Neurosurgical Ultrasound Pose Estimation Using Image-Based Registration and Sensor Fusion - A Feasibility Study

Modern neurosurgical procedures often rely on computer-assisted real-time guidance using multiple medical imaging modalities. State-of-the-art commercial products enable the fusion of pre-operative with intra-operative images (e.g., magnetic resonance [MR] with ultrasound [US] images), as well as the on-screen visualization of procedures in progress. In so doing, US images can be employed as a template to which pre-operative images can be registered, to correct for anatomical changes, to provide live-image feedback, and consequently to improve confidence when making resection margin decisions near eloquent regions during tumour surgery. In spite of the potential for tracked ultrasound to improve many neurosurgical procedures, it is not widely used. State-of-the-art systems are handicapped by optical tracking’s need for consistent line-of-sight, keeping tracked rigid bodies clean and rigidly fixed, and requiring a calibration workflow. The goal of this work is to improve the value offered by co-registered ultrasound images without the workflow drawbacks of conventional systems. The novel work in this thesis includes: the exploration and development of a GPU-enabled 2D-3D multi-modal registration algorithm based on the existing LC2 metric; and the use of this registration algorithm in the context of a sensor and image-fusion algorithm. The work presented here is a motivating step in a vision towards a heterogeneous tracking framework for image-guided interventions where the knowledge from intraoperative imaging, pre-operative imaging, and (potentially disjoint) wireless sensors in the surgical field are seamlessly integrated for the benefit of the surgeon. The technology described in this thesis, inspired by advances in robot localization demonstrate how inaccurate pose data from disjoint sources can produce a localization system greater than the sum of its parts

Dynamic Thermal Imaging for Intraoperative Monitoring of Neuronal Activity and Cortical Perfusion

Neurosurgery is a demanding medical discipline that requires a complex interplay of several neuroimaging techniques. This allows structural as well as functional information to be recovered and then visualized to the surgeon. In the case of tumor resections this approach allows more fine-grained differentiation of healthy and pathological tissue which positively influences the postoperative outcome as well as the patient's quality of life. In this work, we will discuss several approaches to establish thermal imaging as a novel neuroimaging technique to primarily visualize neural activity and perfusion state in case of ischaemic stroke. Both applications require novel methods for data-preprocessing, visualization, pattern recognition as well as regression analysis of intraoperative thermal imaging. Online multimodal integration of preoperative and intraoperative data is accomplished by a 2D-3D image registration and image fusion framework with an average accuracy of 2.46 mm. In navigated surgeries, the proposed framework generally provides all necessary tools to project intraoperative 2D imaging data onto preoperative 3D volumetric datasets like 3D MR or CT imaging. Additionally, a fast machine learning framework for the recognition of cortical NaCl rinsings will be discussed throughout this thesis. Hereby, the standardized quantification of tissue perfusion by means of an approximated heating model can be achieved. Classifying the parameters of these models yields a map of connected areas, for which we have shown that these areas correlate with the demarcation caused by an ischaemic stroke segmented in postoperative CT datasets. Finally, a semiparametric regression model has been developed for intraoperative neural activity monitoring of the somatosensory cortex by somatosensory evoked potentials. These results were correlated with neural activity of optical imaging. We found that thermal imaging yields comparable results, yet doesn't share the limitations of optical imaging. In this thesis we would like to emphasize that thermal imaging depicts a novel and valid tool for both intraoperative functional and structural neuroimaging

Multimodal Image Fusion and Its Applications.

Image fusion integrates different modality images to provide comprehensive information of the image content, increasing interpretation capabilities and producing more reliable results. There are several advantages of combining multi-modal images, including improving geometric corrections, complementing data for improved classification, and enhancing features for analysis...etc. This thesis develops the image fusion idea in the context of two domains: material microscopy and biomedical imaging. The proposed methods include image modeling, image indexing, image segmentation, and image registration. The common theme behind all proposed methods is the use of complementary information from multi-modal images to achieve better registration, feature extraction, and detection performances. In material microscopy, we propose an anomaly-driven image fusion framework to perform the task of material microscopy image analysis and anomaly detection. This framework is based on a probabilistic model that enables us to index, process and characterize the data with systematic and well-developed statistical tools. In biomedical imaging, we focus on the multi-modal registration problem for functional MRI (fMRI) brain images which improves the performance of brain activation detection.PhDElectrical Engineering: SystemsUniversity of Michigan, Horace H. Rackham School of Graduate Studieshttp://deepblue.lib.umich.edu/bitstream/2027.42/120701/1/yuhuic_1.pd

Magnetoencephalography

This is a practical book on MEG that covers a wide range of topics. The book begins with a series of reviews on the use of MEG for clinical applications, the study of cognitive functions in various diseases, and one chapter focusing specifically on studies of memory with MEG. There are sections with chapters that describe source localization issues, the use of beamformers and dipole source methods, as well as phase-based analyses, and a step-by-step guide to using dipoles for epilepsy spike analyses. The book ends with a section describing new innovations in MEG systems, namely an on-line real-time MEG data acquisition system, novel applications for MEG research, and a proposal for a helium re-circulation system. With such breadth of topics, there will be a chapter that is of interest to every MEG researcher or clinician

Methods for cleaning the BOLD fMRI signal

Available online 9 December 2016 http://www.sciencedirect.com/science/article/pii/S1053811916307418?via%3Dihubhttp://www.sciencedirect.com/science/article/pii/S1053811916307418?via%3DihubBlood oxygen-level-dependent functional magnetic resonance imaging (BOLD fMRI) has rapidly become a popular technique for the investigation of brain function in healthy individuals, patients as well as in animal studies. However, the BOLD signal arises from a complex mixture of neuronal, metabolic and vascular processes, being therefore an indirect measure of neuronal activity, which is further severely corrupted by multiple non-neuronal fluctuations of instrumental, physiological or subject-specific origin. This review aims to provide a comprehensive summary of existing methods for cleaning the BOLD fMRI signal. The description is given from a methodological point of view, focusing on the operation of the different techniques in addition to pointing out the advantages and limitations in their application. Since motion-related and physiological noise fluctuations are two of the main noise components of the signal, techniques targeting their removal are primarily addressed, including both data-driven approaches and using external recordings. Data-driven approaches, which are less specific in the assumed model and can simultaneously reduce multiple noise fluctuations, are mainly based on data decomposition techniques such as principal and independent component analysis. Importantly, the usefulness of strategies that benefit from the information available in the phase component of the signal, or in multiple signal echoes is also highlighted. The use of global signal regression for denoising is also addressed. Finally, practical recommendations regarding the optimization of the preprocessing pipeline for the purpose of denoising and future venues of research are indicated. Through the review, we summarize the importance of signal denoising as an essential step in the analysis pipeline of task-based and resting state fMRI studies.This work was supported by the Spanish Ministry of Economy and Competitiveness [Grant PSI 2013–42343 Neuroimagen Multimodal], the Severo Ochoa Programme for Centres/Units of Excellence in R & D [SEV-2015-490], and the research and writing of the paper were supported by the NIMH and NINDS Intramural Research Programs (ZICMH002888) of the NIH/HHS

Medical Imaging of Microrobots: Toward In Vivo Applications

Medical microrobots (MRs) have been demonstrated for a variety of non-invasive biomedical applications, such as tissue engineering, drug delivery, and assisted fertilization, among others. However, most of these demonstrations have been carried out in in vitro settings and under optical microscopy, being significantly different from the clinical practice. Thus, medical imaging techniques are required for localizing and tracking such tiny therapeutic machines when used in medical-relevant applications. This review aims at analyzing the state of the art of microrobots imaging by critically discussing the potentialities and limitations of the techniques employed in this field. Moreover, the physics and the working principle behind each analyzed imaging strategy, the spatiotemporal resolution, and the penetration depth are thoroughly discussed. The paper deals with the suitability of each imaging technique for tracking single or swarms of MRs and discusses the scenarios where contrast or imaging agent's inclusion is required, either to absorb, emit, or reflect a determined physical signal detected by an external system. Finally, the review highlights the existing challenges and perspective solutions which could be promising for future in vivo applications

Imagerie du tenseur de diffusion du cerveau : vers des outils cliniques quantitatifs

The thesis explores three major methodological questions in clinical brain DTI, in the context of a clinical study on HIV. The first question is how to improve the DTI resolution. The second problem addressed in the thesis is how to create a multimodal population specific atlas. The third question is on the computation of statistics to compare white matter (WM) regions among controls and HIV patients. Clinical DTIs have low spatial resolution and signal-to-noise ratio making it difficult to compute meaningful statistics. We propose a super-resolution (SRR) algorithm for improving DTI resolution. The SRR is achieved using anisotropic regularization prior. This method demonstrates improved fractional anisotropy and tractography. In order to spatially normalize all images in a consistent coordinate system, we create a multimodal population specific brain atlas using the T1 and DTI images from a HIV dataset. We also transfer WM labels from an existing white matter parcellation map to create probabilistic WM atlas. This atlas can be used for region of interest based statistics and refining manual segmentation. On the statistical analysis side, we improve the existing tract based spatial statistics (TBSS) by using DTI based registration for spatial normalization. Contrary to traditional TBSS routines, we use multivariate statistics for detecting changes in WM tracts. With the improved method it is possible to detect differences in WM regions and correlate it with the neuropschylogical test scores of the subjects.La thèse explore trois questions méthodologiques en imagerie de diffusion (DTI) clinique du cerveau, dans le contexte d’une étude sur le VIH. La première question est comment améliorer la résolution du DTI. Le deuxième problème est comment créer un atlas multimodal spécifique à la population. La troisième question porte sur le calcul des statistiques pour comparer les zones de matière blanche entre les contrôles et patients. Les DTI cliniques ont une résolution spatiale et un rapport signal sur bruit faibles, ce qui rend difficile le calcul de statistiques significatives. Nous proposons un algorithme de super-résolution pour améliorer la résolution qui utilise un a priori spatial anisotrope. Cette méthode démontre une amélioration de l’anisotropie fractionnelle et de la tractographie. Pour normaliser spatialement les images du cerveau dans un système de coordonnées commun, nous proposons ensuite de construire un atlas multimodal spécifique á la population. Ceci permet de créer un atlas probabiliste de la matière blanche qui est consistant avec l’atlas anatomique. Cet atlas peut être utilisé pour des statistiques basées sur des régions d’intérêt ou pour le raffinement d’une segmentation. Enfin, nous améliorons les résultats de la méthode TBSS (Tract-Based Spatial Statistics) en utilisant le recalage des images DTI. Contrairement á la méthode TBSS traditionnelle, nous utilisons ici des statistiques multivariées. Nous montrons que ceci permet de détecter des différences dans les régions de matière blanche qui étaient non significatives auparavant, et de les corréler avec les scores des tests neuropsychologiques