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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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Nisar H, Fakim D, Bainbridge D, Chen ECS, Peters T. 3D localization of vena contracta using Doppler ICE imaging in tricuspid valve interventions. Int J Comput Assist Radiol Surg 2022; 17:1569-1577. [PMID: 35588338 PMCID: PMC9463221 DOI: 10.1007/s11548-022-02660-w] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Journal Information] [Subscribe] [Scholar Register] [Received: 01/14/2022] [Accepted: 04/25/2022] [Indexed: 11/27/2022]
Abstract
Purpose Tricuspid valve (TV) interventions face the challenge of imaging the anatomy and tools because of the ‘TEE-unfriendly’ nature of the TV. In edge-to-edge TV repair, a core step is to position the clip perpendicular to the coaptation gap. In this study, we provide a semi-automated method to localize the VC from Doppler intracardiac echo (ICE) imaging in a tracked 3D space, thus providing a pre-mapped location of the coaptation gap to assist device positioning. Methods A magnetically tracked ICE probe with Doppler imaging capabilities is employed in this study for imaging three patient-specific TVs placed in a pulsatile heart phantom. For each of the valves, the ICE probe is positioned to image the maximum regurgitant flow for five cardiac cycles. An algorithm then extracts the regurgitation imaging and computes the exact location of the vena contracta on the image. Results Across the three pathological, patient-specific valves, the average distance error between the detected VC and the ground truth model is \documentclass[12pt]{minimal}
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\begin{document}$$({1.22 \pm 2.00})$$\end{document}(1.22±2.00)mm. For each of the valves, one case represented the outlier where the algorithm misidentified the vena contracta to be near the annulus. In such cases, it is recommended to retake the five-second imaging data. Conclusion This study presented a method for ultrasound-based localization of vena contracta in 3D space. Mapping such anatomical landmarks has the potential to assist with device positioning and to simplify tricuspid valve interventions by providing more contextual information to the interventionalists, thus enhancing their spatial awareness. Additionally, ICE can be used to provide live US and Doppler imaging of the complex TV anatomy throughout the procedure.
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Affiliation(s)
- Hareem Nisar
- Robarts Research Institute, 1151 Richmond St., London, ON, N6A5B7, Canada. .,School of Biomedical Engineering, Western University, 1151 Richmond St, London, ON, N6A3K7, Canada.
| | - Djalal Fakim
- Schulic School of Medicine and Dentistry, Western University, 1151 Richmond St., London, ON, N6A3K7, Canada
| | - Daniel Bainbridge
- Department of Anesthesia and Perioperative Medicine, London Health Sciences Centre, 339 Windermere Rd., London, ON, N6A5A5, Canada
| | - Elvis C S Chen
- Robarts Research Institute, 1151 Richmond St., London, ON, N6A5B7, Canada.,School of Biomedical Engineering, Western University, 1151 Richmond St, London, ON, N6A3K7, Canada.,Schulic School of Medicine and Dentistry, Western University, 1151 Richmond St., London, ON, N6A3K7, Canada.,Department of Medical Biophysics, Western University, 1151 Richmond St., London, ON, N6A3K7, Canada
| | - Terry Peters
- Robarts Research Institute, 1151 Richmond St., London, ON, N6A5B7, Canada.,School of Biomedical Engineering, Western University, 1151 Richmond St, London, ON, N6A3K7, Canada.,Schulic School of Medicine and Dentistry, Western University, 1151 Richmond St., London, ON, N6A3K7, Canada.,Department of Medical Biophysics, Western University, 1151 Richmond St., London, ON, N6A3K7, Canada
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Personalising population-based respiratory motion models of the heart using neighbourhood approximation based on learnt anatomical features. Med Image Anal 2014; 18:1015-25. [PMID: 24972379 DOI: 10.1016/j.media.2014.05.013] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 11/08/2013] [Revised: 05/16/2014] [Accepted: 05/27/2014] [Indexed: 12/25/2022]
Abstract
Respiratory motion models have been proposed for the estimation and compensation of respiratory motion during image acquisition and image-guided interventions on organs in the chest and abdomen. However, such techniques are not commonly used in the clinic. Subject-specific motion models require a dynamic calibration scan that interrupts the clinical workflow and is often impractical to acquire, while population-based motion models are not as accurate as subject-specific motion models. To address this lack of accuracy, we propose a novel personalisation framework for population-based respiratory motion models and demonstrate its application to respiratory motion of the heart. The proposed method selects a subset of the population sample which is more likely to represent the cardiac respiratory motion of an unseen subject, thus providing a more accurate motion model. The selection is based only on anatomical features of the heart extracted from a static image. The features used are learnt using a neighbourhood approximation technique from a set of training datasets for which respiratory motion estimates are available. Results on a population sample of 28 adult healthy volunteers show average improvements in estimation accuracy of 20% compared to a standard population-based motion model, with an average value for the 50th and 95th quantiles of the estimation error of 1.6mm and 4.7 mm respectively. Furthermore, the anatomical features of the heart most strongly correlated to respiratory motion are investigated for the first time, showing the features on the apex in proximity to the diaphragm and the rib cage, on the left ventricle and interventricular septum to be good predictors of the similarity in cardiac respiratory motion.
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Arujuna AV, Housden RJ, Ma Y, Rajani R, Gao G, Nijhof N, Cathier P, Bullens R, Gijsbers G, Parish V, Kapetanakis S, Hancock J, Rinaldi CA, Cooklin M, Gill J, Thomas M, O'neill MD, Razavi R, Rhode KS. Novel System for Real-Time Integration of 3-D Echocardiography and Fluoroscopy for Image-Guided Cardiac Interventions: Preclinical Validation and Clinical Feasibility Evaluation. IEEE JOURNAL OF TRANSLATIONAL ENGINEERING IN HEALTH AND MEDICINE-JTEHM 2014; 2:1900110. [PMID: 27170872 PMCID: PMC4852540 DOI: 10.1109/jtehm.2014.2303799] [Citation(s) in RCA: 16] [Impact Index Per Article: 1.6] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 10/09/2013] [Revised: 11/20/2013] [Accepted: 12/19/2013] [Indexed: 11/29/2022]
Abstract
Real-time imaging is required to guide minimally invasive catheter-based cardiac interventions. While transesophageal echocardiography allows for high-quality visualization of cardiac anatomy, X-ray fluoroscopy provides excellent visualization of devices. We have developed a novel image fusion system that allows real-time integration of 3-D echocardiography and the X-ray fluoroscopy. The system was validated in the following two stages: 1) preclinical to determine function and validate accuracy; and 2) in the clinical setting to assess clinical workflow feasibility and determine overall system accuracy. In the preclinical phase, the system was assessed using both phantom and porcine experimental studies. Median 2-D projection errors of 4.5 and 3.3 mm were found for the phantom and porcine studies, respectively. The clinical phase focused on extending the use of the system to interventions in patients undergoing either atrial fibrillation catheter ablation (CA) or transcatheter aortic valve implantation (TAVI). Eleven patients were studied with nine in the CA group and two in the TAVI group. Successful real-time view synchronization was achieved in all cases with a calculated median distance error of 2.2 mm in the CA group and 3.4 mm in the TAVI group. A standard clinical workflow was established using the image fusion system. These pilot data confirm the technical feasibility of accurate real-time echo-fluoroscopic image overlay in clinical practice, which may be a useful adjunct for real-time guidance during interventional cardiac procedures.
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Affiliation(s)
- Aruna V Arujuna
- King's College LondonDivision of Imaging Sciences and Biomedical EngineeringLondonU.K.SE1 7EH; Guy's and St. Thomas' NHS Foundation TrustDepartment of CardiologyLondonU.K.SE1 7EH
| | - R James Housden
- King's College London Division of Imaging Sciences and Biomedical Engineering London U.K. SE1 7EH
| | - Yingliang Ma
- King's College London Division of Imaging Sciences and Biomedical Engineering London U.K. SE1 7EH
| | - Ronak Rajani
- Guy's and St. Thomas' NHS Foundation Trust Department of Cardiology London U.K. SE1 7EH
| | - Gang Gao
- King's College London Division of Imaging Sciences and Biomedical Engineering London U.K. SE1 7EH
| | - Niels Nijhof
- Interventional X-Ray Philips Healthcare Best The Netherlands DA 5680
| | - Pascal Cathier
- Interventional X-Ray Philips Healthcare Best The Netherlands DA 5680
| | - Roland Bullens
- Interventional X-Ray Philips Healthcare Best The Netherlands DA 5680
| | - Geert Gijsbers
- Interventional X-Ray Philips Healthcare Best The Netherlands DA 5680
| | - Victoria Parish
- Guy's and St. Thomas' NHS Foundation Trust Department of Cardiology London U.K. SE1 7EH
| | - Stamatis Kapetanakis
- Guy's and St. Thomas' NHS Foundation Trust Department of Cardiology London U.K. SE1 7EH
| | - Jane Hancock
- Guy's and St. Thomas' NHS Foundation Trust Department of Cardiology London U.K. SE1 7EH
| | - C Aldo Rinaldi
- King's College LondonDivision of Imaging Sciences and Biomedical EngineeringLondonU.K.SE1 7EH; Guy's and St. Thomas' NHS Foundation TrustDepartment of CardiologyLondonU.K.SE1 7EH
| | - Michael Cooklin
- Guy's and St. Thomas' NHS Foundation Trust Department of Cardiology London U.K. SE1 7EH
| | - Jaswinder Gill
- King's College LondonDivision of Imaging Sciences and Biomedical EngineeringLondonU.K.SE1 7EH; Guy's and St. Thomas' NHS Foundation TrustDepartment of CardiologyLondonU.K.SE1 7EH
| | - Martyn Thomas
- Guy's and St. Thomas' NHS Foundation Trust Department of Cardiology London U.K. SE1 7EH
| | - Mark D O'neill
- King's College LondonDivision of Imaging Sciences and Biomedical EngineeringLondonU.K.SE1 7EH; Guy's and St. Thomas' NHS Foundation TrustDepartment of CardiologyLondonU.K.SE1 7EH
| | - Reza Razavi
- King's College LondonDivision of Imaging Sciences and Biomedical EngineeringLondonU.K.SE1 7EH; Guy's and St. Thomas' NHS Foundation TrustDepartment of CardiologyLondonU.K.SE1 7EH
| | - Kawal S Rhode
- King's College London Division of Imaging Sciences and Biomedical Engineering London U.K. SE1 7EH
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Peressutti D, Penney GP, Housden RJ, Kolbitsch C, Gomez A, Rijkhorst EJ, Barratt DC, Rhode KS, King AP. A novel Bayesian respiratory motion model to estimate and resolve uncertainty in image-guided cardiac interventions. Med Image Anal 2013; 17:488-502. [DOI: 10.1016/j.media.2013.01.007] [Citation(s) in RCA: 14] [Impact Index Per Article: 1.3] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 07/10/2012] [Revised: 12/04/2012] [Accepted: 01/28/2013] [Indexed: 12/25/2022]
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Wittmann W, Wenger T, Loewe E, Lueth TC. Official measurement protocol and accuracy results for an optical surgical navigation system (NPU). ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2012; 2011:1237-40. [PMID: 22254540 DOI: 10.1109/iembs.2011.6090291] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 11/08/2022]
Abstract
Image-guided surgical navigation is on the rise in many different areas of modern medicine and is already an established standard in some disciplines like ear nose and throat (ENT) or maxillofacial surgery. When evaluating surgical navigation systems the absolute accuracy of the device is of major concern to the surgeon. The following work presents two different ways of measuring the accuracy of surgical navigation systems using the example of the KARL STORZ Navigation Panel Unit (NPU). According to these protocols the FDA approval of the NPU navigation system was prepared. In a first series of experiments the accuracy under realistic surgical conditions is evaluated with a phantom of a human head, which is manufactured in rapid-prototyping processes. In another series of experiments a custom registration board is used, which provides means to evaluate the accuracy under optimal conditions and also allows further measurements regarding the registration error, that are not possible with the phantom. In the experiments an accuracy of 1.44 mm ± 0.18 mm was measured in the surgical setup and 0.63 mm ± 0.07 mm under ideal conditions.
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Affiliation(s)
- Wolfgang Wittmann
- Ergosurg GmbH Ismaning, Institute of Micro Technology and Medical Device Technology, Technische Universitaet Muenchen, Garching, Germany.
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Gao G, Penney G, Ma Y, Gogin N, Cathier P, Arujuna A, Morton G, Caulfield D, Gill J, Aldo Rinaldi C, Hancock J, Redwood S, Thomas M, Razavi R, Gijsbers G, Rhode K. Registration of 3D trans-esophageal echocardiography to X-ray fluoroscopy using image-based probe tracking. Med Image Anal 2011; 16:38-49. [PMID: 21624845 DOI: 10.1016/j.media.2011.05.003] [Citation(s) in RCA: 80] [Impact Index Per Article: 6.2] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 06/22/2010] [Revised: 04/20/2011] [Accepted: 05/04/2011] [Indexed: 12/27/2022]
Abstract
Two-dimensional (2D) X-ray imaging is the dominant imaging modality for cardiac interventions. However, the use of X-ray fluoroscopy alone is inadequate for the guidance of procedures that require soft-tissue information, for example, the treatment of structural heart disease. The recent availability of three-dimensional (3D) trans-esophageal echocardiography (TEE) provides cardiologists with real-time 3D imaging of cardiac anatomy. Increasingly X-ray imaging is now supported by using intra-procedure 3D TEE imaging. We hypothesize that the real-time co-registration and visualization of 3D TEE and X-ray fluoroscopy data will provide a powerful guidance tool for cardiologists. In this paper, we propose a novel, robust and efficient method for performing this registration. The major advantage of our method is that it does not rely on any additional tracking hardware and therefore can be deployed straightforwardly into any interventional laboratory. Our method consists of an image-based TEE probe localization algorithm and a calibration procedure. While the calibration needs to be done only once, the GPU-accelerated registration takes approximately from 2 to 15s to complete depending on the number of X-ray images used in the registration and the image resolution. The accuracy of our method was assessed using a realistic heart phantom. The target registration error (TRE) for the heart phantom was less than 2mm. In addition, we assess the accuracy and the clinical feasibility of our method using five patient datasets, two of which were acquired from cardiac electrophysiology procedures and three from trans-catheter aortic valve implantation procedures. The registration results showed our technique had mean registration errors of 1.5-4.2mm and 95% capture range of 8.7-11.4mm in terms of TRE.
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Affiliation(s)
- Gang Gao
- Division of Imaging Sciences & Biomedical Engineering, King's College London, UK.
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