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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151-160 订阅

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Model-based Risk Assessment for Motion Effects in 3D Radiotherapy of Lung Tumors

Model-based Risk Assessment for Motion Effects in 3D Radioth...

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

作者： Werner, Rene Ehrhardt, Jan Schmidt-Richberg, Alexander Handels, Heinz Med Univ Lubeck Inst Med Informat D-23538 Lubeck Germany

ISBN: (纸本)9780819489654

Although 4D CT imaging becomes available in an increasing number of radiotherapy facilities, 3D imaging and planning is still standard in current clinical practice. In particular for lung tumors, respiratory motion is a known source of uncertainty and should be accounted for during radiotherapy planning - which is difficult by using only a 3D planning CT. In this contribution, we propose applying a statistical lung motion model to predict patients' motion patterns and to estimate dosimetric motion effects in lung tumor radiotherapy if only 3D images are available. Being generated based on 4D CT images of patients with unimpaired lung motion, the model tends to overestimate lung tumor motion. It therefore promises conservative risk assessment regarding tumor dose coverage. This is exemplarily evaluated using treatment plans of lung tumor patients with different tumor motion patterns and for two treatment modalities (conventional 3D conformal radiotherapy and step-&-shoot intensity modulated radiotherapy). For the test cases, 4D CT images are available. Thus, also a standard registration-based 4D dose calculation is performed, which serves as reference to judge plausibility of the model-based 4D dose calculation. It will be shown that, if combined with an additional simple patient-specific breathing surrogate measurement (here: spirometry), the model-based dose calculation provides reasonable risk assessment of respiratory motion effects.

关键词： motion estimation registration modeling radiotherapy

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Neurosurgery Simulation Using Non-linear Finite Element modeling and Haptic Interaction

Neurosurgery Simulation Using Non-linear Finite Element Mode...

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

作者： Lee, Huai-Ping Audette, Michel Joldes, Grand Roman Enquobahrie, Andinet Kitware Inc Clifton Pk NY 12065 USA Univ N Carolina Dept Comp Sci Chapel Hill NC 27599 USA Old Dominion Univ Dept MSVE Norfolk VA 23529 USA Univ Western Australia Sch Mech Engn Perth WA Australia

ISBN: (纸本)9780819489654

Real-time surgical simulation is becoming an important component of surgical training. To meet the real-time requirement, however, the accuracy of the biomechancial modeling of soft tissue is often compromised due to computing resource constraints. Furthermore, haptic integration presents an additional challenge with its requirement for a high update rate. As a result, most real-time surgical simulation systems employ a linear elasticity model, simplified numerical methods such as the boundary element method or spring-particle systems, and coarse volumetric meshes. However, these systems are not clinically realistic. We present here an on-going work aimed at developing an efficient and physically realistic neurosurgery simulator using a non-linear finite element method (FEM) with haptic interaction. Real-time finite element analysis is achieved by utilizing the total Lagrangian explicit dynamic (TLED) formulation and GPU acceleration of per-node and per-element operations. We employ a virtual coupling method for separating deformable body simulation and collision detection from haptic rendering, which needs to be updated at a much higher rate than the visual simulation. The system provides accurate biomechancial modeling of soft tissue while retaining a real-time performance with haptic interaction. However, our experiments showed that the stability of the simulator depends heavily on the material property of the tissue and the speed of colliding objects. Hence, additional efforts including dynamic relaxation are required to improve the stability of the system.

关键词： surgical simulation non-linear biomechanics finite element method haptic rendering

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Initial study of breast tissue retraction toward image guided breast surgery

Initial study of breast tissue retraction toward image guide...

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

作者： Shannon, Michael J. Meszoely, Ingrid M. Ondrake, Janet E. Pheiffer, Thomas S. Simpson, Amber L. Sun, Kay Miga, Michael I. Vanderbilt Univ Dept Biomed Engn Nashville TN 37235 USA Vanderbilt Univ Med Ctr Dept Radiol & Radiol Sci Nashville TN 37235 USA Vanderbilt Univ Med Ctr Dept Neurol Surg Nashville TN 37235 USA Vanderbilt Univ Med Ctr Vanderbilt Ingram Canc Ctr Div Surg Oncol Nashville TN 37235 USA

ISBN: (纸本)9780819489654

image-guided surgery may reduce the re-excision rate in breast-conserving tumor-resection surgery, but image guidance is difficult since the breast undergoes significant deformation during the procedure. In addition, any imaging performed preoperatively is usually conducted in a very different presentation to that in surgery. Biomechanical models combined with low-cost ultrasound imaging and laser range scanning may provide an inexpensive way to provide intraoperative guidance information while also compensating for soft tissue deformations that occur during breast-conserving surgery. One major cause of deformation occurs after an incision into the tissue is made and the skin flap is pulled back with the use of retractors. Since the next step in the surgery would be to start building a surgical plane around the tumor to remove cancerous tissue, in an image-guidance environment, it would be necessary to have a model that corrects for the deformation caused by the surgeon to properly guide the application of resection tools. In this preliminary study, two anthropomorphic breast phantoms were made, and retractions were performed on both with improvised retractors. One phantom underwent a deeper retraction that the other. A laser range scanner (LRS) was used to monitor phantom tissue change before and after retraction. The surface data acquired with the LRS and retractors were then used to drive the solution of a finite element model. The results indicate an encouraging level of agreement between model predictions and data. The surface target error for the phantom with the deep retraction was 2.2 +/- 1.2 mm (n=47 targets) with the average deformation of the surface targets at 4.2 +/- 1.6mm. For the phantom with the shallow retraction, the surface target error was 2.1 +/- 1.0 mm (n=70 targets) with the average deformation of the surface targets at 4.0 +/- 2.0 mm.

关键词： Surgery Breast Tissues Lawrencium image-guided intervention Natural surfaces Tumors Data modeling Clouds Medical imaging

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Progress in Biomedical Optics and Imaging - Proceedings of spie: Introduction

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

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

作者： Holmes III, David R. Wong, Kenneth H. Mayo Clinic United States Virginia Polytechnic Institute and State University United States

This PDF file contains the front matter associated with spie Proceedings Volume 8316, including the Title Page, Copyright information, Table of Contents, and the conference Committee listing. © 2012 Copyright Soc... 详细信息

ISBN: (纸本)9780819489654

关键词： Light

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AUTOMATIC ANATOMY RECOGNITION VIA FUZZY OBJECT MODELS

AUTOMATIC ANATOMY RECOGNITION VIA FUZZY OBJECT MODELS

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

作者： Udupa, Jayaram K. Odhner, Dewey Falcao, Alexandre X. Ciesielski, Krzysztof Chris Miranda, Paulo A. V. Matsumoto, Monica Grevera, George J. Saboury, Babak Torigian, Drew A. UPENN Med Image Proc Grp Philadelphia PA 19104 USA Univ Estadual Campinas Inst Comp Campinas SP Brazil West Virginia Univ Dept Math Morgantown WV 26506 USA St Josephs Univ Dept Math & Comp Sci Philadelphia PA 19131 USA Hosp Univ Penn Dept Radiol Philadelphia PA 19131 USA

ISBN: (纸本)9780819489654

To make Quantitative Radiology a reality in routine radiological practice, computerized automatic anatomy recognition (AAR) during radiological image reading becomes essential. As part of this larger goal, last year at this conference we presented a fuzzy strategy for building body-wide group-wise anatomic models. In the present paper, we describe the further advances made in fuzzy modeling and the algorithms and results achieved for AAR by using the fuzzy models. The proposed AAR approach consists of three distinct steps: (a) Building fuzzy object models (FOMs) for each population group G. (b) By using the FOMs to recognize the individual objects in any given patient image I under group G. (c) To delineate the recognized objects in I. This paper will focus mostly on (b). FOMs are built hierarchically, the smaller sub-objects forming the offspring of larger parent objects. The hierarchical pose relationships from the parent to offspring are codified in the FOMs. Several approaches are being explored currently, grouped under two strategies, both being hierarchical: (ra1) those using search strategies;(ra2) those strategizing a one-shot approach by which the model pose is directly estimated without searching. Based on 32 patient CT data sets each from the thorax and abdomen and 25 objects modeled, our analysis indicates that objects do not all scale uniformly with patient size. Even the simplest among the (ra2) strategies of recognizing the root object and then placing all other descendants as per the learned parent-to-offspring pose relationship bring the models on an average within about 18 mm of the true locations.

关键词： Shape modeling Fuzzy Sets Object Recognition Segmentation Fuzzy Connectedness Fuzzy Models

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

Medical Imaging 2012: Image-Guided Procedures, Robotic Inter...

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

ISBN: (纸本)9780819489654

The proceedings contain 120 papers. The topics discussed include: deformable registration of the inflated and deflated lung for cone-beam CT-guided thoracic surgery;incorporation of prior knowledge for region of change imaging from sparse scan data in image-guided surgery;GPU-based iterative relative fuzzy connectedness image segmentation;automated volume of interest delineation and rendering of cone beam CT images in interventional cardiology;tracker-on-C for cone-beam CT-guided surgery: evaluation of geometric accuracy and clinical applications;medical robotics and computer-integrated interventional medicine;the role of three-dimensional visualization in robotics-assisted cardiac surgery;evaluation of deformation accuracy of a virtual pneumoperitoneum method based on clinical trials for patient-specific laparoscopic surgery simulator;and a method for constructing real-time FEM-based simulator of stomach behavior with large-scale deformation by neural networks.

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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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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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