Predicting the impacts of climate change on a globally distributed species: the case of the loggerhead turtle

© Company of Biologists. Post print version deposited in accordance with SHERPA RoMEO guidelines. The definitive version is available at: http://jeb.biologists.org/content/213/6/901.shortMarine turtles utilise terrestrial and marine habitats and several aspects of their life history are tied to environmental features that are altering due to rapid climate change. We overview the likely impacts of climate change on the biology of these species, which are likely centred upon the thermal ecology of this taxonomic group. Then, focusing in detail on three decades of research on the loggerhead turtle (Caretta caretta L.), we describe how much progress has been made to date and how future experimental and ecological focus should be directed. Key questions include: what are the current hatchling sex ratios from which to measure future climate-induced changes? What are wild adult sex ratios and how many males are necessary to maintain a fertile and productive population? How will climate change affect turtles in terms of their distribution

Assessing the importance of Isle of Man waters for the basking shark Cetorhinus maximus

This is the final version. Available on open access from Inter Research via the DOI in this recordSatellite tracking of endangered or threatened animals can facilitate informed conservation by revealing priority areas for their protection. Basking sharks (Cetorhinus maximus, n=11) were tagged during the summers of 2013, 2015, 2016 and 2017 in the Isle of Man (IoM; median tracking duration 378 days (range: 89-804 days); median minimum straight-line distance travelled 541 km (range: 170-10,406 km). Tracking revealed three movement patterns: (i) coastal movements within IoM and Irish waters, (ii) summer northward movements to Scotland and Norway and (iii) international movements to Morocco and Norway. One tagged shark was bycaught and released alive in the Celtic Sea. Basking sharks displayed inter-annual site fidelity to the Irish Sea (n=3), a Marine Nature Reserve (MNR) in IoM waters (n=1), and Moroccan waters (n=1). Core distribution areas (50% kernel density estimation) of five satellite tracked sharks in IoM waters were compared with 3,902 public sightings between 2005 and 2017, highlighting West and South coast hotspots. Location data gathered from satellite tagging broadly corresponds to the current boundaries of MNRs in Manx waters. However, minor modifications of some MNR boundaries would incorporate ~20% more satellite tracking location data from this study, and protective measures for basking sharks in IoM waters could further aid conservation of the species at a local, regional and international scale. We also show the first documented movement of a basking shark from the British Isles to Norway, and the longest ever track for a tagged basking shark (two years and two months, 804 days)

Pinnipeds, people and photo identification: the implications of grey seal movements for effective management of the species

This is the author accepted manuscript. The final version is available from Cambridge University Press via the DOI in this record.Grey seals (Halichoerus grypus) of the North-east Atlantic are protected at designated European Marine Sites (Special Areas of Conservation, SACs) typically during their reproductive periods and in the UK at Sites of Special Scientific Interest (SSSI). As a mobile marine species, grey seals spend other parts of their annual life cycle in non-designated habitat. There is limited information on individual grey seal movements in south-west England. Citizen science photo identification (PID) revealed the movements of 477 grey seals at a regional scale (54 haul-outs up to 230 km apart) for over a decade. Reconstructed movements showed considerable individual variability. Four SACs were linked to up to 18 non-designated sites and two SSSIs in Cornwall were linked to a maximum of 41 non-designated sites. Observations support the value of existing SSSIs at both the well-connected West and North Cornwall sites. Thirteen Marine Protected Areas (MPAs) were visited by grey seals from four SACs and two SSSIs in Cornwall. As a mobile species, grey seals could be included in English MPA management plans. The application of functional linkage from SACs and SSSIs, informed by the movements evidenced in this research, could aid management efforts. This analysis reveals grey seal movements occur across a complex network of interconnected designated and non-designated sites that need to be managed holistically for this species for which the UK has a special responsibility

Registration of Untracked 2D Laparoscopic Ultrasound to CT Images of the Liver using Multi-Labelled Content-Based Image Retrieval

Laparoscopic Ultrasound (LUS) is recommended as a standard-of-care when performing laparoscopic liver resections as it images sub-surface structures such as tumours and major vessels. Given that LUS probes are difficult to handle and some tumours are iso-echoic, registration of LUS images to a pre-operative CT has been proposed as an image-guidance method. This registration problem is particularly challenging due to the small field of view of LUS, and usually depends on both a manual initialisation and tracking to compose a volume, hindering clinical translation. In this paper, we extend a proposed registration approach using Content-Based Image Retrieval (CBIR), removing the requirement for tracking or manual initialisation. Pre-operatively, a set of possible LUS planes is simulated from CT and a descriptor generated for each image. Then, a Bayesian framework is employed to estimate the most likely sequence of CT simulations that matches a series of LUS images. We extend our CBIR formulation to use multiple labelled objects and constrain the registration by separating liver vessels into portal vein and hepatic vein branches. The value of this new labeled approach is demonstrated in retrospective data from 5 patients. Results show that, by including a series of 5 untracked images in time, a single LUS image can be registered with accuracies ranging from 5.7 to 16.4 mm with a success rate of 78%. Initialisation of the LUS to CT registration with the proposed framework could potentially enable the clinical translation of these image fusion techniques

Tumour auto-contouring on 2d cine MRI for locally advanced lung cancer: A comparative study

BACKGROUND AND PURPOSE: Radiotherapy guidance based on magnetic resonance imaging (MRI) is currently becoming a clinical reality. Fast 2d cine MRI sequences are expected to increase the precision of radiation delivery by facilitating tumour delineation during treatment. This study compares four auto-contouring algorithms for the task of delineating the primary tumour in six locally advanced (LA) lung cancer patients. MATERIAL AND METHODS: Twenty-two cine MRI sequences were acquired using either a balanced steady-state free precession or a spoiled gradient echo imaging technique. Contours derived by the auto-contouring algorithms were compared against manual reference contours. A selection of eight image data sets was also used to assess the inter-observer delineation uncertainty. RESULTS: Algorithmically derived contours agreed well with the manual reference contours (median Dice similarity index: ⩾0.91). Multi-template matching and deformable image registration performed significantly better than feature-driven registration and the pulse-coupled neural network (PCNN). Neither MRI sequence nor image orientation was a conclusive predictor for algorithmic performance. Motion significantly degraded the performance of the PCNN. The inter-observer variability was of the same order of magnitude as the algorithmic performance. CONCLUSION: Auto-contouring of tumours on cine MRI is feasible in LA lung cancer patients. Despite large variations in implementation complexity, the different algorithms all have relatively similar performance

In vivo estimation of target registration errors during augmented reality laparoscopic surgery

PURPOSE: Successful use of augmented reality for laparoscopic surgery requires that the surgeon has a thorough understanding of the likely accuracy of any overlay. Whilst the accuracy of such systems can be estimated in the laboratory, it is difficult to extend such methods to the in vivo clinical setting. Herein we describe a novel method that enables the surgeon to estimate in vivo errors during use. We show that the method enables quantitative evaluation of in vivo data gathered with the SmartLiver image guidance system. METHODS: The SmartLiver system utilises an intuitive display to enable the surgeon to compare the positions of landmarks visible in both a projected model and in the live video stream. From this the surgeon can estimate the system accuracy when using the system to locate subsurface targets not visible in the live video. Visible landmarks may be either point or line features. We test the validity of the algorithm using an anatomically representative liver phantom, applying simulated perturbations to achieve clinically realistic overlay errors. We then apply the algorithm to in vivo data. RESULTS: The phantom results show that using projected errors of surface features provides a reliable predictor of subsurface target registration error for a representative human liver shape. Applying the algorithm to in vivo data gathered with the SmartLiver image-guided surgery system shows that the system is capable of accuracies around 12 mm; however, achieving this reliably remains a significant challenge. CONCLUSION: We present an in vivo quantitative evaluation of the SmartLiver image-guided surgery system, together with a validation of the evaluation algorithm. This is the first quantitative in vivo analysis of an augmented reality system for laparoscopic surgery

Global rigid registration of CT to video in laparoscopic liver surgery

PURPOSE: Image-guidance systems have the potential to aid in laparoscopic interventions by providing sub-surface structure information and tumour localisation. The registration of a preoperative 3D image with the intraoperative laparoscopic video feed is an important component of image guidance, which should be fast, robust and cause minimal disruption to the surgical procedure. Most methods for rigid and non-rigid registration require a good initial alignment. However, in most research systems for abdominal surgery, the user has to manually rotate and translate the models, which is usually difficult to perform quickly and intuitively. METHODS: We propose a fast, global method for the initial rigid alignment between a 3D mesh derived from a preoperative CT of the liver and a surface reconstruction of the intraoperative scene. We formulate the shape matching problem as a quadratic assignment problem which minimises the dissimilarity between feature descriptors while enforcing geometrical consistency between all the feature points. We incorporate a novel constraint based on the liver contours which deals specifically with the challenges introduced by laparoscopic data. RESULTS: We validate our proposed method on synthetic data, on a liver phantom and on retrospective clinical data acquired during a laparoscopic liver resection. We show robustness over reduced partial size and increasing levels of deformation. Our results on the phantom and on the real data show good initial alignment, which can successfully converge to the correct position using fine alignment techniques. Furthermore, since we can pre-process the CT scan before surgery, the proposed method runs faster than current algorithms. CONCLUSION: The proposed shape matching method can provide a fast, global initial registration, which can be further refined by fine alignment methods. This approach will lead to a more usable and intuitive image-guidance system for laparoscopic liver surgery

Hand-eye calibration for rigid laparoscopes using an invariant point

PURPOSE: Laparoscopic liver resection has significant advantages over open surgery due to less patient trauma and faster recovery times, yet it can be difficult due to the restricted field of view and lack of haptic feedback. Image guidance provides a potential solution but one current challenge is in accurate "hand-eye" calibration, which determines the position and orientation of the laparoscope camera relative to the tracking markers. METHODS: In this paper, we propose a simple and clinically feasible calibration method based on a single invariant point. The method requires no additional hardware, can be constructed by theatre staff during surgical setup, requires minimal image processing and can be visualised in real time. Real-time visualisation allows the surgical team to assess the calibration accuracy before use in surgery. In addition, in the laboratory, we have developed a laparoscope with an electromagnetic tracking sensor attached to the camera end and an optical tracking marker attached to the distal end. This enables a comparison of tracking performance. RESULTS: We have evaluated our method in the laboratory and compared it to two widely used methods, "Tsai's method" and "direct" calibration. The new method is of comparable accuracy to existing methods, and we show RMS projected error due to calibration of 1.95 mm for optical tracking and 0.85 mm for EM tracking, versus 4.13 and 1.00 mm respectively, using existing methods. The new method has also been shown to be workable under sterile conditions in the operating room. CONCLUSION: We have proposed a new method of hand-eye calibration, based on a single invariant point. Initial experience has shown that the method provides visual feedback, satisfactory accuracy and can be performed during surgery. We also show that an EM sensor placed near the camera would provide significantly improved image overlay accuracy

High rates of growth recorded for hawksbill sea turtles in Anegada, British Virgin Islands.

Management of species of conservation concern requires knowledge of demographic parameters, such as rates of recruitment, survival, and growth. In the Caribbean, hawksbill turtles (Eretmochelys imbricata) have been historically exploited in huge numbers to satisfy trade in their shells and meat. In the present study, we estimated growth rate of juvenile hawksbill turtles around Anegada, British Virgin Islands, using capture-mark-recapture of 59 turtles over periods of up to 649 days. Turtles were recaptured up to six times, having moved up to 5.9 km from the release location. Across all sizes, turtles grew at an average rate of 9.3 cm year(-1) (range 2.3-20.3 cm year(-1)), and gained mass at an average of 3.9 kg year(-1) (range 850 g-16.1 kg year(-1)). Carapace length was a significant predictor of growth rate and mass gain, but there was no relationship between either variable and sea surface temperature. These are among the fastest rates of growth reported for this species, with seven turtles growing at a rate that would increase their body size by more than half per year (51-69% increase in body length). This study also demonstrates the importance of shallow water reef systems for the developmental habitat for juvenile hawksbill turtles. Although growth rates for posthatching turtles in the pelagic, and turtles larger than 61 cm, are not known for this population, the implications of this study are that Caribbean hawksbill turtles in some areas may reach body sizes suggesting sexual maturity in less time than previously considered.This work was part funded by the UK Darwin Initiative (Project Ref. No. 162/12/023), NERC and the Japan Bekko Association. LAH is supported by Streamlining of Ocean Wavefarms Impact Assessment (SOWFIA) project and MJW was in receipt of a Natural Environment Research Council (NERC) PhD studentship (NER/S/A/ 2004/12980) during the fieldwork. We thank the BVI National Parks Trust for their support and assistance. All work was sanctioned by the Conservation and Fisheries Department of the British Virgin Islands Government