US & MR Image-Fusion Based on Skin Co-Registration

The study and development of innovative solutions for the advanced visualisation, representation and analysis of medical images offer different research directions. Current practice in medical imaging consists in combining real-time US with imaging modalities that allow internal anatomy acquisitions, such as CT, MRI, PET or similar. Application of image-fusion approaches can be found in tracking surgical tools and/or needles, in real-time during interventions. Thus, this work proposes a fusion imaging system for the registration of CT and MRI images with real-time US acquisition leveraging a 3D camera sensor. The main focus of the work is the portability of the system and its applicability to different anatomical districts

Retrospective evaluation and SEEG trajectory analysis for interactive multi-trajectory planner assistant

Purpose: Focal epilepsy is a neurological disease that can be surgically treated by removing area of the brain generating the seizures. The stereotactic electroencephalography (SEEG) procedure allows patient brain activity to be recorded in order to localize the onset of seizures through the placement of intracranial electrodes. The planning phase can be cumbersome and very time consuming, and no quantitative information is provided to neurosurgeons regarding the safety and efficacy of their trajectories. In this work, we present a novel architecture specifically designed to ease the SEEG trajectory planning using the 3D Slicer platform as a basis. Methods: Trajectories are automatically optimized following criteria like vessel distance and insertion angle. Multi-trajectory optimization and conflict resolution are optimized through a selective brute force approach based on a conflict graph construction. Additionally, electrode-specific optimization constraints can be defined, and an advanced verification module allows neurosurgeons to evaluate the feasibility of the trajectory. Results: A retrospective evaluation was performed using manually planned trajectories on 20 patients: the planning algorithm optimized and improved trajectories in 98% of cases. We were able to resolve and optimize the remaining 2% by applying electrode-specific constraints based on manual planning values. In addition, we found that the global parameters used discards 68% of the manual planned trajectories, even when they represent a safe clinical choice. Conclusions: Our approach improved manual planned trajectories in 98% of cases in terms of quantitative indexes, even when applying more conservative criteria with respect to actual clinical practice. The improved multi-trajectory strategy overcomes the previous work limitations and allows electrode optimization within a tolerable time span

A computer assisted planning system for the placement of sEEG electrodes in the treatment of epilepsy

Approximately 20-30% of patients with focal epilepsy are medically refractory and may be candidates for curative surgery. Stereo EEG is the placement of multiple depth electrodes into the brain to record seizure activity and precisely identify the area to be resected. The two important criteria for electrode implantation are accurate navigation to the target area, and avoidance of critical structures such as blood vessels. In current practice neurosurgeons have no assistance in the planning of the electrode trajectories. To provide assistance a real-time solution was developed that first identifies the potential entry points by analysing the entry-angle, then computes the associated risks for trajectories starting from these locations. The entry angle, the total length of the trajectory and distances to critical structures are presented in an interactive way that is integrated with standard electrode placement planning tools and advanced visualisation. We show that this improves the planning of intracranial implantation, with safer trajectories in less time. © 2014 Springer International Publishing Switzerland

Automated multiple trajectory planning algorithm for the placement of stereo-electroencephalography (SEEG) electrodes in epilepsy treatment.

PURPOSE: About one-third of individuals with focal epilepsy continue to have seizures despite optimal medical management. These patients are potentially curable with neurosurgery if the epileptogenic zone (EZ) can be identified and resected. Stereo-electroencephalography (SEEG) to record epileptic activity with intracranial depth electrodes may be required to identify the EZ. Each SEEG electrode trajectory, the path between the entry on the skull and the cerebral target, must be planned carefully to avoid trauma to blood vessels and conflicts between electrodes. In current clinical practice trajectories are determined manually, typically taking 2-3 h per patient (15 min per electrode). Manual planning (MP) aims to achieve an implantation plan with good coverage of the putative EZ, an optimal spatial resolution, and 3D distribution of electrodes. Computer-assisted planning tools can reduce planning time by quantifying trajectory suitability. METHODS: We present an automated multiple trajectory planning (MTP) algorithm to compute implantation plans. MTP uses dynamic programming to determine a set of plans. From this set a depth-first search algorithm finds a suitable plan. We compared our MTP algorithm to (a) MP and (b) an automated single trajectory planning (STP) algorithm on 18 patient plans containing 165 electrodes. RESULTS: MTP changed all 165 trajectories compared to MP. Changes resulted in lower risk (122), increased grey matter sampling (99), shorter length (92), and surgically preferred entry angles (113). MTP changed 42 % (69/165) trajectories compared to STP. Every plan had between 1 to 8 (median 3.5) trajectories changed to resolve electrode conflicts, resulting in surgically preferred plans. CONCLUSION: MTP is computationally efficient, determining implantation plans containing 7-12 electrodes within 1 min, compared to 2-3 h for MP

A Novel Bio-Inspired Insertion Method for Application to Next Generation Percutaneous Surgical Tools

The use of minimally invasive techniques can dramatically improve patient outcome from neurosurgery, with less risk, faster recovery, and better cost effectiveness when compared to conventional surgical intervention. To achieve this, innovative surgical techniques and new surgical instruments have been developed. Nevertheless, the simplest and most common interventional technique for brain surgery is needle insertion for either diagnostic or therapeutic purposes. The work presented in this thesis shows a new approach to needle insertion into soft tissue, focussing on soft tissue-needle interaction by exploiting microtextured topography and the unique mechanism of a reciprocating motion inspired by the ovipositor of certain parasitic wasps. This thesis starts by developing a brain-like phantom which I was shown to have mechanical properties similar to those of neurological tissue during needle insertion. Secondly, a proof-of-concept of the bio-inspired insertion method was undertaken. Based on this finding, the novel method of a multi-part probe able to penetrate a soft substrate by reciprocal motion of each segment is derived. The advantages of the new insertion method were investigated and compared with a conventional needle insertion in terms of needle-tissue interaction. The soft tissue deformation and damage were also measured by exploiting the method of particle image velocimetry. Finally, the thesis proposes the possible clinical application of a biologically-inspired surface topography for deep brain electrode implantation. As an adjunct to this work, the reciprocal insertion method described here fuelled the research into a novel flexible soft tissue probe for percutaneous intervention, which is able to steer along curvilinear trajectories within a compliant medium. Aspects of this multi-disciplinary research effort on steerable robotic surgery are presented, followed by a discussion of the implications of these findings within the context of future work

Medical Robotics

The first generation of surgical robots are already being installed in a number of operating rooms around the world. Robotics is being introduced to medicine because it allows for unprecedented control and precision of surgical instruments in minimally invasive procedures. So far, robots have been used to position an endoscope, perform gallbladder surgery and correct gastroesophogeal reflux and heartburn. The ultimate goal of the robotic surgery field is to design a robot that can be used to perform closed-chest, beating-heart surgery. The use of robotics in surgery will expand over the next decades without any doubt. Minimally Invasive Surgery (MIS) is a revolutionary approach in surgery. In MIS, the operation is performed with instruments and viewing equipment inserted into the body through small incisions created by the surgeon, in contrast to open surgery with large incisions. This minimizes surgical trauma and damage to healthy tissue, resulting in shorter patient recovery time. The aim of this book is to provide an overview of the state-of-art, to present new ideas, original results and practical experiences in this expanding area. Nevertheless, many chapters in the book concern advanced research on this growing area. The book provides critical analysis of clinical trials, assessment of the benefits and risks of the application of these technologies. This book is certainly a small sample of the research activity on Medical Robotics going on around the globe as you read it, but it surely covers a good deal of what has been done in the field recently, and as such it works as a valuable source for researchers interested in the involved subjects, whether they are currently “medical roboticists” or not

Case series of breast fillers and how things may go wrong: radiology point of view

INTRODUCTION: Breast augmentation is a procedure opted by women to overcome sagging breast due to breastfeeding or aging as well as small breast size. Recent years have shown the emergence of a variety of injectable materials on market as breast fillers. These injectable breast fillers have swiftly gained popularity among women, considering the minimal invasiveness of the procedure, nullifying the need for terrifying surgery. Little do they know that the procedure may pose detrimental complications, while visualization of breast parenchyma infiltrated by these fillers is also deemed substandard; posing diagnostic challenges. We present a case series of three patients with prior history of hyaluronic acid and collagen breast injections. REPORT: The first patient is a 37-year-old lady who presented to casualty with worsening shortness of breath, non-productive cough, central chest pain; associated with fever and chills for 2-weeks duration. The second patient is a 34-year-old lady who complained of cough, fever and haemoptysis; associated with shortness of breath for 1-week duration. CT in these cases revealed non thrombotic wedge-shaped peripheral air-space densities. The third patient is a 37‐year‐old female with right breast pain, swelling and redness for 2- weeks duration. Previous collagen breast injection performed 1 year ago had impeded sonographic visualization of the breast parenchyma. MRI breasts showed multiple non- enhancing round and oval shaped lesions exhibiting fat intensity. CONCLUSION: Radiologists should be familiar with the potential risks and hazards as well as limitations of imaging posed by breast fillers such that MRI is required as problem-solving tool

Characterization of alar ligament on 3.0T MRI: a cross-sectional study in IIUM Medical Centre, Kuantan

INTRODUCTION: The main purpose of the study is to compare the normal anatomy of alar ligament on MRI between male and female. The specific objectives are to assess the prevalence of alar ligament visualized on MRI, to describe its characteristics in term of its course, shape and signal homogeneity and to find differences in alar ligament signal intensity between male and female. This study also aims to determine the association between the heights of respondents with alar ligament signal intensity and dimensions. MATERIALS & METHODS: 50 healthy volunteers were studied on 3.0T MR scanner Siemens Magnetom Spectra using 2-mm proton density, T2 and fat-suppression sequences. Alar ligament is depicted in 3 planes and the visualization and variability of the ligament courses, shapes and signal intensity characteristics were determined. The alar ligament dimensions were also measured. RESULTS: Alar ligament was best depicted in coronal plane, followed by sagittal and axial planes. The orientations were laterally ascending in most of the subjects (60%), predominantly oval in shaped (54%) and 67% showed inhomogenous signal. No significant difference of alar ligament signal intensity between male and female respondents. No significant association was found between the heights of the respondents with alar ligament signal intensity and dimensions. CONCLUSION: Employing a 3.0T MR scanner, the alar ligament is best portrayed on coronal plane, followed by sagittal and axial planes. However, tremendous variability of alar ligament as depicted in our data shows that caution needs to be exercised when evaluating alar ligament, especially during circumstances of injury

Development and evaluation of low-dose rate radioactive gold nanoparticles for application in nanobrachytherapy

Depuis les dix dernières années, l’innovation des traitements d’oncologie a fait une utilisation croissante de la nanotechnologie. De nouveaux traitements à base de nanoparticules (NPs) sont notamment rendus au stade de l’essai clinique. Possédant des caractéristiques physico-chimiques particulières, les NPs peuvent être utilisées afin de bonifier l’effet thérapeutique des traitements actuels. Par exemple, l’amélioration de la curiethérapie (c.-à-d. radiothérapie interne) nécessite le développement de nouvelles procédures permettant de diminuer la taille des implants, et ce, tout en augmentant l’homogénéité de la dose déposée dans les tumeurs. Des études théoriques et expérimentales ont démontré que l’injection de NPs d’or à proximité des implants traditionnels de curiethérapie de faible débit de dose (par ex. 125I, 103Pd) permettrait d’augmenter significativement leur efficacité thérapeutique. L'interaction entre l’or et les photons émis par les implants de curiethérapie (c.-à-d. l’effet de radiosensibilisation) génère des rayonnements divers (photoélectrons, électrons Auger, rayons X caractéristiques) qui augmentent significativement la dose administrée. Dans le cadre de cette thèse, l’approche proposée était de développer des NPs d’or radioactives comme nouveau traitement de curiethérapie contre le cancer de la prostate. L’aspect novateur et unique était de synthétiser une particule coeurcoquille (Pd@Au) en utilisant l’isotope actuellement employé en curiethérapie de la prostate: le palladium-103 (103Pd, 20 keV). Dans ce cas-ci, la présence d’atomes d’or permet de produire l’effet de radiosensibilisation et d’augmenter la dose déposée. La preuve de concept a été démontrée par la synthèse et la caractérisation des NPs 103Pd@Au-PEG NPs. Ensuite, une étude longitudinale in vivo impliquant l’injection des NPs dans un modèle xénogreffe de tumeurs de la prostate chez la souris a été effectuée. L’efficacité thérapeutique induite par les NPs a été démontrée par le retard de la croissance tumorale des souris injectées par rapport aux souris non injectées (contrôles). Enfin, une étude de cartographie de la dose générée par les NPs à l’échelle cellulaire et tumorale a permis de comprendre davantage les mécanismes thérapeutiques liés aux NPs radioactives. En résumé, l’ensemble des travaux présentés dans cette thèse font office de précurseurs relativement au domaine de la nanocuriethérapie, et pourraient ouvrir la voie à une nouvelle génération de NPs pour la radiothérapie.The last decade saw the emergence of new innovative oncology treatments based on nanotechnology. New treatments using nanoparticles (NPs) are now translated to clinical trials. NPs possess unique physical and chemical properties that can be advantageously used to improve the therapeutic effect of current treatments. For instance, therapeutic efficiency enhancement related to internal radiotherapy (i.e., brachytherapy), requires the development of new procedures leading to a decrease of the implant size, while increasing the dose homogeneity and distribution in tumors. Several theoretical and experimental studies based on low-dose brachytherapy seeds (e.g., 125I and 103Pd) combined with gold nanoparticles (Au NPs) showed very promising results in terms of dose enhancement. Gold is a radiosensitizer that enhances the efficiency of radiotherapy by increasing the energy deposition in the surrounding tissues. Dose enhancement is caused by the photoelectric products (photoelectrons, Auger electrons, characteristic X-rays) that are generated after the irradiation of Au NPs. In this thesis, the proposed approach was to develop radioactive Au NPs as a new brachytherapy treatment for prostate cancer. The unique and innovative aspect of this strategy was to synthesize core-shell NPs based on the radioisotope palladium-103 (103Pd, 20 keV), which is currently used in low-dose rate prostate cancer brachytherapy. In this concept, the administrated dose is increased via the radiosensitization effect that is generated through the interactions of low-energy photons with the gold atoms. The proof-ofconcept of this approach was first demonstrated by the synthesis and characterization of the core-shell NPs (103Pd@Au-PEG NPs). Then, a longitudinal in vivo study following the injection of NPs in a prostate cancer xenograft murine model was performed. The therapeutic efficiency was confirmed by the tumor growth delay of the treated group as compared to the control group (untreated). Finally, a mapping study of the dose distribution generated by the NPs at the cellular and tumor levels provided new insights about the therapeutic mechanisms related to radioactive NPs. In summary, the studies presented in this thesis are precursors works in the field of nanobrachytherapy, and could pave the way for a new generation of NPs for radiotherapy