Anatomically Constrained Video-CT Registration via the V-IMLOP Algorithm

Functional endoscopic sinus surgery (FESS) is a surgical procedure used to treat acute cases of sinusitis and other sinus diseases. FESS is fast becoming the preferred choice of treatment due to its minimally invasive nature. However, due to the limited field of view of the endoscope, surgeons rely on navigation systems to guide them within the nasal cavity. State of the art navigation systems report registration accuracy of over 1mm, which is large compared to the size of the nasal airways. We present an anatomically constrained video-CT registration algorithm that incorporates multiple video features. Our algorithm is robust in the presence of outliers. We also test our algorithm on simulated and in-vivo data, and test its accuracy against degrading initializations.Comment: 8 pages, 4 figures, MICCA

Intelligent frame selection for anatomic reconstruction from endoscopic video

Using endoscopic video, it is possible to perform 3D re-construction of the anatomy using the well known epipolar constraint between matched feature points. Through this constraint, it is possible to recover the translation and rota-tion between camera positions and thus reconstruct the 3D anatomy by triangulation. However, these motion estimates are not stable for small camera motions. In this work, we propose a covariance estimation scheme to select pairs of frames which give rise to stable motion estimates, i.e. min-imal variance with respect to pixel match error. We param-eterize the essential matrix using a minimal 5 parameter representation and estimate motion covariance based upon the estimated feature match variance. The proposed algo-rithm is applied to endoscopic video sequences recorded in porcine sinus passages in order to extract stable motion es-timates. 1

Optical techniques for 3D surface reconstruction in computer-assisted laparoscopic surgery

One of the main challenges for computer-assisted surgery (CAS) is to determine the intra-opera- tive morphology and motion of soft-tissues. This information is prerequisite to the registration of multi-modal patient-specific data for enhancing the surgeon’s navigation capabilites by observ- ing beyond exposed tissue surfaces and for providing intelligent control of robotic-assisted in- struments. In minimally invasive surgery (MIS), optical techniques are an increasingly attractive approach for in vivo 3D reconstruction of the soft-tissue surface geometry. This paper reviews the state-of-the-art methods for optical intra-operative 3D reconstruction in laparoscopic surgery and discusses the technical challenges and future perspectives towards clinical translation. With the recent paradigm shift of surgical practice towards MIS and new developments in 3D opti- cal imaging, this is a timely discussion about technologies that could facilitate complex CAS procedures in dynamic and deformable anatomical regions

Interaction of the Deubiquitinating Enzyme Ubp2 and the E3 Ligase Rsp5 Is Required for Transporter/Receptor Sorting in the Multivesicular Body Pathway

Protein ubiquitination is essential for many events linked to intracellular protein trafficking. We sought to elucidate the possible involvement of the S. cerevisiae deubiquitinating enzyme Ubp2 in transporter and receptor trafficking after we (this study) and others established that affinity purified Ubp2 interacts stably with the E3 ubiquitin ligase Rsp5 and the (ubiquitin associated) UBA domain containing protein Rup1. UBP2 interacts genetically with RSP5, while Rup1 facilitates the tethering of Ubp2 to Rsp5 via a PPPSY motif. Using the uracil permease Fur4 as a model reporter system, we establish a role for Ubp2 in membrane protein turnover. Similar to hypomorphic rsp5 alleles, cells deleted for UBP2 exhibited a temporal stabilization of Fur4 at the plasma membrane, indicative of perturbed protein trafficking. This defect was ubiquitin dependent, as a Fur4 N-terminal ubiquitin fusion construct bypassed the block and restored sorting in the mutant. Moreover, the defect was absent in conditions where recycling was absent, implicating Ubp2 in sorting at the multivesicular body. Taken together, our data suggest a previously overlooked role for Ubp2 as a positive regulator of Rsp5-mediated membrane protein trafficking subsequent to endocytosis

Structural insights into the catalysis and regulation of E3 ubiquitin ligases

Covalent attachment (conjugation) of one or more ubiquitin molecules to protein substrates governs numerous eukaryotic cellular processes, including apoptosis, cell division and immune responses. Ubiquitylation was originally associated with protein degradation, but it is now clear that ubiquitylation also mediates processes such as protein–protein interactions and cell signalling depending on the type of ubiquitin conjugation. Ubiquitin ligases (E3s) catalyse the final step of ubiquitin conjugation by transferring ubiquitin from ubiquitin-conjugating enzymes (E2s) to substrates. In humans, more than 600 E3s contribute to determining the fates of thousands of substrates; hence, E3s need to be tightly regulated to ensure accurate substrate ubiquitylation. Recent findings illustrate how E3s function on a structural level and how they coordinate with E2s and substrates to meticulously conjugate ubiquitin. Insights regarding the mechanisms of E3 regulation, including structural aspects of their autoinhibition and activation are also emerging

Anatomical Reconstruction from Endoscopic Images: Toward Quantitative Endoscopy

BACKGROUND: Recent advances in computational image processing have made it possible to reconstruct camera motion and scene geometry from a series of monocular images. By applying these methods to endoscopic image sequences, it is possible to create detailed, quantitative anatomic reconstructions. Such anatomic reconstructions have many potential clinical uses. Our objectives in this study are to (1) develop a process flow for reconstruction from endoscopic image sequences and (2) present results supporting the hypothesis that such reconstructions can be computed. METHODS: We first outline the overall process flow for endoscopic reconstruction. Then, we present an instantiation of this process flow using recently developed methods in computational vision. We apply these methods to cadaverous specimens for which ground truth endoscopic motion is known. RESULTS: We are able to produce consistent estimates of endoscopic motion and dense reconstructions of the surrounding anatomy for >65% of 1373 image pairs. CONCLUSION: Our study indicates that processing endoscopic images to produce anatomic structure is feasible. Such reconstructions have high potential clinical value for intraoperative navigation, diagnosis, and treatment planning.Hanzi Wang, Mirota Daniel, Hager Gregory and Ishii Masar

Robust motion estimation and structure recovery from endoscopic image sequences with an adaptive Scale Kernel Consensus estimator

To correctly estimate the camera motion parameters and reconstruct the structure of the surrounding tissues from endoscopic image sequences, we need not only to deal with outliers (e.g., mismatches), which may involve more than 50% of the data, but also to accurately distinguish inliers (correct matches) from outliers. In this paper, we propose a new robust estimator, Adaptive Scale Kernel Consensus (ASKC), which can tolerate more than 50 percent outliers while automatically estimating the scale of inliers. With ASKC, we develop a reliable feature tracking algorithm. This, in turn, allows us to develop a complete system for estimating endoscopic camera motion and reconstructing anatomical structures from endoscopic image sequences. Preliminary experiments on endoscopic sinus imagery have achieved promising results.Hanzi Wang; Mirota, D.; Ishii, M. and Hager, G.D.http://dx.doi.org/10.1109/CVPR.2008.458768