Real Time Turbulent Video Perfecting by Image Stabilization and Super-Resolution

Image and video quality in Long Range Observation Systems (LOROS) suffer from atmospheric turbulence that causes small neighbourhoods in image frames to chaotically move in different directions and substantially hampers visual analysis of such image and video sequences. The paper presents a real-time algorithm for perfecting turbulence degraded videos by means of stabilization and resolution enhancement. The latter is achieved by exploiting the turbulent motion. The algorithm involves generation of a reference frame and estimation, for each incoming video frame, of a local image displacement map with respect to the reference frame; segmentation of the displacement map into two classes: stationary and moving objects and resolution enhancement of stationary objects, while preserving real motion. Experiments with synthetic and real-life sequences have shown that the enhanced videos, generated in real time, exhibit substantially better resolution and complete stabilization for stationary objects while retaining real motion.Comment: Submitted to The Seventh IASTED International Conference on Visualization, Imaging, and Image Processing (VIIP 2007) August, 2007 Palma de Mallorca, Spai

Cardiac magnetic resonance T1 and extracellular volume mapping with motion correction and co-registration based on fast elastic image registration

OBJECTIVE: Our aim was to investigate the technical feasibility of a novel motion compensation method for cardiac magntic resonance (MR) T1 and extracellular volume fraction (ECV) mapping. MATERIALS AND METHODS: Native and post-contrast T1 maps were obtained using modified look-locker inversion recovery (MOLLI) pulse sequences with acquisition scheme defined in seconds. A nonrigid, nonparametric, fast elastic registration method was applied to generate motion-corrected T1 maps and subsequently ECV maps. Qualitative rating was performed based on T1 fitting-error maps and overlay images. Local deformation vector fields were produced for quantitative assessment. Intra- and inter-observer reproducibility were compared with and without motion compensation. RESULTS: Eighty-two T1 and 39 ECV maps were obtained in 21 patients with diverse myocardial diseases. Approximately 60% demonstrated clear quality improvement after motion correction for T1 mapping, particularly for the poor-rating cases (23% before vs 2% after). Approximately 67% showed further improvement with co-registration in ECV mapping. Although T1 and ECV values were not clinically significantly different before and after motion compensation, there was improved intra- and inter-observer reproducibility after motion compensation. CONCLUSIONS: Automated motion correction and co-registration improved the qualitative assessment and reproducibility of cardiac MR T1 and ECV measurements, allowing for more reliable ECV mapping

preliminary clinical evaluation of the ASTRA4D algorithm

Objectives. To propose and evaluate a four-dimensional (4D) algorithm for joint motion elimination and spatiotemporal noise reduction in low-dose dynamic myocardial computed tomography perfusion (CTP). Methods. Thirty patients with suspected or confirmed coronary artery disease were prospectively included und underwent dynamic contrast-enhanced 320-row CTP. The presented deformable image registration method ASTRA4D identifies a low-dimensional linear model of contrast propagation (by principal component analysis, PCA) of the ex-ante temporally smoothed time-intensity curves (by local polynomial regression). Quantitative (standard deviation, signal-to-noise ratio (SNR), temporal variation, volumetric deformation) and qualitative (motion, contrast, contour sharpness; 1, poor; 5, excellent) measures of CTP quality were assessed for the original and motion-compensated volumes (without and with temporal filtering, PCA/ASTRA4D). Following visual myocardial perfusion deficit detection by two readers, diagnostic accuracy was evaluated using 1.5T magnetic resonance (MR) myocardial perfusion imaging as the reference standard in 15 patients. Results. Registration using ASTRA4D was successful in all 30 patients and resulted in comparison with the benchmark PCA in significantly (p<0.001) reduced noise over time (-83%, 178.5 vs 29.9) and spatially (-34%, 21.4 vs 14.1) as well as improved SNR (+47%, 3.6 vs 5.3) and subjective image quality (motion, contrast, contour sharpness: +1.0, +1.0, +0.5). ASTRA4D resulted in significantly improved per-segment sensitivity of 91% (58/64) and similar specificity of 96% (429/446) compared with PCA (52%, 33/64; 98%, 435/446; p=0.011) and the original sequence (45%, 29/64; 98%, 438/446; p=0.003) in the visual detection of perfusion deficits. Conclusions. The proposed functional approach to temporal denoising and morphologic alignment was shown to improve quality metrics and sensitivity of 4D CTP in the detection of myocardial ischemia.Zielsetzung. Die Entwicklung und Bewertung einer Methode zur simultanen Rauschreduktion und Bewegungskorrektur für niedrig dosierte dynamische CT Myokardperfusion. Methoden. Dreißig prospektiv eingeschlossene Patienten mit vermuteter oder bestätigter koronarer Herzkrankheit wurden einer dynamischen CT Myokardperfusionsuntersuchung unterzogen. Die präsentierte Registrierungsmethode ASTRA4D ermittelt ein niedrigdimensionales Modell des Kontrastmittelflusses (mittels einer Hauptkomponentenanalyse, PCA) der vorab zeitlich geglätteten Intensitätskurven (mittels lokaler polynomialer Regression). Quantitative (Standardabweichung, Signal-Rausch-Verhältnis (SNR), zeitliche Schwankung, räumliche Verformung) und qualitative (Bewegung, Kontrast, Kantenschärfe; 1, schlecht; 5, ausgezeichnet) Kennzahlen der unbearbeiteten und bewegungskorrigierten Perfusionsdatensätze (ohne und mit zeitlicher Glättung PCA/ASTRA4D) wurden ermittelt. Nach visueller Beurteilung von myokardialen Perfusionsdefiziten durch zwei Radiologen wurde die diagnostische Genauigkeit im Verhältnis zu 1.5T Magnetresonanztomographie in 15 Patienten ermittelt. Resultate. Bewegungskorrektur mit ASTRA4D war in allen 30 Patienten erfolgreich und resultierte im Vergleich mit der PCA Methode in signifikant (p<0.001) verringerter zeitlicher Schwankung (-83%, 178.5 gegenüber 29.9) und räumlichem Rauschen (-34%, 21.4 gegenüber 14.1) sowie verbesserter SNR (+47%, 3.6 gegenüber 5.3) und subjektiven Qualitätskriterien (Bewegung, Kontrast, Kantenschärfe: +1.0, +1.0, +0.5). ASTRA4D resultierte in signifikant verbesserter segmentweiser Sensitivität 91% (58/64) und ähnlicher Spezifizität 96% (429/446) verglichen mit der PCA Methode (52%, 33/64; 98%, 435/446; p=0.011) und dem unbearbeiteten Perfusionsdatensatz (45%, 29/64; 98%, 438/446; p=0.003) in der visuellen Beurteilung von myokardialen Perfusionsdefiziten. Schlussfolgerungen. Der vorgeschlagene funktionale Ansatz zur simultanen Rauschreduktion und Bewegungskorrektur verbesserte Qualitätskriterien und Sensitivität von dynamischer CT Perfusion in der visuellen Erkennung von Myokardischämie

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-opera- tive morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon’s navigation capabilites by observ- ing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted in- struments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D opti- cal imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions

Biomechanical Modeling and Inverse Problem Based Elasticity Imaging for Prostate Cancer Diagnosis

Early detection of prostate cancer plays an important role in successful prostate cancer treatment. This requires screening the prostate periodically after the age of 50. If screening tests lead to prostate cancer suspicion, prostate needle biopsy is administered which is still considered as the clinical gold standard for prostate cancer diagnosis. Given that needle biopsy is invasive and is associated with issues including discomfort and infection, it is desirable to develop a prostate cancer diagnosis system that has high sensitivity and specificity for early detection with a potential to improve needle biopsy outcome. Given the complexity and variability of prostate cancer pathologies, many research groups have been pursuing multi-parametric imaging approach as no single modality imaging technique has proven to be adequate. While imaging additional tissue properties increases the chance of reliable prostate cancer detection and diagnosis, selecting an additional property needs to be done carefully by considering clinical acceptability and cost. Clinical acceptability entails ease with respect to both operating by the radiologist and patient comfort. In this work, effective tissue biomechanics based diagnostic techniques are proposed for prostate cancer assessment with the aim of early detection and minimizing the numbers of prostate biopsies. The techniques take advantage of the low cost, widely available and well established TRUS imaging method. The proposed techniques include novel elastography methods which were formulated based on an inverse finite element frame work. Conventional finite element analysis is known to have high computational complexity, hence computation time demanding. This renders the proposed elastography methods not suitable for real-time applications. To address this issue, an accelerated finite element method was proposed which proved to be suitable for prostate elasticity reconstruction. In this method, accurate finite element analysis of a large number of prostates undergoing TRUS probe loadings was performed. Geometry input and displacement and stress fields output obtained from the analysis were used to train a neural network mapping function to be used for elastopgraphy imaging of prostate cancer patients. The last part of the research presented in this thesis tackles an issue with the current 3D TRUS prostate needle biopsy. Current 3D TRUS prostate needle biopsy systems require registering preoperative 3D TRUS to intra-operative 2D TRUS images. Such image registration is time-consuming while its real-time implementation is yet to be developed. To bypass this registration step, concept of a robotic system was proposed which can reliably determine the preoperative TRUS probe position relative to the prostate to place at the same position relative to the prostate intra-operatively. For this purpose, a contact pressure feedback system is proposed to ensure similar prostate deformation during 3D and 2D image acquisition in order to bypass the registration step

A framework for continuous target tracking during MR-guided high intensity focused ultrasound thermal ablations in the abdomen

Scatterplot showing percentage changes in stroke volume index (ΔSVI, %) and functional hemodynamic markers, Stroke Volume Variation (SVV, %) Pulse Pressure Variation (PPV, %), with the three tested tidal volumes (V T ), 6, 12 and 18 ml/kg during intra-abdominal hypertension. Solid line shows regression line between variables. (PDF 56 kb

Fast and Reliable Autonomous Surgical Debridement with Cable-Driven Robots Using a Two-Phase Calibration Procedure

Automating precision subtasks such as debridement (removing dead or diseased tissue fragments) with Robotic Surgical Assistants (RSAs) such as the da Vinci Research Kit (dVRK) is challenging due to inherent non-linearities in cable-driven systems. We propose and evaluate a novel two-phase coarse-to-fine calibration method. In Phase I (coarse), we place a red calibration marker on the end effector and let it randomly move through a set of open-loop trajectories to obtain a large sample set of camera pixels and internal robot end-effector configurations. This coarse data is then used to train a Deep Neural Network (DNN) to learn the coarse transformation bias. In Phase II (fine), the bias from Phase I is applied to move the end-effector toward a small set of specific target points on a printed sheet. For each target, a human operator manually adjusts the end-effector position by direct contact (not through teleoperation) and the residual compensation bias is recorded. This fine data is then used to train a Random Forest (RF) to learn the fine transformation bias. Subsequent experiments suggest that without calibration, position errors average 4.55mm. Phase I can reduce average error to 2.14mm and the combination of Phase I and Phase II can reduces average error to 1.08mm. We apply these results to debridement of raisins and pumpkin seeds as fragment phantoms. Using an endoscopic stereo camera with standard edge detection, experiments with 120 trials achieved average success rates of 94.5%, exceeding prior results with much larger fragments (89.4%) and achieving a speedup of 2.1x, decreasing time per fragment from 15.8 seconds to 7.3 seconds. Source code, data, and videos are available at https://sites.google.com/view/calib-icra/.Comment: Code, data, and videos are available at https://sites.google.com/view/calib-icra/. Final version for ICRA 201