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Tuna EE, Franson D, Seiberlich N, Çavuşoğlu MC. Deformable cardiac surface tracking by adaptive estimation algorithms. Sci Rep 2023; 13:1387. [PMID: 36697497 PMCID: PMC9877032 DOI: 10.1038/s41598-023-28578-0] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/14/2022] [Accepted: 01/20/2023] [Indexed: 01/26/2023] Open
Abstract
This study presents a particle filter based framework to track cardiac surface from a time sequence of single magnetic resonance imaging (MRI) slices with the future goal of utilizing the presented framework for interventional cardiovascular magnetic resonance procedures, which rely on the accurate and online tracking of the cardiac surface from MRI data. The framework exploits a low-order parametric deformable model of the cardiac surface. A stochastic dynamic system represents the cardiac surface motion. Deformable models are employed to introduce shape prior to control the degree of the deformations. Adaptive filters are used to model complex cardiac motion in the dynamic model of the system. Particle filters are utilized to recursively estimate the current state of the system over time. The proposed method is applied to recover biventricular deformations and validated with a numerical phantom and multiple real cardiac MRI datasets. The algorithm is evaluated with multiple experiments using fixed and varying image slice planes at each time step. For the real cardiac MRI datasets, the average root-mean-square tracking errors of 2.61 mm and 3.42 mm are reported respectively for the fixed and varying image slice planes. This work serves as a proof-of-concept study for modeling and tracking the cardiac surface deformations via a low-order probabilistic model with the future goal of utilizing this method for the targeted interventional cardiac procedures under MR image guidance. For the real cardiac MRI datasets, the presented method was able to track the points-of-interests located on different sections of the cardiac surface within a precision of 3 pixels. The analyses show that the use of deformable cardiac surface tracking algorithm can pave the way for performing precise targeted intracardiac ablation procedures under MRI guidance. The main contributions of this work are twofold. First, it presents a framework for the tracking of whole cardiac surface from a time sequence of single image slices. Second, it employs adaptive filters to incorporate motion information in the tracking of nonrigid cardiac surface motion for temporal coherence.
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Affiliation(s)
- E Erdem Tuna
- Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH, 44106, USA.
| | - Dominique Franson
- Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH, 44106, USA
| | - Nicole Seiberlich
- Department of Radiology, Michigan Medicine, University of Michigan, Ann-Anbor, MI, 48109, USA
| | - M Cenk Çavuşoğlu
- Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH, 44106, USA
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Zakaria UMU, Mustaza SM, Zaman MHM, Rahni AAA. Development of Real-Time Contact Force Control of a Collaborative Robot for Automated Ultrasound Scanning. 2022 IEEE-EMBS CONFERENCE ON BIOMEDICAL ENGINEERING AND SCIENCES (IECBES) 2022. [DOI: 10.1109/iecbes54088.2022.10079599] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 09/02/2023]
Affiliation(s)
- Ungku M.Z. Ungku Zakaria
- Universiti Kebangsaan Malaysia,Faculty of Engineering & Built Environment,Bangi,Selangor,Malaysia,43600
| | - Seri M. Mustaza
- Universiti Kebangsaan Malaysia,Faculty of Engineering & Built Environment,Bangi,Selangor,Malaysia,43600
| | - Mohd H. Mohd Zaman
- Universiti Kebangsaan Malaysia,Faculty of Engineering & Built Environment,Bangi,Selangor,Malaysia,43600
| | - Ashrani A. Abd. Rahni
- Universiti Kebangsaan Malaysia,Faculty of Engineering & Built Environment,Bangi,Selangor,Malaysia,43600
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Tuna EE, Poirot NL, Franson D, Bayona JB, Huang S, Seiberlich N, Griswold MA, Cavusoglu MC. MRI Distortion Correction and Robot-to-MRI Scanner Registration for an MRI-Guided Robotic System. IEEE ACCESS : PRACTICAL INNOVATIONS, OPEN SOLUTIONS 2022; 10:99205-99220. [PMID: 37041984 PMCID: PMC10085576 DOI: 10.1109/access.2022.3207156] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Grants] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Indexed: 06/19/2023]
Abstract
Magnetic resonance imaging (MRI) guided robotic procedures require safe robotic instrument navigation and precise target localization. This depends on reliable tracking of the instrument from MR images, which requires accurate registration of the robot to the scanner. A novel differential image based robot-to-MRI scanner registration approach is proposed that utilizes a set of active fiducial coils, where background subtraction method is employed for coil detection. In order to use the presented preoperative registration approach jointly with the real-time high speed MRI image acquisition and reconstruction methods in real-time interventional procedures, the effects of the geometric MRI distortion in robot to scanner registration is analyzed using a custom distortion mapping algorithm. The proposed approach is validated by a set of target coils placed within the workspace, employing multi-planar capabilities of the scanner. Registration and validation errors are respectively 2.05 mm and 2.63 mm after the distortion correction showing an improvement of respectively 1.08 mm and 0.14 mm compared to the results without distortion correction.
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Affiliation(s)
- E Erdem Tuna
- Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH 44106, USA
| | - Nate Lombard Poirot
- Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH 44106, USA
| | | | - Juana Barrera Bayona
- School of Medicine, University of California San Francisco, San Francisco, CA 94143, USA
| | - Sherry Huang
- General Electric Healthcare, Royal Oak, MI 48067, USA
| | - Nicole Seiberlich
- Department of Radiology, University of Michigan, Ann-Anbor, MI 48109, USA
| | - Mark A Griswold
- Department of Biomedical Engineering, Case Western Reserve University, Cleveland, OH 44106, USA
| | - M Cenk Cavusoglu
- Department of Electrical, Computer, and Systems Engineering, Case Western Reserve University, Cleveland, OH 44106, USA
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Goyal M, Sutherland GR, Lama S, Cimflova P, Kashani N, Mayank A, Psychogios MN, Spelle L, Costalat V, Sakai N, Ospel JM. Neurointerventional Robotics: Challenges and Opportunities. Clin Neuroradiol 2021; 30:203-208. [PMID: 32607626 DOI: 10.1007/s00062-020-00913-2] [Citation(s) in RCA: 12] [Impact Index Per Article: 4.0] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 01/14/2023]
Affiliation(s)
- Mayank Goyal
- Department of Clinical Neurosciences, Foothills Medical Centre, University of Calgary, 1403 29th St. NW, T2N2T9, Calgary, AB, Canada. .,Department of Radiology, University of Calgary, Calgary, Canada.
| | - Garnette R Sutherland
- Department of Clinical Neurosciences and the Hotchkiss Brain Institute, University of Calgary, Calgary, Canada
| | - Sanju Lama
- Department of Clinical Neurosciences and the Hotchkiss Brain Institute, University of Calgary, Calgary, Canada
| | - Petra Cimflova
- Department of Clinical Neurosciences, Foothills Medical Centre, University of Calgary, 1403 29th St. NW, T2N2T9, Calgary, AB, Canada.,Department of Medical Imaging, St. Anne's University Hospital Brno and Faculty of Medicine, Masaryk University, Brno, Czech Republic.,International Clinical Research Center, St. Anne's University Hospital Brno, Brno, Czech Republic
| | - Nima Kashani
- Department of Clinical Neurosciences, Foothills Medical Centre, University of Calgary, 1403 29th St. NW, T2N2T9, Calgary, AB, Canada
| | - Arnuv Mayank
- Department of Clinical Neurosciences, Foothills Medical Centre, University of Calgary, 1403 29th St. NW, T2N2T9, Calgary, AB, Canada
| | | | - Laurent Spelle
- Department of Neuroradiology, Bicêtre Medical Center, Paris, France
| | - Vincent Costalat
- Department of Neuroradiology, CHU Montpellier, Montpellier, France
| | - Nobuyuki Sakai
- Department of Neurosurgery, Kobe City Medical Center General Hospital, Kobe, Japan
| | - Johanna M Ospel
- Department of Clinical Neurosciences, Foothills Medical Centre, University of Calgary, 1403 29th St. NW, T2N2T9, Calgary, AB, Canada.,Department of Radiology, University Hospital of Basel, Basel, Switzerland
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Li X, Young AS, Raman SS, Lu DS, Lee YH, Tsao TC, Wu HH. Automatic needle tracking using Mask R-CNN for MRI-guided percutaneous interventions. Int J Comput Assist Radiol Surg 2020; 15:1673-1684. [PMID: 32676870 DOI: 10.1007/s11548-020-02226-8] [Citation(s) in RCA: 6] [Impact Index Per Article: 1.5] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/27/2019] [Accepted: 07/03/2020] [Indexed: 12/16/2022]
Abstract
PURPOSE Accurate needle tracking provides essential information for MRI-guided percutaneous interventions. Passive needle tracking using MR images is challenged by variations of the needle-induced signal void feature in different situations. This work aimed to develop an automatic needle tracking algorithm for MRI-guided interventions based on the Mask Region Proposal-Based Convolutional Neural Network (R-CNN). METHODS Mask R-CNN was adapted and trained to segment the needle feature using 250 intra-procedural images from 85 MRI-guided prostate biopsy cases and 180 real-time images from MRI-guided needle insertion in ex vivo tissue. The segmentation masks were passed into the needle feature localization algorithm to extract the needle feature tip location and axis orientation. The proposed algorithm was tested using 208 intra-procedural images from 40 MRI-guided prostate biopsy cases, and 3 real-time MRI datasets in ex vivo tissue. The algorithm results were compared with human-annotated references. RESULTS In prostate datasets, the proposed algorithm achieved needle feature tip localization error with median Euclidean distance (dxy) of 0.71 mm and median difference in axis orientation angle (dθ) of 1.28°, respectively. In 3 real-time MRI datasets, the proposed algorithm achieved consistent dynamic needle feature tracking performance with processing time of 75 ms/image: (a) median dxy = 0.90 mm, median dθ = 1.53°; (b) median dxy = 1.31 mm, median dθ = 1.9°; (c) median dxy = 1.09 mm, median dθ = 0.91°. CONCLUSIONS The proposed algorithm using Mask R-CNN can accurately track the needle feature tip and axis on MR images from in vivo intra-procedural prostate biopsy cases and ex vivo real-time MRI experiments with a range of different conditions. The algorithm achieved pixel-level tracking accuracy in real time and has potential to assist MRI-guided percutaneous interventions.
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Affiliation(s)
- Xinzhou Li
- Department of Radiological Sciences, University of California Los Angeles, 300 UCLA Medical Plaza, Suite B119, Los Angeles, CA, 90095, USA
- Department of Bioengineering, University of California Los Angeles, Los Angeles, CA, USA
| | - Adam S Young
- Department of Radiological Sciences, University of California Los Angeles, 300 UCLA Medical Plaza, Suite B119, Los Angeles, CA, 90095, USA
| | - Steven S Raman
- Department of Radiological Sciences, University of California Los Angeles, 300 UCLA Medical Plaza, Suite B119, Los Angeles, CA, 90095, USA
| | - David S Lu
- Department of Radiological Sciences, University of California Los Angeles, 300 UCLA Medical Plaza, Suite B119, Los Angeles, CA, 90095, USA
| | - Yu-Hsiu Lee
- Department of Mechanical and Aerospace Engineering, University of California Los Angeles, Los Angeles, CA, USA
| | - Tsu-Chin Tsao
- Department of Mechanical and Aerospace Engineering, University of California Los Angeles, Los Angeles, CA, USA
| | - Holden H Wu
- Department of Radiological Sciences, University of California Los Angeles, 300 UCLA Medical Plaza, Suite B119, Los Angeles, CA, 90095, USA.
- Department of Bioengineering, University of California Los Angeles, Los Angeles, CA, USA.
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Tip Estimation Method in Phantoms for Curved Needle Using 2D Transverse Ultrasound Images. APPLIED SCIENCES-BASEL 2019. [DOI: 10.3390/app9245305] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 12/26/2022]
Abstract
Flexible needles have been widely used in minimally invasive surgeries, especially in percutaneous interventions. Among the interventions, tip position of the curved needle is very important, since it directly affects the success of the surgeries. In this paper, we present a method to estimate the tip position of a long-curved needle by using 2D transverse ultrasound images from a robotic ultrasound system. Ultrasound is first used to detect the cross section of long-flexible needle. A new imaging approach is proposed based on the selection of numbers of pixels with a higher gray level, which can directly remove the lower gray level to highlight the needle. After that, the needle shape tracking method is proposed by combining the image processing with the Kalman filter by using 3D needle positions, which develop a robust needle tracking procedure from 1 mm to 8 mm scan intervals. Shape reconstruction is then achieved using the curve fitting method. Finally, the needle tip position is estimated based on the curve fitting result. Experimental results showed that the estimation error of tip position is less than 1 mm within 4 mm scan intervals. The advantage of the proposed method is that the shape and tip position can be estimated through scanning the needle’s cross sections at intervals along the direction of needle insertion without detecting the tip.
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Mehrtash A, Ghafoorian M, Pernelle G, Ziaei A, Heslinga FG, Tuncali K, Fedorov A, Kikinis R, Tempany CM, Wells WM, Abolmaesumi P, Kapur T. Automatic Needle Segmentation and Localization in MRI With 3-D Convolutional Neural Networks: Application to MRI-Targeted Prostate Biopsy. IEEE TRANSACTIONS ON MEDICAL IMAGING 2019; 38:1026-1036. [PMID: 30334789 PMCID: PMC6450731 DOI: 10.1109/tmi.2018.2876796] [Citation(s) in RCA: 29] [Impact Index Per Article: 5.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/05/2023]
Abstract
Image guidance improves tissue sampling during biopsy by allowing the physician to visualize the tip and trajectory of the biopsy needle relative to the target in MRI, CT, ultrasound, or other relevant imagery. This paper reports a system for fast automatic needle tip and trajectory localization and visualization in MRI that has been developed and tested in the context of an active clinical research program in prostate biopsy. To the best of our knowledge, this is the first reported system for this clinical application and also the first reported system that leverages deep neural networks for segmentation and localization of needles in MRI across biomedical applications. Needle tip and trajectory were annotated on 583 T2-weighted intra-procedural MRI scans acquired after needle insertion for 71 patients who underwent transperineal MRI-targeted biopsy procedure at our institution. The images were divided into two independent training-validation and test sets at the patient level. A deep 3-D fully convolutional neural network model was developed, trained, and deployed on these samples. The accuracy of the proposed method, as tested on previously unseen data, was 2.80-mm average in needle tip detection and 0.98° in needle trajectory angle. An observer study was designed in which independent annotations by a second observer, blinded to the original observer, were compared with the output of the proposed method. The resultant error was comparable to the measured inter-observer concordance, reinforcing the clinical acceptability of the proposed method. The proposed system has the potential for deployment in clinical routine.
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Affiliation(s)
- Alireza Mehrtash
- Department of Electrical and Computer Engineering, The University of British Columbia, Vancouver, BC, V6T 1Z4, Canada
- Department of Radiology, Brigham and Women’s Hospital, Harvard Medical School, Boston, 02115, USA
| | | | | | - Alireza Ziaei
- Department of Radiology, Brigham and Women’s Hospital, Harvard Medical School, Boston, 02115, USA
| | - Friso G. Heslinga
- Department of Radiology, Brigham and Women’s Hospital, Harvard Medical School, Boston, 02115, USA
| | - Kemal Tuncali
- Department of Radiology, Brigham and Women’s Hospital, Harvard Medical School, Boston, 02115, USA
| | - Andriy Fedorov
- Department of Radiology, Brigham and Women’s Hospital, Harvard Medical School, Boston, 02115, USA
| | - Ron Kikinis
- Department of Computer Science at the University of Bremen, Bremen, Germany
- Department of Radiology, Brigham and Women’s Hospital, Harvard Medical School, Boston, 02115, USA
| | - Clare M. Tempany
- Department of Radiology, Brigham and Women’s Hospital, Harvard Medical School, Boston, 02115, USA
| | - William M. Wells
- Department of Radiology, Brigham and Women’s Hospital, Harvard Medical School, Boston, 02115, USA
| | - Purang Abolmaesumi
- Department of Electrical and Computer Engineering, The University of British Columbia Vancouver, BC, V5T 1Z4, Canada
| | - Tina Kapur
- Department of Radiology, Brigham and Women’s Hospital, Harvard Medical School, Boston, 02115, USA
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