Indoor Localization of Hand-Held OCT Probe Using Visual Odometry and Real-Time Segmentation Using Deep Learning

Large area kidney imaging for pre-transplant evaluation using real-time robotic optical coherence tomography

Optical coherence tomography (OCT) can be used to image microstructures of human kidneys. However, current OCT probes exhibit inadequate field-of-view, leading to potentially biased kidney assessment. Here we present a robotic OCT system where the probe is integrated to a robot manipulator, enabling wider area (covers an area of 106.39 mm by 37.70 mm) spatially-resolved imaging. Our system comprehensively scans the kidney surface at the optimal altitude with preoperative path planning and OCT image-based feedback control scheme. It further parameterizes and visualizes microstructures of large area. We verified the system positioning accuracy on a phantom as 0.0762 ± 0.0727 mm and showed the clinical feasibility by scanning ex vivo kidneys. The parameterization reveals vasculatures beneath the kidney surface. Quantification on the proximal convoluted tubule of a human kidney yields clinical-relevant information. The system promises to assess kidney viability for transplantation after collecting a vast amount of whole-organ parameterization and patient outcomes data.

Image segmentation of mouse eye in vivo with optical coherence tomography based on Bayesian classification

OBJECTIVES

Optical coherence tomography (OCT) is a new imaging technology that uses an optical analog of ultrasound imaging for biological tissues. Image segmentation plays an important role in dealing with quantitative analysis of medical images.

METHODS

We have proposed a novel framework to deal with the low intensity problem, based on the labeled patches and Bayesian classification (LPBC) model. The proposed method includes training and testing phases. During the training phase, firstly, we manually select the sub-images of background and Region of Interest (ROI) from the training image, and then extract features by patches. Finally, we train the Bayesian model with the features. The segmentation threshold of each patch is computed by the learned Bayesian model.

RESULTS

In addition, we have collected a new dataset of mouse eyes in vivo with OCT, named MEVOCT, which can be found at URL https://17861318579.github.io/LPBC. MEVOCT consists of 20 high-resolution images. The resolution of every image is 2048 × 2048 pixels.

CONCLUSIONS

The experimental results demonstrate the effectiveness of the LPBC method on the new MEVOCT dataset. The ROI segmentation is of great importance for the distortion correction.

Deep learning in optical coherence tomography: Where are the gaps?

Optical coherence tomography (OCT) is a non-invasive optical imaging modality, which provides rapid, high-resolution and cross-sectional morphology of macular area and optic nerve head for diagnosis and managing of different eye diseases. However, interpreting OCT images requires experts in both OCT images and eye diseases since many factors such as artefacts and concomitant diseases can affect the accuracy of quantitative measurements made by post-processing algorithms. Currently, there is a growing interest in applying deep learning (DL) methods to analyse OCT images automatically. This review summarises the trends in DL-based OCT image analysis in ophthalmology, discusses the current gaps, and provides potential research directions. DL in OCT analysis shows promising performance in several tasks: (1) layers and features segmentation and quantification; (2) disease classification; (3) disease progression and prognosis; and (4) referral triage level prediction. Different studies and trends in the development of DL-based OCT image analysis are described and the following challenges are identified and described: (1) public OCT data are scarce and scattered; (2) models show performance discrepancies in real-world settings; (3) models lack of transparency; (4) there is a lack of societal acceptance and regulatory standards; and (5) OCT is still not widely available in underprivileged areas. More work is needed to tackle the challenges and gaps, before DL is further applied in OCT image analysis for clinical use.

Large Area Kidney Imaging for Pre-transplant Evaluation using Real-Time Robotic Optical Coherence Tomography

Optical coherence tomography (OCT) is a high-resolution imaging modality that can be used to image microstructures of human kidneys. These images can be analyzed to evaluate the viability of the organ for transplantation. However, current OCT devices suffer from insufficient field-of-view, leading to biased examination outcomes when only small portions of the kidney can be assessed. Here we present a robotic OCT system where an OCT probe is integrated with a robotic manipulator, enabling wider area spatially-resolved imaging. With the proposed system, it becomes possible to comprehensively scan the kidney surface and provide large area parameterization of the microstructures. We verified the probe tracking accuracy with a phantom as 0.0762±0.0727 mm and demonstrated its clinical feasibility by scanning ex vivo kidneys. The parametric map exhibits fine vasculatures beneath the kidney surface. Quantitative analysis on the proximal convoluted tubule from the ex vivo human kidney yields highly clinical-relevant information.

Feasibility of the soft attention-based models for automatic segmentation of OCT kidney images

Clinically, optical coherence tomography (OCT) has been utilized to obtain the images of the kidney's proximal convoluted tubules (PCTs), which can be used to quantify the morphometric parameters such as tubular density and diameter. Such parameters are useful for evaluating the status of the donor kidney for transplant. Quantifying PCTs from OCT images by human readers is a time-consuming and tedious process. Despite the fact that conventional deep learning models such as conventional neural networks (CNNs) have achieved great success in the automatic segmentation of kidney OCT images, gaps remain regarding the segmentation accuracy and reliability. Attention-based deep learning model has benefits over regular CNNs as it is intended to focus on the relevant part of the image and extract features for those regions. This paper aims at developing an Attention-based UNET model for automatic image analysis, pattern recognition, and segmentation of kidney OCT images. We evaluated five methods including the Residual-Attention-UNET, Attention-UNET, standard UNET, Residual UNET, and fully convolutional neural network using 14403 OCT images from 169 transplant kidneys for training and testing. Our results show that Residual-Attention-UNET outperformed the other four methods in segmentation by showing the highest values of all the six metrics including dice score (0.81 ± 0.01), intersection over union (IOU, 0.83 ± 0.02), specificity (0.84 ± 0.02), recall (0.82 ± 0.03), precision (0.81 ± 0.01), and accuracy (0.98 ± 0.08). Our results also show that the performance of the Residual-Attention-UNET is equivalent to the human manual segmentation (dice score = 0.84 ± 0.05). Residual-Attention-UNET and Attention-UNET also demonstrated good performance when trained on a small dataset (3456 images) whereas the performance of the other three methods dropped dramatically. In conclusion, our results suggested that the soft Attention-based models and specifically Residual-Attention-UNET are powerful and reliable methods for tubule lumen identification and segmentation and can help clinical evaluation of transplant kidney viability as fast and accurate as possible.