A comparison of thin-plate spline deformation and finite element modeling to compensate for brain shift during tumor resection

Comparison of physics-based deformable registration methods for image-guided neurosurgery

This paper compares three finite element-based methods used in a physics-based non-rigid registration approach and reports on the progress made over the last 15 years. Large brain shifts caused by brain tumor removal affect registration accuracy by creating point and element outliers. A combination of approximation- and geometry-based point and element outlier rejection improves the rigid registration error by 2.5 mm and meets the real-time constraints (4 min). In addition, the paper raises several questions and presents two open problems for the robust estimation and improvement of registration error in the presence of outliers due to sparse, noisy, and incomplete data. It concludes with preliminary results on leveraging Quantum Computing, a promising new technology for computationally intensive problems like Feature Detection and Block Matching in addition to finite element solver; all three account for 75% of computing time in deformable registration.

Learning Expected Appearances for Intraoperative Registration during Neurosurgery

We present a novel method for intraoperative patient-to-image registration by learning Expected Appearances. Our method uses preoperative imaging to synthesize patient-specific expected views through a surgical microscope for a predicted range of transformations. Our method estimates the camera pose by minimizing the dissimilarity between the intraoperative 2D view through the optical microscope and the synthesized expected texture. In contrast to conventional methods, our approach transfers the processing tasks to the preoperative stage, reducing thereby the impact of low-resolution, distorted, and noisy intraoperative images, that often degrade the registration accuracy. We applied our method in the context of neuronavigation during brain surgery. We evaluated our approach on synthetic data and on retrospective data from 6 clinical cases. Our method outperformed state-of-the-art methods and achieved accuracies that met current clinical standards.

Pose Estimation and Non-Rigid Registration for Augmented Reality During Neurosurgery

OBJECTIVE

A craniotomy is the removal of a part of the skull to allow surgeons to have access to the brain and treat tumors. When accessing the brain, a tissue deformation occurs and can negatively influence the surgical procedure outcome. In this work, we present a novel Augmented Reality neurosurgical system to superimpose pre-operative 3D meshes derived from MRI onto a view of the brain surface acquired during surgery.

METHODS

Our method uses cortical vessels as main features to drive a rigid then non-rigid 3D/2D registration. We first use a feature extractor network to produce probability maps that are fed to a pose estimator network to infer the 6-DoF rigid pose. Then, to account for brain deformation, we add a non-rigid refinement step formulated as a Shape-from-Template problem using physics-based constraints that helps propagate the deformation to sub-cortical level and update tumor location.

RESULTS

We tested our method retrospectively on 6 clinical datasets and obtained low pose error, and showed using synthetic dataset that considerable brain shift compensation and low TRE can be achieved at cortical and sub-cortical levels.

CONCLUSION

The results show that our solution achieved accuracy below the actual clinical errors demonstrating the feasibility of practical use of our system.

SIGNIFICANCE

This work shows that we can provide coherent Augmented Reality visualization of 3D cortical vessels observed through the craniotomy using a single camera view and that cortical vessels provide strong features for performing both rigid and non-rigid registration.

Strain Energy Decay Predicts Elastic Registration Accuracy From Intraoperative Data Constraints

Image-guided intervention for soft tissue organs depends on the accuracy of deformable registration methods to achieve effective results. While registration techniques based on elastic theory are prevalent, no methods yet exist that can prospectively estimate registration uncertainty to regulate sources and mitigate consequences of localization error in deforming organs. This paper introduces registration uncertainty metrics based on dispersion of strain energy from boundary constraints to predict the proportion of target registration error (TRE) remaining after nonrigid elastic registration. These uncertainty metrics depend on the spatial distribution of intraoperative constraints provided to registration with relation to patient-specific organ geometry. Predictive linear and bivariate gamma models are fit and cross-validated using an existing dataset of 6291 simulated registration examples, plus 699 novel simulated registrations withheld for independent validation. Average uncertainty and average proportion of TRE remaining after elastic registration are strongly correlated ( r = 0.78 ), with mean absolute difference in predicted TRE equivalent to 0.9 ± 0.6 mm (cross-validation) and 0.9 ± 0.5 mm (independent validation). Spatial uncertainty maps also permit localized TRE estimates accurate to an equivalent of 3.0 ± 3.1 mm (cross-validation) and 1.6 ± 1.2 mm (independent validation). Additional clinical evaluation of vascular features yields localized TRE estimates accurate to 3.4 ± 3.2 mm. This work formalizes a lower bound for the inherent uncertainty of nonrigid elastic registrations given coverage of intraoperative data constraints, and demonstrates a relation to TRE that can be predictively leveraged to inform data collection and provide a measure of registration confidence for elastic methods.

Development of Innovative Neurosurgical Operation Support Method Using Mixed-Reality Computer Graphics

Background

In neurosurgery, it is important to inspect the spatial correspondence between the preoperative medical image (virtual space), and the intraoperative findings (real space) to improve the safety of the surgery. Navigation systems and related modalities have been reported as methods for matching this correspondence. However, because of the influence of the brain shift accompanying craniotomy, registration accuracy is reduced. In the present study, to overcome these issues, we developed a spatially accurate registration method of medical fusion 3-dimensional computer graphics and the intraoperative brain surface photograph, and its registration accuracy was measured.

Methods

The subjects included 16 patients with glioma. Nonrigid registration using the landmarks and thin-plate spline methods was performed for the fusion 3-dimensional computer graphics and the intraoperative brain surface photograph, termed mixed-reality computer graphics. Regarding the registration accuracy measurement, the target registration error was measured by two neurosurgeons, with 10 points for each case at the midpoint of the landmarks.

Results

The number of target registration error measurement points was 160 in the 16 cases. The target registration error was 0.72 ± 0.04 mm. Aligning the intraoperative brain surface photograph and the fusion 3-dimensional computer graphics required ∼10 minutes on average. The average number of landmarks used for alignment was 24.6.

Conclusions

Mixed-reality computer graphics enabled highly precise spatial alignment between the real space and virtual space. Mixed-reality computer graphics have the potential to improve the safety of the surgery by allowing complementary observation of brain surface photographs and fusion 3-dimensional computer graphics.

Brain Shift in Neuronavigation of Brain Tumors: An Updated Review of Intra-Operative Ultrasound Applications

Neuronavigation using pre-operative imaging data for neurosurgical guidance is a ubiquitous tool for the planning and resection of oncologic brain disease. These systems are rendered unreliable when brain shift invalidates the patient-image registration. Our previous review in 2015, Brain shift in neuronavigation of brain tumours: A review offered a new taxonomy, classification system, and a historical perspective on the causes, measurement, and pre- and intra-operative compensation of this phenomenon. Here we present an updated review using the same taxonomy and framework, focused on the developments of intra-operative ultrasound-based brain shift research from 2015 to the present (2020). The review was performed using PubMed to identify articles since 2015 with the specific words and phrases: “Brain shift” AND “Ultrasound”. Since 2015, the rate of publication of intra-operative ultrasound based articles in the context of brain shift has increased from 2–3 per year to 8–10 per year. This efficient and low-cost technology and increasing comfort among clinicians and researchers have allowed unique avenues of development. Since 2015, there has been a trend towards more mathematical advancements in the field which is often validated on publicly available datasets from early intra-operative ultrasound research, and may not give a just representation to the intra-operative imaging landscape in modern image-guided neurosurgery. Focus on vessel-based registration and virtual and augmented reality paradigms have seen traction, offering new perspectives to overcome some of the different pitfalls of ultrasound based technologies. Unfortunately, clinical adaptation and evaluation has not seen as significant of a publication boost. Brain shift continues to be a highly prevalent pitfall in maintaining accuracy throughout oncologic neurosurgical intervention and continues to be an area of active research. Intra-operative ultrasound continues to show promise as an effective, efficient, and low-cost solution for intra-operative accuracy management. A major drawback of the current research landscape is that mathematical tool validation based on retrospective data outpaces prospective clinical evaluations decreasing the strength of the evidence. The need for newer and more publicly available clinical datasets will be instrumental in more reliable validation of these methods that reflect the modern intra-operative imaging in these procedures.

Accounting for intraoperative brain shift ascribable to cavity collapse during intracranial tumor resection

Purpose: For many patients with intracranial tumors, accurate surgical resection is a mainstay of their treatment paradigm. During surgical resection, image guidance is used to aid in localization and resection. Intraoperative brain shift can invalidate these guidance systems. One cause of intraoperative brain shift is cavity collapse due to tumor resection, which will be referred to as "debulking." We developed an imaging-driven finite element model of debulking to create a comprehensive simulation data set to reflect possible intraoperative changes. The objective was to create a method to account for brain shift due to debulking for applications in image-guided neurosurgery. We hypothesized that accounting for tumor debulking in a deformation atlas data framework would improve brain shift predictions, which would enhance image-based surgical guidance. Approach: This was evaluated in a six-patient intracranial tumor resection intraoperative data set. The brain shift deformation atlas data framework consisted of n = 756 simulated deformations to account for effects due to gravity-induced and hyperosmotic drug-induced brain shift, which reflects previous developments. An additional complement of n = 84 deformations involving simulated tumor growth followed by debulking was created to capture observed intraoperative effects not previously included. Results: In five of six patient cases evaluated, inclusion of debulking mechanics improved brain shift correction by capturing global mass effects resulting from the resected tumor. Conclusions: These findings suggest imaging-driven brain shift models used to create a deformation simulation data framework of observed intraoperative events can be used to assist in more accurate image-guided surgical navigation in the brain.

Accounting for Deformation in Deep Brain Stimulation Surgery With Models: Comparison to Interventional Magnetic Resonance Imaging

The efficacy of deep brain stimulation (DBS) depends on electrode placement accuracy, which can be jeopardized by brain shift due to burr hole and dura opening during surgery. Brain shift violates assumed rigid alignment between preoperative image and intraoperative anatomy, negatively impacting therapy.

OBJECTIVE

This study presents a deformation-atlas biomechanical model-based approach to address shift.

METHODS

Six patients, who underwent interventional magnetic resonance (iMR) image-guided DBS burr hole surgery, were studied. A patient-specific model was employed under varying surgical conditions, generating a collection of possible intraoperative shift estimations or a 'deformation atlas.' An inverse problem was driven by sparse measurements derived from iMR to determine an optimal fit of solutions of the atlas. This fit was then used to obtain a volumetric deformation field, which was utilized to update preoperative MR and estimate shift at surgical target region localized on iMR. Model performance was examined by quantitatively comparing intraoperative subsurface measurements to their model-predicted counterparts, and qualitatively comparing iMR, preoperative MR, and model updated MR. A nonrigid image registration was introduced as a comparator.

RESULTS

Model-based approach reduced general parenchyma shift from 8.2 ± 2.2 to 2.7 ± 1.1 mm (∼66.8% correction), and produced updated MR with better agreement to iMR than that of preoperative MR. The average model estimated shift at target region was 1.2 mm.

CONCLUSIONS

This study demonstrates the feasibility of a model-based shift correction strategy in DBS surgery with only sparse data.

SIGNIFICANCE

The developed strategy has the potential to complement and/or enhance current clinical approaches in addressing shift.

Predicted Microscopic Cortical Brain Images for Optimal Craniotomy Positioning and Visualization

During a craniotomy, the skull is opened to allow surgeons to have access to the brain and perform the procedure. The position and size of this opening are chosen in a way to avoid critical structures, such as vessels, and facilitate the access to tumors. Planning the operation is done based on pre-operative images and does not account for intra-operative surgical events. We present a novel image-guided neurosurgical system to optimize the craniotomy opening. Using physics-based modeling we define a cortical deformation map that estimates the displacement field at candidate craniotomy locations. This deformation map is coupled with an image analogy algorithm that produces realistic synthetic images that can be used to predict both the geometry and the appearance of the brain surface before opening the skull. These images account for cortical vessel deformations that may occur after opening the skull and is rendered in a way that increases the surgeon's understanding and assimilation. Our method was tested retrospectively on patients data showing good results and demonstrating the feasibility of practical use of our system.