6,076 research outputs found
Framework for a low-cost intra-operative image-guided neuronavigator including brain shift compensation
In this paper we present a methodology to address the problem of brain tissue
deformation referred to as 'brain-shift'. This deformation occurs throughout a
neurosurgery intervention and strongly alters the accuracy of the
neuronavigation systems used to date in clinical routine which rely solely on
pre-operative patient imaging to locate the surgical target, such as a tumour
or a functional area. After a general description of the framework of our
intra-operative image-guided system, we describe a procedure to generate
patient specific finite element meshes of the brain and propose a biomechanical
model which can take into account tissue deformations and surgical procedures
that modify the brain structure, like tumour or tissue resection
A fast and robust patient specific Finite Element mesh registration technique: application to 60 clinical cases
Finite Element mesh generation remains an important issue for patient
specific biomechanical modeling. While some techniques make automatic mesh
generation possible, in most cases, manual mesh generation is preferred for
better control over the sub-domain representation, element type, layout and
refinement that it provides. Yet, this option is time consuming and not suited
for intraoperative situations where model generation and computation time is
critical. To overcome this problem we propose a fast and automatic mesh
generation technique based on the elastic registration of a generic mesh to the
specific target organ in conjunction with element regularity and quality
correction. This Mesh-Match-and-Repair (MMRep) approach combines control over
the mesh structure along with fast and robust meshing capabilities, even in
situations where only partial organ geometry is available. The technique was
successfully tested on a database of 5 pre-operatively acquired complete femora
CT scans, 5 femoral heads partially digitized at intraoperative stage, and 50
CT volumes of patients' heads. The MMRep algorithm succeeded in all 60 cases,
yielding for each patient a hex-dominant, Atlas based, Finite Element mesh with
submillimetric surface representation accuracy, directly exploitable within a
commercial FE software
Modelling mitral valvular dynamics–current trend and future directions
Dysfunction of mitral valve causes morbidity and premature mortality and remains a leading medical problem worldwide. Computational modelling aims to understand the biomechanics of human mitral valve and could lead to the development of new treatment, prevention and diagnosis of mitral valve diseases. Compared with the aortic valve, the mitral valve has been much less studied owing to its highly complex structure and strong interaction with the blood flow and the ventricles. However, the interest in mitral valve modelling is growing, and the sophistication level is increasing with the advanced development of computational technology and imaging tools. This review summarises the state-of-the-art modelling of the mitral valve, including static and dynamics models, models with fluid-structure interaction, and models with the left ventricle interaction. Challenges and future directions are also discussed
Virtual reality surgery simulation: A survey on patient specific solution
For surgeons, the precise anatomy structure and its dynamics are important in the surgery interaction, which is critical for generating the immersive experience in VR based surgical training applications. Presently, a normal therapeutic scheme might not be able to be straightforwardly applied to a specific patient, because the diagnostic results are based on averages, which result in a rough solution. Patient Specific Modeling (PSM), using patient-specific medical image data (e.g. CT, MRI, or Ultrasound), could deliver a computational anatomical model. It provides the potential for surgeons to practice the operation procedures for a particular patient, which will improve the accuracy of diagnosis and treatment, thus enhance the prophetic ability of VR simulation framework and raise the patient care. This paper presents a general review based on existing literature of patient specific surgical simulation on data acquisition, medical image segmentation, computational mesh generation, and soft tissue real time simulation
What has finite element analysis taught us about diabetic foot disease and its management?:a systematic review
Over the past two decades finite element (FE) analysis has become a popular tool for researchers seeking to simulate the biomechanics of the healthy and diabetic foot. The primary aims of these simulations have been to improve our understanding of the foot's complicated mechanical loading in health and disease and to inform interventions designed to prevent plantar ulceration, a major complication of diabetes. This article provides a systematic review and summary of the findings from FE analysis-based computational simulations of the diabetic foot.A systematic literature search was carried out and 31 relevant articles were identified covering three primary themes: methodological aspects relevant to modelling the diabetic foot; investigations of the pathomechanics of the diabetic foot; and simulation-based design of interventions to reduce ulceration risk.Methodological studies illustrated appropriate use of FE analysis for simulation of foot mechanics, incorporating nonlinear tissue mechanics, contact and rigid body movements. FE studies of pathomechanics have provided estimates of internal soft tissue stresses, and suggest that such stresses may often be considerably larger than those measured at the plantar surface and are proportionally greater in the diabetic foot compared to controls. FE analysis allowed evaluation of insole performance and development of new insole designs, footwear and corrective surgery to effectively provide intervention strategies. The technique also presents the opportunity to simulate the effect of changes associated with the diabetic foot on non-mechanical factors such as blood supply to local tissues.While significant advancement in diabetic foot research has been made possible by the use of FE analysis, translational utility of this powerful tool for routine clinical care at the patient level requires adoption of cost-effective (both in terms of labour and computation) and reliable approaches with clear clinical validity for decision making
Surgical GPS Proof of Concept for Scoliosis Surgery
Scoliotic deformities may be addressed with either anterior or posterior approaches for scoliosis correction procedures. While typically quite invasive, the impact of these operations may be reduced through the use of computer-assisted surgery. A combination of physician-designated anatomical landmarks and surgical ontologies allows for real-time intraoperative guidance during computer-assisted surgical interventions. Predetermined landmarks are labeled on an identical patient model, which seeks to encompass vertebrae, intervertebral disks, ligaments, and other soft tissues. The inclusion of this anatomy permits the consideration of hypothetical forces that are previously not well characterized in a patient-specific manner. Updated ontologies then suggest procedural directions throughout the surgical corridor, observing the positioning of both the physician and the anatomical landmarks of interest at the present moment. Merging patient-specific models, physician-designated landmarks, and ontologies to produce real-time recommendations magnifies the successful outcome of scoliosis correction through enhanced pre-surgical planning, reduced invasiveness, and shorted recovery time
Patient-specific simulation for autonomous surgery
An Autonomous Robotic Surgical System (ARSS) has to interact with the complex anatomical environment, which is deforming and whose properties are often uncertain. Within this context, an ARSS can benefit from the availability of patient-specific simulation of the anatomy. For example, simulation can provide a safe and controlled environment for the design, test and validation of the autonomous capabilities. Moreover, it can be used to generate large amounts of patient-specific data that can be exploited to learn models and/or tasks. The aim of this Thesis is to investigate the different ways in which simulation can support an ARSS and to propose solutions to favor its employability in robotic surgery. We first address all the phases needed to create such a simulation, from model choice in the pre-operative phase based on the available knowledge to its intra-operative update to compensate for inaccurate parametrization. We propose to rely on deep neural networks trained with synthetic data both to generate a patient-specific model and to design a strategy to update model parametrization starting directly from intra-operative sensor data. Afterwards, we test how simulation can assist the ARSS, both for task learning and during task execution. We show that simulation can be used to efficiently train approaches that require multiple interactions with the environment, compensating for the riskiness to acquire data from real surgical robotic systems. Finally, we propose a modular framework for autonomous surgery that includes deliberative functions to handle real anatomical environments with uncertain parameters. The integration of a personalized simulation proves fundamental both for optimal task planning and to enhance and monitor real execution. The contributions presented in this Thesis have the potential to introduce significant step changes in the development and actual performance of autonomous robotic surgical systems, making them closer to applicability to real clinical conditions
Medical image computing and computer-aided medical interventions applied to soft tissues. Work in progress in urology
Until recently, Computer-Aided Medical Interventions (CAMI) and Medical
Robotics have focused on rigid and non deformable anatomical structures.
Nowadays, special attention is paid to soft tissues, raising complex issues due
to their mobility and deformation. Mini-invasive digestive surgery was probably
one of the first fields where soft tissues were handled through the development
of simulators, tracking of anatomical structures and specific assistance
robots. However, other clinical domains, for instance urology, are concerned.
Indeed, laparoscopic surgery, new tumour destruction techniques (e.g. HIFU,
radiofrequency, or cryoablation), increasingly early detection of cancer, and
use of interventional and diagnostic imaging modalities, recently opened new
challenges to the urologist and scientists involved in CAMI. This resulted in
the last five years in a very significant increase of research and developments
of computer-aided urology systems. In this paper, we propose a description of
the main problems related to computer-aided diagnostic and therapy of soft
tissues and give a survey of the different types of assistance offered to the
urologist: robotization, image fusion, surgical navigation. Both research
projects and operational industrial systems are discussed
Multiscale Modeling of Cardiovascular Flows
Simulations of blood flow in the cardiovascular system offer investigative and predictive capabilities to augment current clinical tools. Using image-based modeling, the Navier-Stokes equations can be solved to obtain detailed 3-dimensional hemodynamics in patient-specific anatomical models. Relevant parameters such as wall shear stress and particle residence times can then be calculated from the 3D results and correlated with clinical data for treatment planning and device evaluation. Reduced-order models such as open or closed loop 0D lumped-parameter models can simulate the dynamic behavior of the circulatory system using an analogy to electrical circuits. When coupled to 3D simulations as boundary conditions, they produce physiologically realistic pressure and flow conditions in the 3D domain. We describe fundamentals and current state of the art of patient-specific, multi-scale computational modeling approaches applied to cardiovascular disease. These tools enable investigations of hemodynamics reflecting individual patients physiology, and we provide several illustrative case studies. These methods can supplement current clinical measurement and imaging capabilities and provide predictions of patient outcomes for surgical planning and risk stratification
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