clinical 3T T1-weighted images using high-resolution 7T shape models;three-dimensional curvilinear device reconstruction from two fluoroscopic views;localizing and tracking electrodes using stereovision in epilepsy cases;and real-time surgery simulation of intracranial aneurysm clipping with patient-specific geometries and haptic feedback.

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modeling Retraction for Breast Conserving Surgery Guidance

Modeling Retraction for Breast Conserving Surgery Guidance

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Medical Imaging 2023: image-guided procedures, robotic interventions, and modeling

作者： Espinosa, Amairanny Ringel, Morgan J. Heiselman, Jon S. Pereira, Kyvia Servin, Frankangel Richey, Winona L. Meszoely, Ingrid Miga, Michael I. Department of Mechanical Engineering Tennessee State University TN United States Department of Biomedical Engineering Vanderbilt University NashvilleTN United States Vanderbilt Institute for Surgery and Engineering NashvilleTN United States Department of Surgery Hepatopancreatobiliary Service Memorial Sloan Kettering Cancer Center New YorkNY United States Vanderbilt University Medical Center Division of Surgical Oncology NashvilleTN United States

ISBN: (纸本)9781510660373

Breast conserving surgery is a common treatment option for early-stage breast cancer, and it relies on complete tumor excision such that no residual cancer is left in the resection cavity. However, the use of preoperative imaging to inform excision is compromised by intraoperative deformations that change the location, volume, and shape of the tumor compared to the imaging configuration. For intra-procedural guidance specifically, incision and retraction alter the tumor presentation and geometry. Being able to compensate for retraction deformations intraoperatively may increase the utility of image guidance technologies. In this work, a breast retraction phantom and deformation modeling approach are developed to explore the potential of modeling retraction for image guidance during BCS. Surface and subsurface beads were embedded in a realistic silicone breast phantom, and CT images were acquired in undeformed and retracted states. A reconstructive, sparse-data registration method was used to model retraction. modeling accuracy was evaluated by comparing model-predicted and ground-truth bead displacements. The average surface bead registration error after retraction modeling in a region of interest was 0.5 ± 0.1 mm (maximum 0.5 mm). The average subsurface bead registration error in a region of interest was 1.2 ± 0.6 mm (maximum 2.6 mm). A biomechanical modeling method that includes retraction may improve the accuracy of image guidance for breast conserving surgery, but more work is needed to evaluate its utility. © 2023 spie.

关键词： Tumors

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Evaluation of nonholonomic needle steering using a robotic needle driver

Evaluation of nonholonomic needle steering using a robotic n...

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conference on Medical Imaging 2010 - Visualization, image-guided procedures, and modeling

作者： Wilson, Emmanuel Ding, Jienan Carignan, Craig Krishnan, Karthik Avila, Rick Turner, Wes Stoianovici, Dan Yankelevitz, David Banovac, Filip Cleary, Kevin Georgetown Univ Med Ctr Dept Radiol Imaging Sci & Informat Syst ISIS Ctr Washington DC 20007 USA URobbit Lab Dept Urol John Hopkins Med Baltimore MD USA Kitware Inc Clifton Pk NY USA Weill Cornell Med Ctr New York NY USA

ISBN: (纸本)9780819480262

Accurate needle placement is a common need in the medical environment. While the use of small diameter needles for clinical applications such as biopsy, anesthesia and cholangiography is preferred over the use of larger diameter needles, precision placement can often be challenging, particularly for needles with a bevel tip. This is due to deflection of the needle shaft caused by asymmetry of the needle tip. Factors such as the needle shaft material, bevel design, and properties of the tissue penetrated determine the nature and extent to which a needle bends. In recent years, several models have been developed to characterize the bending of the needle, which provides a method of determining the trajectory of the needle through tissue. This paper explores the use of a nonholonomic model to characterize needle bending while providing added capabilities of path planning, obstacle avoidance, and path correction for lung biopsy procedures. We used a ballistic gel media phantom and a robotic needle placement device to experimentally assess the accuracy of simulated needle paths based on the nonholonomic model. Two sets of experiments were conducted, one for a single bend profile of the needle and the second set of tests for double bending of the needle. The tests provided an average error between the simulated path and the actual path of 0.8 mm for the single bend profile and 0.9 mm for the double bend profile tests over a 110 mm long insertion distance. The maximum error was 7.4 mm and 6.9 mm for the single and double bend profile tests respectively. The nonholonomic model is therefore shown to provide a reasonable prediction of needle bending.

关键词： Biopsy Tissues Lung Visualization robotics Inspection Optical inspection Computing systems Instrument modeling Visual process modeling

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Explicit contact modeling for surgical computer guidance and simulation

Explicit contact modeling for surgical computer guidance and...

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Medical Imaging 2012: image-guided procedures, robotic interventions, and modeling

作者： Johnsen, S.F. Taylor, Z.A. Clarkson, M. Thompson, S. Hu, M. Gurusamy, K. Davidson, B. Hawkes, D.J. Ourselin, S. University College London Centre for Medical Image Computing London United Kingdom University of Sheffield Dept. of Mechanical Engineering Sheffield United Kingdom Royal Free Hospital Dept. of Surgery London United Kingdom

ISBN: (纸本)9780819489654

Realistic modelling of mechanical interactions between tissues is an important part of surgical simulation, and may become a valuable asset in surgical computer guidance. Unfortunately, it is also computationally very demanding. Explicit matrix-free FEM solvers have been shown to be a good choice for fast tissue simulation, however little work has been done on contact algorithms for such FEM solvers. This work introduces such an algorithm that is capable of handling both deformable-deformable (soft-tissue interacting with soft-tissue) and deformable-rigid (e.g. soft-tissue interacting with surgical instruments) contacts. The proposed algorithm employs responses computed with a fully matrix-free, virtual node-based version of the model first used by Taylor and Flanagan in PRONTO3D. For contact detection, a bounding-volume hierarchy (BVH) capable of identifying self collisions is introduced. The proposed BVH generation and update strategies comprise novel heuristics to minimise the number of bounding volumes visited in hierarchy update and collision detection. Aside from speed, stability was a major objective in the development of the algorithm, hence a novel method for computation of response forces from C0-continuous normals, and a gradual application of response forces from rate constraints has been devised and incorporated in the scheme. The continuity of the surface normals has advantages particularly in applications such as sliding over irregular surfaces, which occurs, e.g., in simulated breathing. The effectiveness of the scheme is demonstrated on a number of meshes derived from medical image data and artificial test cases. © 2012 Copyright Society of Photo-Optical Instrumentation Engineers (spie).

关键词： Lagrange multipliers

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3D Shape Decomposition and Comparison for Gallbladder modeling

3D Shape Decomposition and Comparison for Gallbladder Modeli...

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conference on Medical Imaging 2011 - Visualization, image-guided procedures, and modeling

作者： Huang, Weimin Zhou, Jiayin Liu, Jiang Zhang, Jing Yang, Tao Su, Yi Law, Gim Han Chui, Chee Kong Chang, Stephen Inst Infocomm Res Singapore 138632 Singapore Inst High Performance Comp Singapore 138632 Singapore Natl Univ Singapore Dept Mech Engn Singapore 117576 Singapore Natl Univ Singapore Hosp Dept Surg Singapore 119228 Singapore

ISBN: (纸本)9780819485069

This paper presents an approach to gallbladder shape comparison by using 3D shape modeling and decomposition. The gallbladder models can be used for shape anomaly analysis and model comparison and selection in image guided robotic surgical training, especially for laparoscopic cholecystectomy simulation. The 3D shape of a gallbladder is first represented as a surface model, reconstructed from the contours segmented in CT data by a scheme of propagation based voxel learning and classification. To better extract the shape feature, the surface mesh is further down-sampled by a decimation filter and smoothed by a Taubin algorithm, followed by applying an advancing front algorithm to further enhance the regularity of the mesh. Multi-scale curvatures are then computed on the regularized mesh for the robust saliency landmark localization on the surface. The shape decomposition is proposed based on the saliency landmarks and the concavity, measured by the distance from the surface point to the convex hull. With a given tolerance the 3D shape can be decomposed and represented as 3D ellipsoids, which reveal the shape topology and anomaly of a gallbladder. The features based on the decomposed shape model are proposed for gallbladder shape comparison, which can be used for new model selection. We have collected 19 sets of abdominal CT scan data with gallbladders, some shown in normal shape and some in abnormal shapes. The experiments have shown that the decomposed shapes reveal important topology features.

关键词： Gallbladder shape model image segmentation mesh optimization saliency landmark detection shape decomposition shape comparison surgical training

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Evaluation of Electromagnetically Tracked Transbronchial Needle Aspiration in a Ventilated Porcine Lung

Evaluation of Electromagnetically Tracked Transbronchial Nee...

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conference on Medical Imaging 2011 - Visualization, image-guided procedures, and modeling

作者： Gergel, Ingmar Tetzlaff, Ralf Meinzer, Hans-Peter Wegner, Ingmar German Canc Res Ctr Div Med & Bio Informat D-6900 Heidelberg Germany German Canc Res Ctr Div Radiol Heidelberg Germany

ISBN: (纸本)9780819485069

Transbronchial needle aspiration (TBNA) is a common procedure to collect tissue samples from the inside of the lung for diagnostic use. However, the main drawback of the procedure is that it has to be blindly performed because the biopsy target region is behind the bronchial wall and hence not within the field of view of the bronchoscope. Thus, the diagnostic yield rate is low. To increase success rate of TBNA biopsy an electromagnetic trackable TBNA needle has been introduced. Nevertheless, the introduced prototype TBNA instrument was evaluated in a rigid rubber phantom without taking respiratory motion into account. The purpose of this study is to present a new TBNA needle where the electromagnetic sensor is directly integrated into a TBNA needle and to access its performance in a regularly ventilated lung. Using our previously presented navigation system, seven TBNA interventions were performed in a porcine lung during regular respiration lung movement;respectively a control computer scan was acquired. We evaluated tracking accuracy of the electromagnetically tracked needle during the entire respiratory cycle for each intervention. The newly developed TBNA needle successfully operated throughout all seven interventions. According to the results, our electromagnetic TBNA tracking system is a promising approach to increase the TBNA biopsy success rate.

关键词： Lung Biopsy Electromagnetism Computed tomography Diagnostics Current controlled current source Medical imaging Tissues Visual process modeling Visualization

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Planning image-guided endovascular interventions:: Guidewire simulation using shortest path algorithms

Planning image-guided endovascular interventions:: Guidewire...

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Medical Imaging 2007 conference

作者： Schafer, Sebastian Singh, Vikas Hoffmann, Kenneth R. Noel, Peter B. Xu, Jinhui SUNY Buffalo Dept Mech & Aerosp Engn Buffalo NY 14260 USA SUNY Buffalo Toshiba Stroke Res Ctr Dept Neurosurg Buffalo NY 14260 USA SUNY Buffalo Dept Comp Sci & Engn Buffalo NY 14260 USA

ISBN: (纸本)9780819466273

Endovascular interventional procedures are being used more frequently in cardiovascular surgery. Unfortunately, procedural failure, e.g., vessel dissection, may occur and is often related to improper guidewire and/or device selection. To support the surgeon's decision process and because of the importance of the guidewire in positioning devices, we propose a method to determine the guidewire path prior to insertion using a model of its elastic potential energy coupled with a representative graph construction. The 3D vessel centerline and sizes are determined for a specified vessel. Points in planes perpendicular to the vessel centerline are generated. For each pair of consecutive planes, a vector set is generated which joins all points in these planes. We construct a graph representing these vector sets as nodes. The nodes representing adjacent vector sets are joined by edges with weights calculated as a function of the angle between the corresponding vectors (nodes). The optimal path through this weighted directed graph is then determined using shortest path algorithms, such as topological sort based shortest path algorithm or Dijkstra's algorithm. Volumetric data of an internal carotid artery phantom (0 3.5mm) were acquired. Several independent guidewire (circle divide 0.4mm) placements were performed, and the 3D paths were determined using rotational angiography. The average RMS distance between the actual and the average simulated guidewire path was 0.7mm;the computation time to determine the path was 3 seconds. The ability to predict the guidewire path inside vessels may facilitate calculation of vessel-branch access and force estimation on devices and the vessel wall.

关键词： Computer simulations Angiography Arteries 3D modeling Surgery X-rays Data modeling Data acquisition Instrument modeling Signal attenuation

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