Bildverarbeitungsunterstützte Laserknochenablation am humanen Felsenbein

Für die Grenzflächenerhaltung am Innenohr als mikrochirurgische Herausforderung und wichtiger Schritt zur bestmöglichen Versorgung von Schwerhörigen mit Cochleaimplantaten wird in dieser Arbeit die bildbasierte Regelung während eines laserbasierten Knochenabtrages eingesetzt. Dabei wird der Aufbau des Systems, Bildverarbeitungsalgorithmen für die Grenzflächenerkennung, Planung, Simulation und Modellierung des mikrochirurgischen Knochenabtrages sowie die experimentelle Verifikation beschrieben

Fast and automatic depth control of iterative bone ablation based on optical coherence tomography data

Laser surgery is an established clinical procedure in dental applications, soft tissue ablation, and ophthalmology. The presented experimental set-up for closed-loop control of laser bone ablation addresses a feedback system and enables safe ablation towards anatomical structures that usually would have high risk of damage. This study is based on combined working volumes of optical coherence tomography (OCT) and Er:YAG cutting laser. High level of automation in fast image data processing and tissue treatment enables reproducible results and shortens the time in the operating room. For registration of the two coordinate systems a cross-like incision is ablated with the Er:YAG laser and segmented with OCT in three distances. The resulting Er:YAG coordinate system is reconstructed. A parameter list defines multiple sets of laser parameters including discrete and specific ablation rates as ablation model. The control algorithm uses this model to plan corrective laser paths for each set of laser parameters and dynamically adapts the distance of the laser focus. With this iterative control cycle consisting of image processing, path planning, ablation, and moistening of tissue the target geometry and desired depth are approximated until no further corrective laser paths can be set. The achieved depth stays within the tolerances of the parameter set with the smallest ablation rate. Specimen trials with fresh porcine bone have been conducted to prove the functionality of the developed concept. Flat bottom surfaces and sharp edges of the outline without visual signs of thermal damage verify the feasibility of automated, OCT controlled laser bone ablation with minimal process time. © SPIE-OSA

Stereo vision-based tracking of soft tissue motion with application to online ablation control in laser microsurgery

Recent research has revealed that image-based methods can enhance accuracy and safety in laser microsurgery. In this study, non-rigid tracking using surgical stereo imaging and its application to laser ablation is discussed. A recently developed motion estimation framework based on piecewise affine deformation modeling is extended by a mesh refinement step and considering texture information. This compensates for tracking inaccuracies potentially caused by inconsistent feature matches or drift. To facilitate online application of the method, computational load is reduced by concurrent processing and affine-invariant fusion of tracking and refinement results. The residual latency-dependent tracking error is further minimized by Kalman filter-based upsampling, considering a motion model in disparity space. Accuracy is assessed in laparoscopic, beating heart, and laryngeal sequences with challenging conditions, such as partial occlusions and significant deformation. Performance is compared with that of state-of-the-art methods. In addition, the online capability of the method is evaluated by tracking two motion patterns performed by a high-precision parallel-kinematic platform. Related experiments are discussed for tissue substitute and porcine soft tissue in order to compare performances in an ideal scenario and in a setup mimicking clinical conditions. Regarding the soft tissue trial, the tracking error can be significantly reduced from 0.72 mm to below 0.05 mm with mesh refinement. To demonstrate online laser path adaptation during ablation, the non-rigid tracking framework is integrated into a setup consisting of a surgical Er:YAG laser, a three-axis scanning unit, and a low-noise stereo camera. Regardless of the error source, such as laser-to-camera registration, camera calibration, image-based tracking, and scanning latency, the ablation root mean square error is kept below 0.21 mm when the sample moves according to the aforementioned patterns. Final experiments regarding motion-compensated laser ablation of structurally deforming tissue highlight the potential of the method for vision-guided laser surgery.EU/FP/-ICT/28866

Endoluminal non-contact soft tissue ablation using fiber-based Er:YAG laser delivery

The introduction of Er:YAG lasers for soft and hard tissue ablation has proven promising results over the last decades due to strong absorption at 2.94 μm wavelength by water molecules. An extension to endoluminal applications demands laser delivery without mirror arms due to dimensional constraints. Therefore, fiber-based solutions are advanced to provide exible access while keeping space requirements to a minimum. Conventional fiber-based treatments aim at laser-tissue interactions in contact mode. However, this procedure is associated with disadvantages such as advancing decrease in power delivery due to particle coverage of the fiber tip, tissue carbonization, and obstructed observation of the ablation progress. The objective of this work is to overcome aforementioned limitations with a customized fiber-based module for non-contact robot-assisted endoluminal surgery and its associated experimental evaluation. Up to the authors knowledge, this approach has not been presented in the context of laser surgery at 2.94 μm wavelength. The preliminary system design is composed of a 3D Er:YAG laser processing unit enabling automatic laser to fiber coupling, a GeO2 solid core fiber, and a customized module combining collimation and focusing unit (focal length of 20 mm, outer diameter of 8 mm). The performance is evaluated with studies on tissue substitutes (agar-agar) as well as porcine samples that are analysed by optical coherence tomography measurements. Cuts (depths up to 3mm) with minimal carbonization have been achieved under adequate moistening and sample movement (1.5mms-1). Furthermore, an early cadaver study is presented. Future work aims at module miniaturization and integration into an endoluminal robot for scanning and focus adaptation. © 2016 SPIE

Semantic denoising autoencoders for retinal optical coherence tomography

Noise in speckle-prone optical coherence tomography tends to obfuscate important details necessary for medical diagnosis. In this paper, a denoising approach that preserves disease characteristics on retinal optical coherence tomography images in ophthalmology is presented. We propose semantic denoising autoencoders, which combine a convolutional denoising autoencoder with a priorly trained ResNet image classifier as regularizer during training. This promotes the perceptibility of delicate details in the denoised images that are important for diagnosis and filters out only informationless background noise. With our approach, higher peak signal-to-noise ratios with PSNR = 31.0 dB and higher classification performance of F1 = 0.92 can be achieved for denoised images compared to state-of-the-art denoising. It is shown that semantically regularized autoencoders are capable of denoising retinal OCT images without blurring details of diseases

Methods for intraoperative, sterile pose-setting of patient-specific microstereotactic frames

This work proposes new methods for a microstereotactic frame based on bone cement fixation. Microstereotactic frames are under investigation for minimal invasive temporal bone surgery, e.g. cochlear implantation, or for deep brain stimulation, where products are already on the market. The correct pose of the microstereotactic frame is either adjusted outside or inside the operating room and the frame is used for e.g. drill or electrode guidance. We present a patientspecific, disposable frame that allows intraoperative, sterile pose-setting. Key idea of our approach is bone cement between two plates that cures while the plates are positioned with a mechatronics system in the desired pose. This paper includes new designs of microstereotactic frames, a system for alignment and first measurements to analyze accuracy and applicable load. © 2015 SPIE

Methods for a fusion of Optical Coherence Tomography and stereo camera image data

This work investigates combination of Optical Coherence Tomography and two cameras, observing a microscopic scene. Stereo vision provides realistic images, but is limited in terms of penetration depth. Optical Coherence Tomography (OCT) enables access to subcutaneous structures, but 3D-OCT volume data do not give the surgeon a familiar view. The extension of the stereo camera setup with OCT imaging combines the benefits of both modalities. In order to provide the surgeon with a convenient integration of OCT into the vision interface, we present an automated image processing analysis of OCT and stereo camera data as well as combined imaging as augmented reality visualization. Therefore, we care about OCT image noise, perform segmentation as well as develop proper registration objects and methods. The registration between stereo camera and OCT results in a Root Mean Square error of 284 μm as average of five measurements. The presented methods are fundamental for fusion of both imaging modalities. Augmented reality is shown as application of the results. Further developments lead to fused visualization of subcutaneous structures, as information of OCT images, into stereo vision. © 2015 SPIE

Experimental visualization of labyrinthine structure with optical coherence tomography

Introduction: Visualization of inner ear structures is a valuable strategy for researchers and clinicians working on hearing pathologies. Optical coherence tomography (OCT) is a high-resolution imaging technology which may be used for the visualization of tissues. In this experimental study we aimed to evaluate inner ear anatomy in well-prepared human labyrinthine bones. Materials and Methods: Three fresh human explanted temporal bones were trimmed, chemically decalcified with ethylenediaminetetraacetic acid (EDTA), and mechanically drilled under visual control using OCT in order to reveal the remaining bone shell. After confirming decalcification with a computed tomography (CT) scan, the samples were scanned with OCT in different views. The oval window, round window, and remnant part of internal auditory canal and cochlear turn were investigated. Results: Preparation of the labyrinthine bone and visualization under OCT guidance was successfully performed to a remaining bony layer of 300μm thickness. OCT images of the specimen allowed a detailed view of the intra-cochlear anatomy. Conclusion: OCT is applicable in the well-prepared human inner ear and allows visualization of soft tissue parts.DFG/EXC/Hearing4allDFG/MA 4038/3-2Institute of Mechatronic System (IMES) OCT II/OR 196/17-

An actuated larynx phantom for pre-clinical evaluation of droplet-based reflex-stimulating laryngoscopes

The laryngeal adductor reflex (LAR) is an important protective function of the larynx to prevent aspiration and potentially fatal aspiration pneumonia by rapidly closing the glottis. Recently, a novel method for targeted stimulation and evaluation of the LAR has been proposed to enable non-invasive and reproducible LAR performance grading and to extend the understanding of this reflexive mechanism. The method relies on the laryngoscopically controlled application of accelerated water droplets in association with a high-speed camera system for LAR stimulation site and reflex onset latency identification. Prototype laryngoscopes destined for this method require validation prior to extensive clinical trials. Furthermore, demonstrations using a realistic phantom could increase patient compliance in future clinical settings. For these purposes, a model of the human larynx including vocal fold actuation for LAR simulation was developed in this work. The combination of image processing based on a custom algorithm and individual motorization of each vocal fold enables spatio-temporal droplet impact detection and controlled vocal fold adduction. To simulate different LAR pathologies, the current implementation allows to individually adjust the reflex onset latency of the ipsi- and contralateral vocal fold with respect to the automatically detected impact location of the droplet as well as the maximum adduction angle of each vocal fold. An experimental study of the temporal offset between desired and observed LAR onset latency due to image processing was performed for three average droplet masses based on highspeed recordings of the phantom. Median offsets of 100, 120 and 128 ms were found (n=16). This offset most likely has a multifactorial cause (image processing delay, inertia of the mechanical components, droplet motion). The observed offset increased with increasing droplet mass, as fluid oscillations after impact may have been detected as motion. In future work, alternative methods for droplet impact detection could be explored and the observed offset could be used for compensation of this undesirable delay

Forces and trauma associated with minimally invasive image-guided cochlear implantation

Objective. Minimally invasive image-guided cochlear implantation (CI) utilizes a patient-customized microstereotactic frame to access the cochlea via a single drill-pass. We investigate the average force and trauma associated with the insertion of lateral wall CI electrodes using this technique. Study Design. Assessment using cadaveric temporal bones. Setting. Laboratory setup. Subjects and Methods. Microstereotactic frames for 6 fresh cadaveric temporal bones were built using CT scans to determine an optimal drill path following which drilling was performed. CI electrodes were inserted using surgical forceps to manually advance the CI electrode array, via the drilled tunnel, into the cochlea. Forces were recorded using a 6-axis load sensor placed under the temporal bone during the insertion of lateral wall electrode arrays (2 each of Nucleus CI422, MED-EL standard, and modified MED-EL electrodes with stiffeners). Tissue histology was performed by microdissection of the otic capsule and apical photo documentation of electrode position and intracochlear tissue. Results. After drilling, CT scanning demonstrated successful access to cochlea in all 6 bones. Average insertion forces ranged from 0.009 to 0.078 N. Peak forces were in the range of 0.056 to 0.469 N. Tissue histology showed complete scala tympani insertion in 5 specimens and scala vestibuli insertion in the remaining specimen with depth of insertion ranging from 360° to 600°. No intracochlear trauma was identified. Conclusion. The use of lateral wall electrodes with the minimally invasive image-guided CI approach was associated with insertion forces comparable to traditional CI surgery. Deep insertions were obtained without identifiable trauma. © American Academy of Otolaryngology-Head and Neck Surgery Foundation 2014