A Methodical Quantification of Needle Visibility and Echogenicity in Ultrasound Images

Model-Based Needle Identification Using Image Analysis and Needle Library Matching for Ultrasound-Guided Kidney Biopsy: A Feasibility Study

OBJECTIVE

The aim of the work described here was to determine the feasibility of using a novel biopsy needle detection technique that achieves high sensitivity and specificity in a trade-off of resolution, detectability and depth of imaging.

METHODS

The proposed needle detection method consists of a model-based image analysis, temporal needle projection and needle library matching: (i) Image analysis was formulated under the signal decomposition framework; (ii) temporal projection converted the time-resolved needle dynamics into a single image of the desired needle; and (iii) the enhanced needle structure was spatially refined by matching a long, straight linear object in the needle library. The efficacy was examined with respect to different needle visibility.

RESULTS

Our method effectively eliminated confounding effects of the background tissue artifacts more robustly than conventional methods, thus improving needle visibility even with the low contrast between the needle and tissue. The improvement in needle structure further resulted in an improvement in estimation performance for the trajectory angle and tip position.

CONCLUSION

Our three-step needle detection method can reliably detect needle position without the need for external devices, increasing the needle conspicuity and reducing motion sensitivity.

Intraoperative Needle Tip Tracking with an Integrated Fibre-Optic Ultrasound Sensor

Ultrasound is an essential tool for guidance of many minimally-invasive surgical and interventional procedures, where accurate placement of the interventional device is critical to avoid adverse events. Needle insertion procedures for anaesthesia, fetal medicine and tumour biopsy are commonly ultrasound-guided, and misplacement of the needle may lead to complications such as nerve damage, organ injury or pregnancy loss. Clear visibility of the needle tip is therefore critical, but visibility is often precluded by tissue heterogeneities or specular reflections from the needle shaft. This paper presents the in vitro and ex vivo accuracy of a new, real-time, ultrasound needle tip tracking system for guidance of fetal interventions. A fibre-optic, Fabry-Pérot interferometer hydrophone is integrated into an intraoperative needle and used to localise the needle tip within a handheld ultrasound field. While previous, related work has been based on research ultrasound systems with bespoke transmission sequences, the new system-developed under the ISO 13485 Medical Devices quality standard-operates as an adjunct to a commercial ultrasound imaging system and therefore provides the image quality expected in the clinic, superimposing a cross-hair onto the ultrasound image at the needle tip position. Tracking accuracy was determined by translating the needle tip to 356 known positions in the ultrasound field of view in a tank of water, and by comparison to manual labelling of the the position of the needle in B-mode US images during an insertion into an ex vivo phantom. In water, the mean distance between tracked and true positions was 0.7 ± 0.4 mm with a mean repeatability of 0.3 ± 0.2 mm. In the tissue phantom, the mean distance between tracked and labelled positions was 1.1 ± 0.7 mm. Tracking performance was found to be independent of needle angle. The study demonstrates the performance and clinical compatibility of ultrasound needle tracking, an essential step towards a first-in-human study.

Ultrasonic Needle Tracking with Dynamic Electronic Focusing

Accurate identification of the needle tip is a key challenge with ultrasound-guided percutaneous interventions in regional anaesthesia, foetal surgery and cardiovascular medicine. In this study, we developed an ultrasonic needle tracking system in which the measured needle tip location was used to set the electronic focus of the external ultrasound imaging probe. In this system, needle tip tracking was enabled with a fibre-optic ultrasound sensor that was integrated into a needle stylet, and the A-lines recorded by the sensor were processed to generate tracking images of the needle tip. The needle tip position was estimated from the tracking images. The dependency of the tracking image on the electronic focal depth of the external ultrasound imaging probe was studied in a water bath and with needle insertions into a clinical training phantom. The variability in the estimated tracked position of the needle tip, with the needle tip at fixed depths in the imaging plane across a depth range from 0.5 to 7.5 cm, was studied. When the electronic focus was fixed, the variability of tracked position was found to increase with distance from that focus. The variability with the fixed focus was found to depend on the the relative distance between the needle tip and focal depth. It was found that with dynamic focusing, the maximum variability of tracked position was below 0.31 mm, as compared with 3.97 mm for a fixed focus.

Spatial Coherence Beamforming With Multi-Line Transmission to Enhance the Contrast of Coherent Structures in Ultrasound Images Degraded by Acoustic Clutter

This work demonstrates that the combination of multi-line transmission (MLT) and short-lag spatial coherence (SLSC) imaging improves the contrast of highly coherent structures within soft tissues when compared to both traditional SLSC imaging and conventional delay and sum (DAS) beamforming. Experimental tests with small (i.e., [Formula: see text]-3 mm) targets embedded in homogeneous and heterogeneous backgrounds were conducted. DAS or SLSC images were reconstructed when implementing MLT with varying numbers of simultaneously transmitted beams. In images degraded by acoustic clutter, MLT SLSC achieved up to 34.1 dB better target contrast and up to 16 times higher frame rates when compared to the more conventional single-line transmission SLSC images, with lateral resolution improvements as large as 38.2%. MLT SLSC thus represents a promising technique for clinical applications in which ultrasound visualization of highly coherent targets is required (e.g., breast microcalcifications, kidney stones, and percutaneous biopsy needle tracking) and would otherwise be challenging due to the strong presence of acoustic clutter.

Block-matching-based registration to evaluate ultrasound visibility of percutaneous needles in liver-mimicking phantoms

Purpose

To present a novel methodical approach to compare visibility of percutaneous needles in ultrasound images.

Methods

A motor‐driven rotation platform was used to gradually change the needle angle while capturing image data. Data analysis was automated using block‐matching‐based registration, with a tracking and refinement step. Every 25 frames, a Hough transform was used to improve needle alignments after large rotations. The method was demonstrated by comparing three commercial needles (14G radiofrequency ablation, RFA; 18G Trocar; 22G Chiba) and six prototype needles with different sizes, materials, and surface conditions (polished, sand‐blasted, and kerfed), within polyvinyl alcohol phantom tissue and ex vivo bovine liver models. For each needle and angle, a contrast‐to‐noise ratio (CNR) was determined to quantify visibility. CNR values are presented as a function of needle type and insertion angle. In addition, the normalized area under the (CNR‐angle) curve was used as a summary metric to compare needles.

Results

In phantom tissue, the first kerfed needle design had the largest normalized area of visibility and the polished 1 mm diameter stainless steel needle the smallest (0.704 ± 0.199 vs. 0.154 ± 0.027, p < 0.01). In the ex vivo model, the second kerfed needle design had the largest normalized area of visibility, and the sand‐blasted stainless steel needle the smallest (0.470 ± 0.190 vs. 0.127 ± 0.047, p < 0.001). As expected, the analysis showed needle visibility peaks at orthogonal insertion angles. For acute or obtuse angles, needle visibility was similar or reduced. Overall, the variability in needle visibility was considerably higher in livers.

Conclusion

The best overall visibility was found with kerfed needles and the commercial RFA needle. The presented methodical approach to quantify ultrasound visibility allows comparisons of (echogenic) needles, as well as other technological innovations aiming to improve ultrasound visibility of percutaneous needles, such as coatings, material treatments, and beam steering approaches.

Scrubbing needles: a simple and costless technique to improve needle tip visibility during US-guided liver interventions

AIMS

To evaluate the echogenicity of a commercially available needle, modified on the tip, by comparing two groups of patients undergoing to percutaneous biliary drainage.

METHODS

In this retrospective analysis 16 percutaneous transhepatic biliary drainage (PTBD) procedures performed on 16 oncologic patients were evaluated. Patients were randomly divided into two groups of eight subjects each; in the first group, a standard needle was adopted (group A); in the second group, the needle was manually modified to create a rough surface (group B), by scrubbing the tip with an 11 scalpel blade for 150 s all around its surface. To objectively quantify US needle tip visibility, the contrast-to-noise ratio (CNR) was calculated analyzing B-mode images by positioning region of interests in correspondence of needle tip and liver parenchyma.

RESULTS

Needle tip echogenicity was significantly higher in group B where the needle tip was modified compared to control group A (p value = 0.014). CNR, considered to objectively evaluate differences among needle tip echogenicity, was significantly higher in group B with respect to control group A (p value = 0.018).

CONCLUSIONS

The proposed method, scrubbing a 22 gauge commercially available needle tip with a scalpel blade, represents an effective technique to improve needle visibility during US-guided punctures of the liver.

Steerable needles for radio-frequency ablation in cirrhotic livers

Accurate needle placement in deep-seated liver tumours can be difficult. In this work, we disclose two new manually controlled steerable needles for 17G radio-frequency ablation probe placement. The needles contain stylets with embedded compliant joints for active tip articulations, and concentric tubes for (curved-path) guidance. Needle steering was evaluated sequentially by intended users and in intended-use tissue types. Six interventional radiologists evaluated the needle in repeated ultrasound-guided steering tasks in liver-mimicking phantoms. Targets were located at a 100 mm depth and 20 mm lateral offset from the initial insertion line. The resulting mean absolute tip placement error was 1.0 ± 1.0 mm. Subsequently, steering-induced tissue damage was evaluated in fresh cirrhotic human liver explants. The surface area of puncture holes was estimated in scanned histology slides, using a connected-components analysis. The mean surface area was 0.26 ± 0.16 mm² after steering with a median radius of curvature of 0.7 × 10³ mm, versus 0.35 ± 0.15 mm² after straight-path insertions with the steerable needle and 0.15 ± 0.09 mm² after straight-path RFA probe insertions. The steering mechanisms proposed enable clinically relevant path corrections for 17G needles. Radiologists were quickly adept in curved-path RFA probe placement and the evaluation of histological tissue damage demonstrated a potentially safe use during liver interventions.

Enhancement of needle visualization and localization in ultrasound

PURPOSE

This scoping review covers needle visualization and localization techniques in ultrasound, where localization-based approaches mostly aim to compute the needle shaft (and tip) location while potentially enhancing its visibility too.

METHODS

A literature review is conducted on the state-of-the-art techniques, which could be divided into five categories: (1) signal and image processing-based techniques to augment the needle, (2) modifications to the needle and insertion to help with needle-transducer alignment and visibility, (3) changes to ultrasound image formation, (4) motion-based analysis and (5) machine learning.

RESULTS

Advantages, limitations and challenges of representative examples in each of the categories are discussed. Evaluation techniques performed in ex vivo, phantom and in vivo studies are discussed and summarized.

CONCLUSION

Greatest limitation of the majority of the literature is that they rely on original visibility of the needle in the static image. Need for additional/improved apparatus is the greatest limitation toward clinical utility in practice.

SIGNIFICANCE

Ultrasound-guided needle placement is performed in many clinical applications, including biopsies, treatment injections and anesthesia. Despite the wide range and long history of this technique, an ongoing challenge is needle visibility in ultrasound. A robust technique to enhance ultrasonic needle visibility, especially for steeply inserted hand-held needles, and while maintaining clinical utility requirements is needed.

[Continuous anti-glaucoma drug therapy as a risk factor of dry eye]

A preservative is a mandatory component of the eye drops designed to prevent microbial contamination in an opened bottle. Most of the preservative agents are either detergents, or oxidants; the most widely used and well-studied preservative - benzalkonium chloride - is a detergent. Due to regular usage of glaucoma eye drops, cytotoxic impact of the preservatives on anterior eye surface is considered the principal cause of its pathology, which leads to a decrease in quality of life. The high cost of preservative-free pharmacological forms and the complicated process of developing new preservatives make the usage of eye drops with minimal required concentration of preservative agent and a moistening component a good compromise. The most commonly utilized moistening component is polyvinyl alcohol - synthetic polymeric hydrogel, which is also used in artificial tears and bioengineering.

Ultrasound-Guided Regional Anaesthesia: Visualising the Nerve and Needle

Regional anaesthesia involves targeting specific peripheral nerves with local anaesthetic. It facilitates the delivery of anaesthesia and analgesia to an increasingly complex, elderly and co-morbid patient population. Regional anaesthesia practice has been transformed by the use of ultrasound, which confers advantages such as accuracy of needle placement, visualisation of local anaesthetic spread, avoidance of intraneural injection and the ability to accommodate for anatomical variation.An US beam is generated by the application of electrical current to an array of piezoelectric crystals, causing vibration and consequential production of high-frequency sound waves. The sound energy is reflected at tissue interfaces, detected by the piezoelectric crystals in the ultrasound probe, and most frequently displayed as a 2D image.Optimising image acquisition involves selection of the appropriate US frequency: this represents a trade-off between image resolution (better with high frequency) and tissue penetration/beam attenuation (better with low frequency). Altering alignment, rotation and tilt of the probe is often required to optimise the view as nerves are best visualised when the ultrasound beam is directly perpendicular to their fibres. Adjusting the focus, depth, and gain (brightness) of the image display can also help in this matter.Three key challenges exist in regional anaesthesia; image optimisation, image interpretation (nerve visualisation) and needle visualisation. There are characteristic sonographic appearances of the nerve structures for peripheral nerve blocks, as discussed in this chapter, and the above techniques can be used to enhance their appearance. Much research has been done, and is ongoing, with the aim of improving needle visualisation; this is also reviewed. Image interpretation requires the application of anatomical knowledge and understanding of the typical sonographic appearance of different tissues (as well as the needle). Years of practice are required to attain expertise, although it is hoped that continuing advances in nerve and needle visualisation, as described in this chapter, will expedite that process.

Tip Estimation Method in Phantoms for Curved Needle Using 2D Transverse Ultrasound Images

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.