1,306 research outputs found
Fast and adaptive fractal tree-based path planning for programmable bevel tip steerable needles
© 2016 IEEE. Steerable needles are a promising technology for minimally invasive surgery, as they can provide access to difficult to reach locations while avoiding delicate anatomical regions. However, due to the unpredictable tissue deformation associated with needle insertion and the complexity of many surgical scenarios, a real-time path planning algorithm with high update frequency would be advantageous. Real-time path planning for nonholonomic systems is commonly used in a broad variety of fields, ranging from aerospace to submarine navigation. In this letter, we propose to take advantage of the architecture of graphics processing units (GPUs) to apply fractal theory and thus parallelize real-time path planning computation. This novel approach, termed adaptive fractal trees (AFT), allows for the creation of a database of paths covering the entire domain, which are dense, invariant, procedurally produced, adaptable in size, and present a recursive structure. The generated cache of paths can in turn be analyzed in parallel to determine the most suitable path in a fraction of a second. The ability to cope with nonholonomic constraints, as well as constraints in the space of states of any complexity or number, is intrinsic to the AFT approach, rendering it highly versatile. Three-dimensional (3-D) simulations applied to needle steering in neurosurgery show that our approach can successfully compute paths in real-time, enabling complex brain navigation
Seizure-onset mapping based on time-variant multivariate functional connectivity analysis of high-dimensional intracranial EEG : a Kalman filter approach
The visual interpretation of intracranial EEG (iEEG) is the standard method used in complex epilepsy surgery cases to map the regions of seizure onset targeted for resection. Still, visual iEEG analysis is labor-intensive and biased due to interpreter dependency. Multivariate parametric functional connectivity measures using adaptive autoregressive (AR) modeling of the iEEG signals based on the Kalman filter algorithm have been used successfully to localize the electrographic seizure onsets. Due to their high computational cost, these methods have been applied to a limited number of iEEG time-series (< 60). The aim of this study was to test two Kalman filter implementations, a well-known multivariate adaptive AR model (Arnold et al. 1998) and a simplified, computationally efficient derivation of it, for their potential application to connectivity analysis of high-dimensional (up to 192 channels) iEEG data. When used on simulated seizures together with a multivariate connectivity estimator, the partial directed coherence, the two AR models were compared for their ability to reconstitute the designed seizure signal connections from noisy data. Next, focal seizures from iEEG recordings (73-113 channels) in three patients rendered seizure-free after surgery were mapped with the outdegree, a graph-theory index of outward directed connectivity. Simulation results indicated high levels of mapping accuracy for the two models in the presence of low-to-moderate noise cross-correlation. Accordingly, both AR models correctly mapped the real seizure onset to the resection volume. This study supports the possibility of conducting fully data-driven multivariate connectivity estimations on high-dimensional iEEG datasets using the Kalman filter approach
Evaluation of Single-Chip, Real-Time Tomographic Data Processing on FPGA - SoC Devices
A novel approach to tomographic data processing has been developed and
evaluated using the Jagiellonian PET (J-PET) scanner as an example. We propose
a system in which there is no need for powerful, local to the scanner
processing facility, capable to reconstruct images on the fly. Instead we
introduce a Field Programmable Gate Array (FPGA) System-on-Chip (SoC) platform
connected directly to data streams coming from the scanner, which can perform
event building, filtering, coincidence search and Region-Of-Response (ROR)
reconstruction by the programmable logic and visualization by the integrated
processors. The platform significantly reduces data volume converting raw data
to a list-mode representation, while generating visualization on the fly.Comment: IEEE Transactions on Medical Imaging, 17 May 201
NiftyNet: a deep-learning platform for medical imaging
Medical image analysis and computer-assisted intervention problems are
increasingly being addressed with deep-learning-based solutions. Established
deep-learning platforms are flexible but do not provide specific functionality
for medical image analysis and adapting them for this application requires
substantial implementation effort. Thus, there has been substantial duplication
of effort and incompatible infrastructure developed across many research
groups. This work presents the open-source NiftyNet platform for deep learning
in medical imaging. The ambition of NiftyNet is to accelerate and simplify the
development of these solutions, and to provide a common mechanism for
disseminating research outputs for the community to use, adapt and build upon.
NiftyNet provides a modular deep-learning pipeline for a range of medical
imaging applications including segmentation, regression, image generation and
representation learning applications. Components of the NiftyNet pipeline
including data loading, data augmentation, network architectures, loss
functions and evaluation metrics are tailored to, and take advantage of, the
idiosyncracies of medical image analysis and computer-assisted intervention.
NiftyNet is built on TensorFlow and supports TensorBoard visualization of 2D
and 3D images and computational graphs by default.
We present 3 illustrative medical image analysis applications built using
NiftyNet: (1) segmentation of multiple abdominal organs from computed
tomography; (2) image regression to predict computed tomography attenuation
maps from brain magnetic resonance images; and (3) generation of simulated
ultrasound images for specified anatomical poses.
NiftyNet enables researchers to rapidly develop and distribute deep learning
solutions for segmentation, regression, image generation and representation
learning applications, or extend the platform to new applications.Comment: Wenqi Li and Eli Gibson contributed equally to this work. M. Jorge
Cardoso and Tom Vercauteren contributed equally to this work. 26 pages, 6
figures; Update includes additional applications, updated author list and
formatting for journal submissio
Real-time hybrid cutting with dynamic fluid visualization for virtual surgery
It is widely accepted that a reform in medical teaching must be made to meet today's high volume training requirements. Virtual simulation offers a potential method of providing such trainings and some current medical training simulations integrate haptic and visual feedback to enhance procedure learning. The purpose of this project is to explore the capability of Virtual Reality (VR) technology to develop a training simulator for surgical cutting and bleeding in a general surgery
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