Registration of prostate surfaces for image-guided robotic surgery via the da Vinci System

Organ-confined prostate cancer represents a commonly diagnosed cancer among men rendering an early diagnosis and screening a necessity. The prostate laparoscopic surgery using the da Vinci system is a minimally invasive, computer assisted and image-guided surgery application that provides surgeons with (i) navigational assistance by displaying targeting lesions of the intraoperative prostate anatomy onto aligned preoperative high-field magnetic resonance imaging (MRI) scans of the pelvis; and (ii) an effective clinical management of intra-abdominal cancers in real time. Such an image guidance system can improve both functional and oncological outcomes as well as augment the learning curve of the process increasing simultaneously the eligibility of patients for surgical resection. By segmenting MRI scans into 3D models of intraprostatic anatomy preoperatively, and overlaying them onto 3D stereoendoscopic images acquired intraoperatively using the da Vinci surgical system, a graphical representation of intraoperative anatomy can be provided for surgical navigation. The preoperative MRI surfaces are full 3D models and the stereoendoscopic images represent partial 3D views of the prostate due to occlusion. Hence achieving an accurate non-rigid image registration of full prostate surfaces onto occluded ones in real time becomes of critical importance, especially for use intraoperatively with the stereoendoscopic and MRI imaging modalities. This work exploits the registration accuracy that can be achieved from the application of selected state-of-the-art non-rigid registration algorithms and in doing so identifies the most accurate technique(s) for registration of full prostate surfaces onto occluded ones; a series of rigorous computational registration experiments is performed on synthetic target prostate data, which are aligned manually onto the MRI prostate models before registration is initiated. This effort extends to using real target prostate data leading to visually acceptable non-rigid registration results. A great deal of emphasis is placed on examining the capacity of the selected non-rigid algorithms to recover the deformation of the intraoperative prostate surfaces; the deformation of prostate can become pronounced during the surgical intervention due to surgical-induced anatomical deformities and pathological or other factors. The warping accuracy of the non-rigid registration algorithms is measured within the space of common overlap (established between the full MRI model and the target scene) and beyond. From the results of the registrations to occluded and deformed prostate surfaces (in the space beyond common overlap) it is concluded that the modified versions of the Kernel Correlation/Thin-plane Spline (KC/TPS) and Gaussian Mixture Model/Thin-plane Spline (GMM/TPS) methodologies can provide the clinical accuracy required for image-guided prostate surgery procedures (performed by the da Vinci system) as long as the size of the target scene is greater than ca. 30% of the full MRI surface. For the modified KC/TPS and GMM/TPS non-rigid registration techniques to be clinically acceptable when the measurement noise is also included in the simulations: (i) the size of the target model must be greater than ca. 38% of the full MRI surface; (ii) the standard deviation σ of the contributing Gaussian noise must be less than 0.345 for μ=0; and (iii) the observed deformation must not be characterized by excessively increased complexity. Otherwise the contribution of Gaussian noise must be explicitly parameterized in the objective cost functions of these non-rigid algorithms. The Expectation Maximization/Thin-plane Spline (EM/TPS) non-rigid registration algorithm cannot recover the prostate surface deformation accurately in full-model-to-occluded-model registrations due to the way that the correspondences are estimated. However, EM/TPS is more accurate than KC+TPS and GMM+TPS in recovering the deformation of the prostate surface in full-model-to-full-model registrations

Wildfire monitoring via the integration of remote sensing with innovative information technologies

In the Institute for Space Applications and Remote Sensing of the National Observatory of Athens (ISARS/NOA) volumes of Earth Observation images of different spectral and spatial resolutions are being processed on a systematic basis to derive thematic products that cover a wide spectrum of applications during and after wildfire crisis, from fire detection and fire-front propagation monitoring, to damage assessment in the inflicted areas. The processed satellite imagery is combined with auxiliary geo-information layers, including land use/land cover, administrative boundaries, road and rail network, points of interest, and meteorological data to generate and validate added-value fire-related products. The service portfolio has become available to institutional End Users with a mandate to act on natural disasters and that have activated Emergency Support Services at a European level in the framework of the operational GMES projects SAFER and LinkER. Towards the goal of delivering integrated services for fire monitoring and management, ISARS/NOA employs observational capacities which include the operation of MSG/SEVIRI and NOAA/AVHRR receiving stations, NOA's in-situ monitoring networks for capturing meteorological parameters to generate weather forecasts, and datasets originating from the European Space Agency and third party satellite operators. The qualified operational activity of ISARS/NOA in the domain of wildfires management is highly enhanced by the integration of state-of-the-art Information Technologies that have become available in the framework of the TELEIOS (EC/ICT) project. TELEIOS aims at the development of fully automatic processing chains reliant on a) the effective storing and management of the large amount of EO and GIS data, b) the post-processing refinement of the fire products using semantics, and c) the creation of thematic maps and added-value services. The first objective is achieved with the use of advanced Array Database technologies, such as MonetDB, to enable efficiency in accessing large archives of image data and metadata in a fully transparent way, without worrying for their format, size, and location, as well as efficiency in processing such data using state-of-the-art implementations of image processing algorithms expressed in a high-level Scientific Query Language (SciQL). The product refinement is realized through the application of update operations that incorporate human evidence and human logic, with semantic content extracted from thematic information coming from auxiliary geo-information layers and sources, for reducing considerably the number of false alarms in fire detection, and improving the credibility of the burnt area assessment. The third objective is approached via the combination of the derived fire-products with Linked Geospatial Data, structured accordingly and freely available in the web, using Semantic Web technologies. These technologies are built on top of a robust and modular computational environment, to facilitate several wildfire applications to run efficiently, such as real-time fire detection, fire-front propagation monitoring, rapid burnt area mapping, after crisis detailed burnt scar mapping, and time series analysis of burnt areas. The approach adopted allows ISARS/NOA to routinely serve requests from the end-user community, irrespective of the area of interest and its extent, the observation time period, or the data volume involved, granting the opportunity to combine innovative IT solutions with remote sensing techniques and

Operational Wildfire Monitoring and Disaster Management Support Using State-of-the-art EO and Information Technologies

Fires have been one of the main driving forces in the evolution of plants and ecosystems, determining the current structure and composition of the Landscapes. However, significant alterations in the fire regime have occurred in the recent decades, primarily as a result of socioeconomic changes, increasing dramatically the catastrophic impacts of wildfires as it is reflected in the increase during the 20th century of both, number of fires and the annual area burnt. Therefore, the establishment of a permanent robust fire monitoring system is of paramount importance to implement an effective environmental management policy. Such an integrated system has been developed in the Institute for Space Applications and Remote Sensing of the National Observatory of Athens (ISARS/NOA). Volumes of Earth Observation images of different spectral and spatial resolutions are being processed on a systematic basis to derive thematic products that cover a wide spectrum of applications during and after wildfire crisis, from fire detection and fire-front propagation monitoring, to damage assessment in the inflicted areas. The processed satellite imagery is combined with auxiliary geo-information layers and meteorological data to generate and validate added-value fire-related products. The service portfolio has become available to institutional End Users with a mandate to act on natural disasters in the framework of the operational GMES projects SAFER and LinkER addressing fire emergency response and emergency support needs for the entire European Union. Towards the goal of delivering integrated services for fire monitoring and management, ISARS/NOA employs observational capacities which include the operation of MSG/SEVIRI and NOAA/AVHRR receiving stations, NOA’s in-situ monitoring networks for capturing meteorological parameters to generate weather forecasts, and datasets originating from the European Space Agency and third party satellite operators. The qualified operational activity of ISARS/NOA in the domain of wildfires management is highly enhanced by the integra

A one-stop perineal clinic: our eleven-year experience.

INTRODUCTION AND HYPOTHESIS: The perineal clinic is a dedicated setting offering assessment for various childbirth-related presentations including obstetric anal sphincter injuries (OASIs), perineal wound complications, pelvic floor dysfunction and other conditions such as female genital mutilation(FGM). We describe the clinical presentation and outcomes of women from a tertiary perineal clinic based on data collected over an 11-year period. METHODS: This is a retrospective observational study. A one-stop outpatient service was offered to all women who sustained OASIs (postnatally and antenatally in a subsequent pregnancy), perineal complications (within 16 weeks postpartum), FGM and/or peripartum symptoms of urinary/anal incontinence or prolapse. Assessment included history with validated questionnaires, examination and anal manometry and endoanal ultrasound when appropriate. Outcomes were compared among different grades of OASIs. Management of each type of presentation was reported with outcomes. RESULTS: There were 3254 first attendance episodes between 2006 and 2016. The majority (58.1%) were for OASIs, followed by perineal wound complications. Compared to the lower grades, the higher grades of OASI were associated with poorer outcomes in terms of symptoms, investigations and complications. Women with OASIs had unrelated symptoms such as urinary incontinence, perineal pain and wound infections that needed further intervention. A high proportion(42%) of wound complications required further specialist management. CONCLUSION: We describe a dedicated, one-stop perineal clinic model for antenatal and postnatal women for management of perineal and pelvic floor disorders. This comprehensive and novel data will enable clinicians to better counsel women regarding of outcomes after OASI and focus training to minimize risks of morbidities

Operational wildfire monitoring and disaster management support using state-of-the-art EO and Information Technologies

textabstractFires have been one of the main driving forces in the evolution of plants and ecosystems, determining the current structure and composition of the Landscapes. However, significant alterations in the fire regime have occurred in the recent decades, primarily as a result of socioeconomic changes, increasing dramatically the catastrophic impacts of wildfires as it is reflected in the increase during the 20th century of both, number of fires and the annual area burnt. Therefore, the establishment of a permanent robust fire monitoring system is of paramount importance to implement an effective environmental management policy. Such an integrated system has been developed in the Institute for Space Applications and Remote Sensing of the National Observatory of Athens (ISARS/NOA). Volumes of Earth Observation images of different spectral and spatial resolutions are being processed on a systematic basis to derive thematic products that cover a wide spectrum of applications during and after wildfire crisis, from fire detection and fire-front propagation monitoring, to damage assessment in the inflicted areas. The processed satellite imagery is combined with auxiliary geo-information layers and meteorological data to generate and validate added-value fire-related products. The service portfolio has become available to institutional End Users with a mandate to act on natural disasters in the framework of the operational GMES projects SAFER and LinkER addressing fire emergency response and emergency support needs for the entire European Union. Towards the goal of delivering integrated services for fire monitoring and management, ISARS/NOA employs observational capacities which include the operation of MSG/SEVIRI and NOAA/AVHRR receiving stations, NOA’s in-situ monitoring networks for capturing meteorological parameters to generate weather forecasts, and datasets originating from the European Space Agency and third party satellite operators. The qualified operational activity of ISARS/NOA in the domain of wildfires management is highly enhanced by the integration of innovative Information Technologies that have become available in the framework of the TELEIOS (EC/ICT) project. Through this activity a fully automatic processing chain has been developed reliant on, a) the effective storing and management of the large amount of EO and GIS data, b) the post-processing refinement of the fire products using semantics, and c) the timely creation of fire extent and damage thematic maps. These technologies are built on top of a robust and modular computational environment, to facilitate several wildfire applications to run efficiently, such as real-time fire detection, fire-front propagation monitoring, rapid burnt area mapping, after crisis detailed burnt scar mapping, and time series analysis of burnt areas. The approach adopted allows ISARS/NOA to routinely serve requests from the end-user community, such as Civil Protection and Forestry Services, irrespective of the location and size of the area of interest, the observation time period, or the size of data volume involved, granting the opportunity to combine innovative IT solutions with remote sensing techniques and algorithms for wildfire monitoring and management

Building Virtual Earth Observatories using Ontologies and Linked Geospatial Data

TELEIOS is a European project that addresses the need for scalable access to petabytes of Earth Observation data and the discovery of knowledge that can be used in applications. To achieve this, TELEIOS builds on scientific database technologies (array databases, SciQL, data vaults), Semantic Web technologies (stRDF and stSPARQL) and linked geospatial data. In this technical communication we outline the TELEIOS advancements to the state of the art and give an overview of its technical contributions up to today

Revision of threshold luminance levels in tunnels aiming to minimize energy consumption at no cost: Methodology and case studies

Because of the absence of lighting calculation tools at the initial stage of tunnel design, the lighting systems are usually over-dimensioned, leading to over illumination and increased energy consumption. For this reason, a fine-tuning method for switching lighting stages according to the traffic weighted L20 luminance is proposed at no additional cost. The method was applied in a real -case scenario, where L20 luminance of the access zone at eleven (11) existing tunnels was calculated. The traffic weighted method of CR14380 was used in order to calculate the actual luminance levels for the entrance zone. The new transition zone, which decreases luminance curves, was produced and compared with the existing ones. Thus, a new switching control was proposed and programed for the Supervisory Control and Data Acquisition (SCADA) system of the tunnel. The signals of the corresponding eleven L20 meters for a period of eight days were used and the corresponding annual energy consumptions were calculated using the proposed switching program for each tunnel. The results were compared with a number of scenarios in which the existing lighting system was retrofitted with Lighting Emitting Diodes (LED) luminaires. In these scenarios, the new luminaire arrangement was based not only on the existing luminance demand value for the threshold zone, but also on the newly proposed one with two different control techniques (continuous dimming and 10% step dimming). The fine-tuning method for switching resulted in energy savings between 11% and 54% depending on the tunnel when the scenario of the existing installation at no extra cost was used. Energy savings, when LED luminaires were installed, varied between 57% (for the scenario with existing luminance demand value for the threshold zone and 10% step dimming) and 85% (for the scenario with the new calculated luminance demand and continuous dimming). © 2020 by the authors

Minimizing lighting consumption in existing tunnels using a no-cost fine-tuning method for switching lighting stages according revised luminance levels

Visual adaptation demands increased illuminance in the tunnel entrance, which results in an increased number of installed luminaires and power consumption of each luminaire. There are norms that define the required luminance in this entrance zone, which depends on the variability of the daylight on the surfaces that surround the entrance. In most existing tunnels, at the time of their design, there were no proper simulation tools resulting in an over-dimensioned lighting system, thus leading to over illumination and increased energy consumption. The reduction of this consumption can be realized through proper optimization of the pavement or by retrofitting the lighting system with cost effective LED luminaires. However, energy savings can be achieved with proper control of the tunnel's lighting system, since it is quite common to be organized in a number of active stages. In this paper, a non-cost fine-tuning method for switching the lighting stages according to the traffic weighted L20 luminance is proposed. The method was applied in a real -case scenario, where L20 luminance of the access zone at an existing tunnel was newly calculated. A new luminance demand value for threshold zone was calculated using the traffic weighted L20 method of CR14380. The new transition zone decreasing luminance curves were produced and compared with the existing ones. Thus, a new switching control was proposed and programed to the Supervisory Control and Data Acquisition system of the tunnel. The signal of the L20 meter for a period of two days was used and the corresponding energy consumption was calculated using the proposed switching program. The results have been compared also with a scenario were the existing lighting system was retrofitted with LED luminaires. The fine-tuning method for switching resulted in 26% and 35% energy savings concerning the existed installation with no extra cost while the energy savings by installing LED was 52% and 69% with an additional cost of LED luminaires and the corresponding labor cost for the retrofit. © 2019 IEEE

A decision support system for assessment of street lighting tenders based on energy performance indicators and environmental criteria: Overview, methodology and case study

International audienc