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A survey of catheter tracking concepts and methodologies. Med Image Anal 2022; 82:102584. [DOI: 10.1016/j.media.2022.102584] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/16/2021] [Revised: 08/01/2022] [Accepted: 08/11/2022] [Indexed: 11/23/2022]
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Squires A, Hovet S, Li R, Oshinski J, Ho Tse ZT. A body-mounted device for MRI-guided spinal therapy. Int J Med Robot 2021; 17:e2235. [PMID: 33497520 DOI: 10.1002/rcs.2235] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/03/2020] [Revised: 01/18/2021] [Accepted: 01/19/2021] [Indexed: 11/11/2022]
Abstract
BACKGROUND Amyotrophic lateral sclerosis (ALS) is a neurodegenerative disease with no cure and limited treatment options. Recent studies have shown that delivering cellular therapeutics to the ventral horn of the spinal cord can effectively halt neurodegeneration associated with ALS in small animal models. METHODS We developed a robotic system that assists with MRI-guided percutaneous injections to the spinal cord. The needle positioning robot consists of two linear axes with motorised translational sleds for two-degree-of-freedom (2-DOF) needle translation and a radial template for 2-DOF discrete rotation. RESULTS The robot's targeting capability, evaluated using phantom models and swine cadavers, showed mean targeting errors of 0.48 and 2.84 mm, respectively. The duration of the targeting procedure is approximately 60 min, with an extra 10 min for each additional injection. CONCLUSIONS The presented robot does not affect imaging quality during MRI-guided procedures, and it enables a simplified workflow for MRI-guided spinal therapy.
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Affiliation(s)
- Alexander Squires
- School of Electrical and Computer Engineering, University of Georgia, Athens, Georgia, USA
| | - Sierra Hovet
- School of Electrical and Computer Engineering, University of Georgia, Athens, Georgia, USA
| | - Rui Li
- Tandon School of Engineering, New York University, Brooklyn, New York, USA
| | - John Oshinski
- Radiology and Imaging Sciences, Emory University, Atlanta, Georgia, USA.,Biomedical Engineering, Georgia Institute of Technology & Emory University, Atlanta, Georgia, USA
| | - Zion Tsz Ho Tse
- Department of Electronic Engineering, University of York, York, Heslington, UK
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An J, Webb AG, Shah DJ, Chin K, Tsekos NV. Manipulator-driven selection of semi-active MR-visible markers. Int J Med Robot 2017; 14. [PMID: 28660676 DOI: 10.1002/rcs.1846] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/03/2016] [Revised: 04/18/2017] [Accepted: 05/06/2017] [Indexed: 11/12/2022]
Abstract
BACKGROUND A method for the identification of semi-active fiducial magnetic resonance (MR) markers is presented based on selectively optically tuning and detuning them. METHODS Four inductively coupled solenoid coils with photoresistors were connected to light sources. A microcontroller timed the optical tuning/detuning of coils and image collection. The markers were tested on an MR manipulator linking the microcontroller to the manipulator control to visibly select the marker subset according to the actuated joint. RESULTS In closed-loop control, the average and maximum were 0.76° ± 0.41° and 1.18° errors for a rotational joint, and 0.87 mm ± 0.26 mm and 1.13 mm for the prismatic joint. CONCLUSIONS This technique is suitable for MR-compatible actuated devices that use semi-active MR-compatible markers.
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Affiliation(s)
- Junmo An
- Medical Robotics Laboratory, University of Houston, Houston, TX, USA
| | - Andrew G Webb
- C.J. Gorter Center for High Field MRI, Leiden University Medical Center, Leiden, Netherlands
| | - Dipan J Shah
- Methodist DeBakey Cardiology Associates, Houston Methodist, Houston, TX, USA
| | - Karen Chin
- Methodist DeBakey Cardiology Associates, Houston Methodist, Houston, TX, USA
| | - Nikolaos V Tsekos
- Medical Robotics Laboratory, University of Houston, Houston, TX, USA
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Xiao X, Huang Z, Rube MA, Melzer A. Investigation of active tracking for robotic arm assisted magnetic resonance guided focused ultrasound ablation. Int J Med Robot 2016; 13. [DOI: 10.1002/rcs.1768] [Citation(s) in RCA: 4] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 02/10/2016] [Revised: 07/15/2016] [Accepted: 07/20/2016] [Indexed: 12/18/2022]
Affiliation(s)
- Xu Xiao
- Institute for Medical Science and Technology; University of Dundee; Dundee UK
| | - Zhihong Huang
- School of Engineering, Physics and Mathematics; University of Dundee; Dundee UK
| | - Martin A. Rube
- Institute for Medical Science and Technology; University of Dundee; Dundee UK
| | - Andreas Melzer
- Institute for Medical Science and Technology; University of Dundee; Dundee UK
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Galassi F, Brujic D, Rea M, Lambert N, Desouza N, Ristic M. Fast and accurate localization of multiple RF markers for tracking in MRI-guided interventions. MAGNETIC RESONANCE MATERIALS IN PHYSICS BIOLOGY AND MEDICINE 2014; 28:33-48. [PMID: 24802620 PMCID: PMC4315881 DOI: 10.1007/s10334-014-0446-3] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.5] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 07/24/2013] [Revised: 04/07/2014] [Accepted: 04/07/2014] [Indexed: 11/01/2022]
Abstract
OBJECT A new method for 3D localization of N fiducial markers from 1D projections is presented and analysed. It applies to semi-active markers and active markers using a single receiver channel. MATERIALS AND METHODS The novel algorithm computes candidate points using peaks in three optimally selected projections and removes fictitious points by verifying detected peaks in additional projections. Computational complexity was significantly reduced by avoiding cluster analysis, while higher accuracy was achieved by using optimal projections and by applying Gaussian interpolation in peak detection. Computational time, accuracy and robustness were analysed through Monte Carlo simulations and experiments. The method was employed in a prototype MRI guided prostate biopsy system and used in preclinical experiments. RESULTS The computational time for 6 markers was better than 2 ms, an improvement of up to 100 times, compared to the method by Flask et al. (J Magn Reson Imaging 14(5):617-627, 2001). Experimental maximum localization error was lower than 0.3 mm; standard deviation was 0.06 mm. Targeting error was about 1 mm. Tracking update rate was about 10 Hz. CONCLUSION The proposed method is particularly suitable in systems requiring any of the following: high frame rate, tracking of three or more markers, data filtering or interleaving.
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Affiliation(s)
- Francesca Galassi
- Mechanical Engineering Department, Imperial College London, London, UK,
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Krafft AJ, Zamecnik P, Maier F, de Oliveira A, Hallscheidt P, Schlemmer HP, Bock M. Passive marker tracking via phase-only cross correlation (POCC) for MR-guided needle interventions: Initial in vivo experience. Phys Med 2013; 29:607-14. [DOI: 10.1016/j.ejmp.2012.09.002] [Citation(s) in RCA: 10] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Submit a Manuscript] [Subscribe] [Scholar Register] [Received: 04/30/2012] [Revised: 09/07/2012] [Accepted: 09/20/2012] [Indexed: 10/27/2022] Open
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Neumann M, Cuvillon L, Breton E, de Matheli M. Evaluation of an image-based tracking workflow with Kalman filtering for automatic image plane alignment in interventional MRI. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2013; 2013:2968-71. [PMID: 24110350 DOI: 10.1109/embc.2013.6610163] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
Recently, a workflow for magnetic resonance (MR) image plane alignment based on tracking in real-time MR images was introduced. The workflow is based on a tracking device composed of 2 resonant micro-coils and a passive marker, and allows for tracking of the passive marker in clinical real-time images and automatic (re-)initialization using the microcoils. As the Kalman filter has proven its benefit as an estimator and predictor, it is well suited for use in tracking applications. In this paper, a Kalman filter is integrated in the previously developed workflow in order to predict position and orientation of the tracking device. Measurement noise covariances of the Kalman filter are dynamically changed in order to take into account that, according to the image plane orientation, only a subset of the 3D pose components is available. The improved tracking performance of the Kalman extended workflow could be quantified in simulation results. Also, a first experiment in the MRI scanner was performed but without quantitative results yet.
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Eldirdiri A, Courivaud F, Palomar R, Hol PK, Elle OJ. Catheter tip tracking for MR-guided interventions using discrete Kalman filter and mean shift localization. Int J Comput Assist Radiol Surg 2013; 9:313-22. [PMID: 23974979 DOI: 10.1007/s11548-013-0933-4] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/19/2013] [Accepted: 07/30/2013] [Indexed: 11/26/2022]
Abstract
PURPOSE This paper presents and evaluates stochastic computer algorithms used to automatically detect and track marked catheter tip during MR-guided catheterization. The algorithms developed employ extraction and matching of regional features of the catheter tip to perform the localization. METHOD To perform the tracking, a probability map that indicates the possible locations of the catheter tip in the MR images is first generated. This map is generated from the similarity to a given marker template. The method to assess the similarity between the marker template image and the different positions on each MR frame is based on speeded-up robust features extracted from the gradient image. The probability map is then used in two different stochastic localization frameworks mean shift (MS) localization and Kalman filter (KF) to track the position of the catheter using pairs of orthogonal projection of 2D MR images. The algorithm developed was tested on catheter tip marked with LC resonant circuit (of size 2 mm x 2 cm) tuned to the Larmor frequency of the MRI scanner and for different image resolutions (1, 3, 5 and 7 mm squared pixel). RESULTS The tracking performance was very robust for the two algorithms MS and KF with image resolution as low as 3 mm where the localization error was about 1 mm for KF and 0.9 mm for MS. For the 5-mm resolution images, the error was 2.2 mm for both KF and MS, and for the 7-mm resolution images, the error was 3.6 and 3.7 mm for KF and MS, respectively. CONCLUSION Both KF and MS gave comparable results when it comes to accuracy for the different image resolutions. The results showed that the two tracking algorithms tracked the catheter tip with high robustness for image resolution of 3 mm and with acceptable reliability for image resolution as poor as 5 mm with the resonant marker configuration used.
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Thörmer G, Garnov N, Moche M, Haase J, Kahn T, Busse H. Simultaneous 3D localization of multiple MR-visible markers in fully reconstructed MR images: proof-of-concept for subsecond position tracking. Magn Reson Imaging 2012; 30:371-81. [DOI: 10.1016/j.mri.2011.10.006] [Citation(s) in RCA: 8] [Impact Index Per Article: 0.7] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 05/16/2011] [Revised: 08/26/2011] [Accepted: 10/21/2011] [Indexed: 11/27/2022]
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Garnov N, Thormer G, Trampel R, Grunder W, Kahn T, Moche M, Busse H. Suitability of miniature inductively coupled RF coils as MR-visible markers for clinical purposes. Med Phys 2012; 38:6327-35. [PMID: 22047397 DOI: 10.1118/1.3655027] [Citation(s) in RCA: 13] [Impact Index Per Article: 1.1] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
Abstract
PURPOSE MR-visible markers have already been used for various purposes such as image registration, motion detection, and device tracking. Inductively coupled RF (ICRF) coils, in particular, provide a high contrast and do not require connecting wires to the scanner, which makes their application highly flexible and safe. This work aims to thoroughly characterize the MR signals of such ICRF markers under various conditions with a special emphasis on fully automatic detection. METHODS The small markers consisted of a solenoid coil that was wound around a glass tube containing the MR signal source and tuned to the resonance frequency of a 1.5 T MRI. Marker imaging was performed with a spoiled gradient echo sequence (FLASH) and a balanced steady-state free precession (SSFP) sequence (TrueFISP) in three standard projections. The signal intensities of the markers were recorded for both pulse sequences, three source materials (tap water, distilled water, and contrast agent solution), different flip angles and coil alignments with respect to the B(0) direction as well as for different marker positions in the entire imaging volume (field of view, FOV). Heating of the ICRF coils was measured during 10-min RF expositions to three conventional pulse sequences. Clinical utility of the markers was assessed from their performance in computer-aided detection and in defining double oblique scan planes. RESULTS For almost the entire FOV (±215 mm) and an estimated 82% of all possible RF coil alignments with respect to B(0), the ICRF markers generated clearly visible MR signals and could be reliably localized over a large range of flip angles, in particular with the TrueFISP sequence (0.3°-4.0°). Generally, TrueFISP provided a higher marker contrast than FLASH. RF exposition caused a moderate heating (≤5 °C) of the ICRF coils only. CONCLUSIONS Small ICRF coils, imaged at low flip angles with a balanced SSFP sequence showed an excellent performance under a variety of experimental conditions and therefore make for a reliable, compact, flexible, and relatively safe marker for clinical use.
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Affiliation(s)
- Nikita Garnov
- Department of Diagnostic and Interventional Radiology, Leipzig University Hospital, Leipzig, Germany
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Neumann M, Breton E, Cuvillon L, Pan L, Lorenz CH, de Mathelin M. Evaluation of an image-based tracking workflow using a passive marker and resonant micro-coil fiducials for automatic image plane alignment in interventional MRI. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2012; 2012:1085-1088. [PMID: 23366084 DOI: 10.1109/embc.2012.6346123] [Citation(s) in RCA: 1] [Impact Index Per Article: 0.1] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/01/2023]
Abstract
In this paper, an original workflow is presented for MR image plane alignment based on tracking in real-time MR images. A test device consisting of two resonant micro-coils and a passive marker is proposed for detection using image-based algorithms. Micro-coils allow for automated initialization of the object detection in dedicated low flip angle projection images; then the passive marker is tracked in clinical real-time MR images, with alternation between two oblique orthogonal image planes along the test device axis; in case the passive marker is lost in real-time images, the workflow is reinitialized. The proposed workflow was designed to minimize dedicated acquisition time to a single dedicated acquisition in the ideal case (no reinitialization required). First experiments have shown promising results for test-device tracking precision, with a mean position error of 0.79 mm and a mean orientation error of 0.24°.
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Affiliation(s)
- M Neumann
- Laboratoire des Sciences de l’Image, de l’Informatique et de la Télédétection, Strasbourg, France.
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Elhawary H, Tse ZTH, Rea M, Zivanovic A, Davies BL, Besant C, de Souza NM, McRobbie D, Young I, Lampérth MU. Robotic system for transrectal biopsy of the prostate: real-time guidance under MRI. ACTA ACUST UNITED AC 2010; 29:78-86. [PMID: 20659844 DOI: 10.1109/memb.2009.935709] [Citation(s) in RCA: 23] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022]
Abstract
In this paper, to harness the possibility of real-time guidance of MRI, a robotic system has been developed to perform transrectal prostate biopsy inside a 1.5-T closed bore scanner. A specially developed MR pulse sequence is capable of tracking the needle location in real time while dynamically updating the scan planes to always include the needle and target.
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On precise localization of boundaries between extended uniform objects in MRI: tooth imaging as an example. MAGNETIC RESONANCE MATERIALS IN PHYSICS BIOLOGY AND MEDICINE 2010; 24:19-28. [DOI: 10.1007/s10334-010-0229-4] [Citation(s) in RCA: 8] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/14/2010] [Revised: 09/14/2010] [Accepted: 09/14/2010] [Indexed: 11/26/2022]
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