AiAReSeg: Catheter Detection and Segmentation in Interventional Ultrasound using Transformers

To date, endovascular surgeries are performed using the golden standard of Fluoroscopy, which uses ionising radiation to visualise catheters and vasculature. Prolonged Fluoroscopic exposure is harmful for the patient and the clinician, and may lead to severe post-operative sequlae such as the development of cancer. Meanwhile, the use of interventional Ultrasound has gained popularity, due to its well-known benefits of small spatial footprint, fast data acquisition, and higher tissue contrast images. However, ultrasound images are hard to interpret, and it is difficult to localise vessels, catheters, and guidewires within them. This work proposes a solution using an adaptation of a state-of-the-art machine learning transformer architecture to detect and segment catheters in axial interventional Ultrasound image sequences. The network architecture was inspired by the Attention in Attention mechanism, temporal tracking networks, and introduced a novel 3D segmentation head that performs 3D deconvolution across time. In order to facilitate training of such deep learning networks, we introduce a new data synthesis pipeline that used physics-based catheter insertion simulations, along with a convolutional ray-casting ultrasound simulator to produce synthetic ultrasound images of endovascular interventions. The proposed method is validated on a hold-out validation dataset, thus demonstrated robustness to ultrasound noise and a wide range of scanning angles. It was also tested on data collected from silicon-based aorta phantoms, thus demonstrated its potential for translation from sim-to-real. This work represents a significant step towards safer and more efficient endovascular surgery using interventional ultrasound.Comment: This work has been submitted to the IEEE for possible publicatio

Digital Twin of Cardiovascular Systems

Patient specific modelling using numerical methods is widely used in understanding diseases and disorders. It produces medical analysis based on the current state of patient’s health. Concurrently, as a parallel development, emerging data driven Artificial Intelligence (AI) has accelerated patient care. It provides medical analysis using algorithms that rely upon knowledge from larger human population data. AI systems are also known to have the capacity to provide a prognosis with overallaccuracy levels that are better than those provided by trained professionals. When these two independent and robust methods are combined, the concept of human digital twins arise. A Digital Twin is a digital replica of any given system or process. They combine knowledge from general data with subject oriented knowledge for past, current and future analyses and predictions. Assumptions made during numerical modelling are compensated using knowledge from general data. For humans, they can provide an accurate current diagnosis as well as possible future outcomes. This allows forprecautions to be taken so as to avoid further degradation of patient’s health.In this thesis, we explore primary forms of human digital twins for the cardiovascular system, that are capable of replicating various aspects of the cardiovascular system using different types of data. Since different types of medical data are available, such as images, videos and waveforms, and the kinds of analysis required may be offline or online in nature, digital twin systems should be uniquely designed to capture each type of data for different kinds of analysis. Therefore, passive, active and semi-active digital twins, as the three primary forms of digital twins, for different kinds of applications are proposed in this thesis. By the virtue of applications and the kind of data involved ineach of these applications, the performance and importance of human digital twins for the cardiovascular system are demonstrated. The idea behind these twins is to allow for the application of the digital twin concept for online analysis, offline analysis or a combination of the two in healthcare. In active digital twins active data, such as signals, is analysed online in real-time; in semi-active digital twin some of the components being analysed are active but the analysis itself is carried out offline; and finally, passive digital twins perform offline analysis of data that involves no active component.For passive digital twin, an automatic workflow to calculate Fractional Flow Reserve (FFR) is proposed and tested on a cohort of 25 patients with acceptable results. For semi-active digital twin, detection of carotid stenosis and its severity using face videos is proposed and tested with satisfactory results from one carotid stenosis patient and a small cohort of healthy adults. Finally, for the active digital twin, an enabling model is proposed using inverse analysis and its application in the detection of Abdominal Aortic Aneurysm (AAA) and its severity, with the help of a virtual patient database. This enabling model detected artificially generated AAA with an accuracy as high as 99.91% and classified its severity with acceptable accuracy of 97.79%. Further, for active digital twin, a truly active model is proposed for continuous cardiovascular state monitoring. It is tested on a small cohort of five patients from a publicly available database for three 10-minute periods, wherein this model satisfactorily replicated and forecasted patients’ cardiovascular state. In addition to the three forms of human digital twins for the cardiovascular system, an additional work on patient prioritisation in pneumonia patients for ITU care using data-driven digital twin is also proposed. The severity indices calculated by these models are assessed using the standard benchmark of Area Under Receiving Operating Characteristic Curve (AUROC). The results indicate that using these models, the ITU and mechanical ventilation can be prioritised correctly to an AUROC value as high as 0.89

Shape-driven deep neural networks for fast acquisition of aortic 3D pressure and velocity flow fields

Computational fluid dynamics (CFD) can be used to simulate vascular haemodynamics and analyse potential treatment options. CFD has shown to be beneficial in improving patient outcomes. However, the implementation of CFD for routine clinical use is yet to be realised. Barriers for CFD include high computational resources, specialist experience needed for designing simulation set-ups, and long processing times. The aim of this study was to explore the use of machine learning (ML) to replicate conventional aortic CFD with automatic and fast regression models. Data used to train/test the model consisted of 3,000 CFD simulations performed on synthetically generated 3D aortic shapes. These subjects were generated from a statistical shape model (SSM) built on real patient-specific aortas (N = 67). Inference performed on 200 test shapes resulted in average errors of 6.01% ±3.12 SD and 3.99% ±0.93 SD for pressure and velocity, respectively. Our ML-based models performed CFD in ∼0.075 seconds (4,000x faster than the solver). This proof-of-concept study shows that results from conventional vascular CFD can be reproduced using ML at a much faster rate, in an automatic process, and with reasonable accuracy

3D shape instantiation for intra-operative navigation from a single 2D projection

Unlike traditional open surgery where surgeons can see the operation area clearly, in robot-assisted Minimally Invasive Surgery (MIS), a surgeon’s view of the region of interest is usually limited. Currently, 2D images from fluoroscopy, Magnetic Resonance Imaging (MRI), endoscopy or ultrasound are used for intra-operative guidance as real-time 3D volumetric acquisition is not always possible due to the acquisition speed or exposure constraints. 3D reconstruction, however, is key to navigation in complex in vivo geometries and can help resolve this issue. Novel 3D shape instantiation schemes are developed in this thesis, which can reconstruct the high-resolution 3D shape of a target from limited 2D views, especially a single 2D projection or slice. To achieve a complete and automatic 3D shape instantiation pipeline, segmentation schemes based on deep learning are also investigated. These include normalization schemes for training U-Nets and network architecture design of Atrous Convolutional Neural Networks (ACNNs). For U-Net normalization, four popular normalization methods are reviewed, then Instance-Layer Normalization (ILN) is proposed. It uses a sigmoid function to linearly weight the feature map after instance normalization and layer normalization, and cascades group normalization after the weighted feature map. Detailed validation results potentially demonstrate the practical advantages of the proposed ILN for effective and robust segmentation of different anatomies. For network architecture design in training Deep Convolutional Neural Networks (DCNNs), the newly proposed ACNN is compared to traditional U-Net where max-pooling and deconvolutional layers are essential. Only convolutional layers are used in the proposed ACNN with different atrous rates and it has been shown that the method is able to provide a fully-covered receptive field with a minimum number of atrous convolutional layers. ACNN enhances the robustness and generalizability of the analysis scheme by cascading multiple atrous blocks. Validation results have shown the proposed method achieves comparable results to the U-Net in terms of medical image segmentation, whilst reducing the trainable parameters, thus improving the convergence and real-time instantiation speed. For 3D shape instantiation of soft and deforming organs during MIS, Sparse Principle Component Analysis (SPCA) has been used to analyse a 3D Statistical Shape Model (SSM) and to determine the most informative scan plane. Synchronized 2D images are then scanned at the most informative scan plane and are expressed in a 2D SSM. Kernel Partial Least Square Regression (KPLSR) has been applied to learn the relationship between the 2D and 3D SSM. It has been shown that the KPLSR-learned model developed in this thesis is able to predict the intra-operative 3D target shape from a single 2D projection or slice, thus permitting real-time 3D navigation. Validation results have shown the intrinsic accuracy achieved and the potential clinical value of the technique. The proposed 3D shape instantiation scheme is further applied to intra-operative stent graft deployment for the robot-assisted treatment of aortic aneurysms. Mathematical modelling is first used to simulate the stent graft characteristics. This is then followed by the Robust Perspective-n-Point (RPnP) method to instantiate the 3D pose of fiducial markers of the graft. Here, Equally-weighted Focal U-Net is proposed with a cross-entropy and an additional focal loss function. Detailed validation has been performed on patient-specific stent grafts with an accuracy between 1-3mm. Finally, the relative merits and potential pitfalls of all the methods developed in this thesis are discussed, followed by potential future research directions and additional challenges that need to be tackled.Open Acces

Design of a comprehensive modeling, characterization, rupture risk assessment and visualization pipeline for Abdominal Aortic Aneurysms

Abdominal aortic aneurysms (AAA) is a dilation of the abdominal aorta, typically within the infra-renal segment of the vessel that cause an expansion of at least 1.5 times the normal vessel diameter. It is becoming a leading cause of death in the United States and around the world, and consequentially, in 2009, the Society for Vascular Surgery (SVS) practice guidelines expressed the critical need to further investigate the factors associated with the risk of AAA rupture, along with potential treatment methods. For decades, the maximum diameter (Dmax) was introduced as the main parameter used to assess AAA behavior and its rupture risk. However, it has been shown that three main categories of parameters including geometrical indices, such as the maximum transverse diameter, biomechanical parameters, such as material properties, and historical clinical parameters, such as age, gender, hereditary history and life-style affect AAA and its rupture risk. Therefore, despite all efforts that have been undertaken to study the relationship among different parameters affecting AAA and its rupture, there are still limitations that require further investigation and modeling; the challenges associated with the traditional, clinical quality images represent one class of these limitations. The other limitation is the use of the homogenous hyper-elastic material property model to study the entire AAA, when, in fact, there is evidence that different degrees of degradation of the elastin and collagen network of the AAA wall lead to different regions of the AAA exhibiting different material properties, which, in turn, affect its biomechanical behavior and rupture. Moreover, the effects of all three main categories of parameters need to be considered simultaneously and collectively when studying the AAAs and their rupture, so once again, the field can further benefit from such studies. Therefore, in this work, we describe a comprehensive pipeline consisting of three main components to overcome some of these existing limitations. The first component of the proposed method focuses on the reconstruction and analysis of both synthetic and human subject-specific 3D models of AAA, accompanied by a full geometric parameter analysis and their effects on wall stress and peak wall stress. The second component investigates the effect of various biomechanical parameters, specifically the use of various homogeneous and heterogeneous material properties to model the behavior of the AAA wall. To this extent, we introduce two different patient-specific regional material property models to better mimic the physiological behavior of the AAA wall. Finally, the third component utilizes machine learning methods to develop a comprehensive predictive model that incorporates the effect of the geometrical, biomechanical and historical clinical data to predict the rupture severity of AAA in a patient-specific manner. This is the first comprehensive semi-automated method developed for the assessment of AAA. Our findings illustrate that using a regional material property model that mimics the realistic heterogeneity of the vessel’s wall leads to more reliable and accurate predictions of AAA severity and associated rupture risk. Additionally, our results indicate that using only Dmax as an indicator for the rupture risk is insufficient, while a combination of parameters from different sources along with PWS could serve as a more reliable rupture assessment. These methods can help better characterize the severity of AAAs, better predict their associated rupture risk, and, in turn, help clinicians with earlier, patient-customized diagnosis and patient-customized treatment planning approaches, such as stent grafting

Translating computational modelling tools for clinical practice in congenital heart disease

Increasingly large numbers of medical centres worldwide are equipped with the means to acquire 3D images of patients by utilising magnetic resonance (MR) or computed tomography (CT) scanners. The interpretation of patient 3D image data has significant implications on clinical decision-making and treatment planning. In their raw form, MR and CT images have become critical in routine practice. However, in congenital heart disease (CHD), lesions are often anatomically and physiologically complex. In many cases, 3D imaging alone can fail to provide conclusive information for the clinical team. In the past 20-30 years, several image-derived modelling applications have shown major advancements. Tools such as computational fluid dynamics (CFD) and virtual reality (VR) have successfully demonstrated valuable uses in the management of CHD. However, due to current software limitations, these applications have remained largely isolated to research settings, and have yet to become part of clinical practice. The overall aim of this project was to explore new routes for making conventional computational modelling software more accessible for CHD clinics. The first objective was to create an automatic and fast pipeline for performing vascular CFD simulations. By leveraging machine learning, a solution was built using synthetically generated aortic anatomies, and was seen to be able to predict 3D aortic pressure and velocity flow fields with comparable accuracy to conventional CFD. The second objective was to design a virtual reality (VR) application tailored for supporting the surgical planning and teaching of CHD. The solution was a Unity-based application which included numerous specialised tools, such as mesh-editing features and online networking for group learning. Overall, the outcomes of this ongoing project showed strong indications that the integration of VR and CFD into clinical settings is possible, and has potential for extending 3D imaging and supporting the diagnosis, management and teaching of CHD