Towards a First-Person Perspective Mixed Reality Guidance System for Needle Interventions

While ultrasound (US) guidance has been used during central venous catheterization to reduce complications, including the puncturing of arteries, the rate of such problems remains non-negligible. To further reduce complication rates, mixed-reality systems have been proposed as part of the user interface for such procedures. We demonstrate the use of a surgical navigation system that renders a calibrated US image, and the needle and its trajectory, in a common frame of reference. We compare the effectiveness of this system, whereby images are rendered on a planar monitor and within a head-mounted display (HMD), to the standard-of-care US-only approach, via a phantom-based user study that recruited 31 expert clinicians and 20 medical students. These users performed needle-insertions into a phantom under the three modes of visualization. The success rates were significantly improved under HMD-guidance as compared to US-guidance, for both expert clinicians (94% vs. 70%) and medical students (70% vs. 25%). Users more consistently positioned their needle closer to the center of the vessel’s lumen under HMD-guidance compared to US-guidance. The performance of the clinicians when interacting with this monitor system was comparable to using US-only guidance, with no significant difference being observed across any metrics. The results suggest that the use of an HMD to align the clinician’s visual and motor fields promotes successful needle guidance, highlighting the importance of continued HMD-guidance research

3D Localization of Vena Contracta using Doppler ICE Imaging in Tricuspid Valve Interventions

PURPOSE: Tricuspid valve (TV) interventions face the challenge of imaging the anatomy and tools because of the ‘TEE-unfriendly’ nature of the TV. In edge-to-edge TV repair, a core step is to position the clip perpendicular to the coaptation gap. In this study, we provide a semi-automated method to localize the VC from Doppler intracardiac echo (ICE) imaging in a tracked 3D space, thus providing a pre-mapped location of the coaptation gap to assist device positioning. METHODS: A magnetically tracked ICE probe with Doppler imaging capabilities is employed in this study for imaging three patient-specific TVs placed in a pulsatile heart phantom. For each of the valves, the ICE probe is positioned to image the maximum regurgitant flow for five cardiac cycles. An algorithm then extracts the regurgitation imaging and computes the exact location of the vena contracta on the image. RESULTS: Across the three pathological, patient-specific valves, the average distance error between the detected VC and the ground truth model is [Formula: see text] mm. For each of the valves, one case represented the outlier where the algorithm misidentified the vena contracta to be near the annulus. In such cases, it is recommended to retake the five-second imaging data. CONCLUSION: This study presented a method for ultrasound-based localization of vena contracta in 3D space. Mapping such anatomical landmarks has the potential to assist with device positioning and to simplify tricuspid valve interventions by providing more contextual information to the interventionalists, thus enhancing their spatial awareness. Additionally, ICE can be used to provide live US and Doppler imaging of the complex TV anatomy throughout the procedure

Multi-View 3D Transesophageal Echocardiography Registration and Volume Compounding for Mitral Valve Procedure Planning

Three-dimensional ultrasound mosaicing can increase image quality and expand the field of view. However, limited work has been done applying these compounded approaches for cardiac procedures focused on the mitral valve. For procedures targeting the mitral valve, transesophageal echocardiography (TEE) is the primary imaging modality used as it provides clear 3D images of the valve and surrounding tissues. However, TEE suffers from image artefacts and signal dropout, particularly for structures lying below the valve, including chordae tendineae, making it necessary to acquire alternative echo views to visualize these structures. Due to the limited field of view obtainable, the entire ventricle cannot be directly visualized in sufficient detail from a single image acquisition in 3D. We propose applying an image compounding technique to TEE volumes acquired from a mid-esophageal position and several transgastric positions in order to reconstruct a high-detail volume of the mitral valve and sub-valvular structures. This compounding technique utilizes both fully and semi-simultaneous group-wise registration to align the multiple 3D volumes, followed by a weighted intensity compounding step based on the monogenic signal. This compounding technique is validated using images acquired from two excised porcine mitral valve units and three patient data sets. We demonstrate that this compounding technique accurately captures the physical structures present, including the mitral valve, chordae tendineae and papillary muscles. The chordae length measurement error between the compounded ultrasound and ground-truth CT for two porcine valves is reported as 0.7 ± 0.6 mm and 0.6 ± 0.6 mm

Towards fluoro-free interventions: Using radial intracardiac ultrasound for vascular navigation

Transcatheter cardio-vascular interventions have the advantage of patient safety,reduced surgery time, and minimal trauma to the patient\u27s body. Transcathetherinterventions, which are performed percutaneously, suffer from the lack of direct line-of-sight with the surgical tools and the patient anatomy. Therefore, such interventionalprocedures rely heavily on image guidance for navigating towards and deliveringtherapy at the target site. Vascular navigation via the inferior vena cava (IVC), from thegroin to the heart, is an imperative part of most transcatheter cardiovascularinterventions such as valve repair surgeries and ablation therapy. Traditionally, the IVCis navigated using fluoroscopic techniques such as angiography or CT venography.These X-ray based techniques can have detrimental effects on the patient as well asthe surgical team, causing increased radiation exposure, increased risk of cancer, fetaldefects, eye cataracts. The use of heavy lead apron has also been reported to causeback pain and spine issues thus leading to interventionalist’s disc disease. We proposethe use of a catheter-based ultrasound augmented with electromagnetic (EM) trackingtechnology to generate a vascular roadmap in real-time and perform navigation withoutharmful radiation. In this pilot study, we use intracardiac echocardiography (ICE) and tracking technology to reconstruct a vessel from a phantom in a 3D virtual space. Thispaper presents a pilot phantom study on ICE-based vessel reconstruction anddemonstrates how the proposed ultrasound-based navigation will appear in a virtualspace, by navigating a tracked guidewire within the vessels in the phantom without anyradiation-based imaging. The geometric accuracy is assessed using a CT scan of thephantom, with a Dice coefficient of 0.79. The average distance between the surface ofthe two models comes out to be 1.7 ± 1.12mm

Atomic X-ray Spectroscopy of Accreting Black Holes

Current astrophysical research suggests that the most persistently luminous objects in the Universe are powered by the flow of matter through accretion disks onto black holes. Accretion disk systems are observed to emit copious radiation across the electromagnetic spectrum, each energy band providing access to rather distinct regimes of physical conditions and geometric scale. X-ray emission probes the innermost regions of the accretion disk, where relativistic effects prevail. While this has been known for decades, it also has been acknowledged that inferring physical conditions in the relativistic regime from the behavior of the X-ray continuum is problematic and not satisfactorily constraining. With the discovery in the 1990s of iron X-ray lines bearing signatures of relativistic distortion came the hope that such emission would more firmly constrain models of disk accretion near black holes, as well as provide observational criteria by which to test general relativity in the strong field limit. Here we provide an introduction to this phenomenon. While the presentation is intended to be primarily tutorial in nature, we aim also to acquaint the reader with trends in current research. To achieve these ends, we present the basic applications of general relativity that pertain to X-ray spectroscopic observations of black hole accretion disk systems, focusing on the Schwarzschild and Kerr solutions to the Einstein field equations. To this we add treatments of the fundamental concepts associated with the theoretical and modeling aspects of accretion disks, as well as relevant topics from observational and theoretical X-ray spectroscopy.Comment: 63 pages, 21 figures, Einstein Centennial Review Article, Canadian Journal of Physics, in pres

Large expert-curated database for benchmarking document similarity detection in biomedical literature search

Document recommendation systems for locating relevant literature have mostly relied on methods developed a decade ago. This is largely due to the lack of a large offline gold-standard benchmark of relevant documents that cover a variety of research fields such that newly developed literature search techniques can be compared, improved and translated into practice. To overcome this bottleneck, we have established the RElevant LIterature SearcH consortium consisting of more than 1500 scientists from 84 countries, who have collectively annotated the relevance of over 180 000 PubMed-listed articles with regard to their respective seed (input) article/s. The majority of annotations were contributed by highly experienced, original authors of the seed articles. The collected data cover 76% of all unique PubMed Medical Subject Headings descriptors. No systematic biases were observed across different experience levels, research fields or time spent on annotations. More importantly, annotations of the same document pairs contributed by different scientists were highly concordant. We further show that the three representative baseline methods used to generate recommended articles for evaluation (Okapi Best Matching 25, Term Frequency-Inverse Document Frequency and PubMed Related Articles) had similar overall performances. Additionally, we found that these methods each tend to produce distinct collections of recommended articles, suggesting that a hybrid method may be required to completely capture all relevant articles. The established database server located at https://relishdb.ict.griffith.edu.au is freely available for the downloading of annotation data and the blind testing of new methods. We expect that this benchmark will be useful for stimulating the development of new powerful techniques for title and title/abstract-based search engines for relevant articles in biomedical research.Peer reviewe

Endoscopic image enhancement with noise suppression

© 2018 Institution of Engineering and Technology.All right reserved. Stereoscopic endoscopes have been used increasingly in minimally invasive surgery to visualise the organ surface and manipulate various surgical tools. However, insufficient and irregular light sources become major challenges for endoscopic surgery. Not only do these conditions hinder image processing algorithms, sometimes surgical tools are barely visible when operating within low-light regions. In addition, low-light regions have low signal-to-noise ratio and metrication artefacts due to quantisation errors. As a result, present image enhancement methods usually suffer from heavy noise amplification in low-light regions. In this Letter, the authors propose an effective method for endoscopic image enhancement by identifying different illumination regions and designing the enhancement design criteria for desired image quality. Compared with existing image enhancement methods, the proposed method is able to enhance the low-light region while preventing noise amplification during image enhancement process. The proposed method is tested with 200 images acquired by endoscopic surgeries. Computed results show that the proposed algorithm can outperform state-of-the-art algorithms for image enhancement, in terms of naturalness image quality evaluator and illumination index

Acoustic characterization of polyvinyl chloride and self-healing silicone as phantom materials

© 2015 SPIE. Phantoms are physical constructs used in procedure planning, training, medical imaging research, and machine calibration. Depending on the application, the material a phantom is made out of is very important. With ultrasound imaging, phantom materials used need to have similar acoustic properties, specifically speed of sound and attenuation, as a specified tissue. Phantoms used with needle insertion require a material with a similar tensile strength as tissue and, if possible, the ability to self heal increasing its overall lifespan. Soft polyvinyl chloride (PVC) and silicone were tested as possible needle insertion phantom materials. Acoustic characteristics were determined using a time of flight technique, where a pulse was passed through a sample contained in a water bath. The speed of sound and attenuation were both determined manually and through spectral analysis. Soft PVC was determined to have a speed of sound of approximately 1395 m/s and attenuation of 0.441 dB/cm (at 1 MHz). For the silicone mixture, the respective speed of sound values was within a range of 964.7 m/s and 1250.0 m/s with an attenuation of 0.547 dB/cm (at 1 MHz)

Guided ultrasound calibration: where, how, and how many calibration fiducials

© 2016, CARS. Purpose: Many image-guided interventions rely on tracked ultrasound where the transducer is augmented with a tracking device. The relationship between the ultrasound image coordinate system and the tracking sensor must be determined accurately via probe calibration. We introduce a novel calibration framework guided by the prediction of target registration error (TRE): Between successive measurements of the calibration phantom, our framework guides the user in choosing the pose of the calibration phantom by optimizing TRE. Methods: We introduced an oriented line calibration phantom and modeled the ultrasound calibration process as a point-to-line registration problem. We then derived a spatial stiffness model of point-to-line registration for estimating TRE magnitude at any target. Assuming isotropic, identical localization error, we used the model to estimate TRE for each pixel using the current calibration estimate. We then searched through the calibration tool space to find the pose for the next fiducial which maximally minimized TRE. Results: Both simulation and experimental results suggested that TRE decreases monotonically, reaching an asymptote when a sufficient number of measurements (typically around 12) are made. Independent point reconstruction accuracy assessment showed sub-millimeter accuracy of the calibration framework. Conclusion: We have introduced the first TRE-guided ultrasound calibration framework. Using a hollow straw as an oriented line phantom, we virtually constructed a rigid lines phantom and modeled the calibration process as a point-to-line registration. Highly accurate calibration was achieved with minimal measurements by using a spatial stiffness model of TRE to strategically choose the pose of the calibration phantom between successive measurements