Automatic segmentation of the facial nerve and chorda tympani in CT images using spatially dependent feature values

Variability in Manual Segmentation of Temporal Bone Structures in Cone Beam CT Images

PURPOSE

Manual segmentation of anatomical structures is the accepted "gold standard" for labeling structures in clinical images. However, the variability in manual segmentation of temporal bone structures in CBCT images of the temporal bone has not been systematically evaluated using multiple reviewers. Therefore, we evaluated the intravariability and intervariability of manual segmentation of inner ear structures in CBCT images of the temporal bone.

METHODS

Preoperative CBCTs scans of the inner ear were obtained from 10 patients who had undergone cochlear implant surgery. The cochlea, facial nerve, chorda tympani, mid-modiolar (MM) axis, and round window (RW) were manually segmented by five reviewers in two separate sessions that were at least 1 month apart. Interreviewer and intrareviewer variabilities were assessed using the Dice coefficient (DICE), volume similarity, mean Hausdorff Distance metrics, and visual review.

RESULTS

Manual segmentation of the cochlea was the most consistent within and across reviewers with a mean DICE of 0.91 (SD = 0.02) and 0.89 (SD = 0.01) respectively, followed by the facial nerve with a mean DICE of 0.83 (SD = 0.02) and 0.80 (SD = 0.03), respectively. The chorda tympani had the greatest amount of reviewer variability due to its thin size, and the location of the centroid of the RW and the MM axis were also quite variable between and within reviewers.

CONCLUSIONS

We observed significant variability in manual segmentation of some of the temporal bone structures across reviewers. This variability needs to be considered when interpreting the results in studies using one manual reviewer.

Further Validity Evidence for Patient-Specific Virtual Reality Temporal Bone Surgical Simulation

OBJECTIVE

Patient-specific virtual reality (VR) simulation of cochlear implant (CI) surgery potentially enables preoperative rehearsal and planning. We aim to gather supporting validity evidence for patient-specific simulation through the analysis of virtual performance and comparison with postoperative imaging.

METHODS

Prospective, multi-institutional study. Pre- and postoperative cone-beam CT scans of CI surgical patients were obtained and processed for patient-specific VR simulation. The virtual performances of five trainees and four attendings were recorded and (1) compared with volumes removed during actual surgery as determined in postoperative imaging, and (2) assessed using the Copenhagen Cochlear Implant Surgery Assessment Tool (CISAT) by two blinded raters. The volumes compared were cortical mastoidectomy, facial recess, and round window (RW) cochleostomy as well as violation of the facial nerve and chorda.

RESULTS

Trainees drilled more volume in the cortical mastoidectomy and facial recess, whereas attendings drilled more volume for the RW cochleostomy and made more violations. Except for the cochleostomy, attendings removed volumes closer to that determined in postoperative imaging. Trainees achieved a higher CISAT performance score compared with attendings (22.0 vs. 18.4 points) most likely due to lack of certain visual cues.

CONCLUSION

We found that there were differences in performance of trainees and attendings in patient-specific VR simulation of CI surgery as assessed by raters and in comparison with actual drilled volumes. The presented approach of volume comparison is novel and might be used for further validation of patient-specific VR simulation before clinical implementation for preoperative rehearsal in temporal bone surgery.

LEVEL OF EVIDENCE

n/a Laryngoscope, 134:1403-1409, 2024.

Deep learning-based approach for the automatic segmentation of adult and pediatric temporal bone computed tomography images

Background

Automatic segmentation of temporal bone computed tomography (CT) images is fundamental to image-guided otologic surgery and the intelligent analysis of CT images in the field of otology. This study was conducted to test a convolutional neural network (CNN) model that can automatically segment almost all temporal bone anatomy structures in adult and pediatric CT images.

Methods

A dataset comprising 80 annotated CT volumes was collected, of which 40 samples were obtained from adults and 40 from children. A further 60 annotated CT volumes (30 from adults and 30 from children) were used to train the model. The remaining 20 annotated CT volumes were employed to determine the model's generalizability for automatic segmentation. Finally, the Dice coefficient (DC) and average symmetric surface distance (ASSD) were utilized as metrics to evaluate the performance of the CNN model. Two independent-sample t-tests were used to compare the test set results of adults and children.

Results

In the adult test set, the mean DC values of all the structures ranged from 0.714 to 0.912, and the ASSD values were less than 0.24 mm for 11 structures. In the pediatric test set, the mean DC values of all the structures ranged from 0.658 to 0.915, and the ASSD values were less than 0.18 mm for 11 structures. There was no statistically significant difference between the adult and child test sets in most temporal bone structures.

Conclusions

Our CNN model shows excellent automatic segmentation performance and good generalizability for both adult and pediatric temporal bone CT images, which can help to advance otologist education, intelligent imaging diagnosis, surgery simulation, application of augmented reality, and preoperative planning for image-guided otology surgery.

Pipeline for Automated Processing of Clinical Cone-Beam Computed Tomography for Patient-Specific Temporal Bone Simulation: Validation and Clinical Feasibility

OBJECTIVE

Patient-specific simulation allows the surgeon to plan and rehearse the surgical approach ahead of time. Preoperative clinical imaging for this purpose requires time-consuming manual processing and segmentation of landmarks such as the facial nerve. We aimed to evaluate an automated pipeline with minimal manual interaction for processing clinical cone-beam computed tomography (CBCT) temporal bone imaging for patient-specific virtual reality (VR) simulation.

STUDY DESIGN

Prospective image processing of retrospective imaging series.

SETTING

Academic hospital.

METHODS

Eleven CBCTs were selected based on quality and used for validation of the processing pipeline. A larger naturalistic sample of 36 CBCTs were obtained to explore parameters for successful processing and feasibility for patient-specific VR simulation.Visual inspection and quantitative metrics were used to validate the accuracy of automated segmentation compared with manual segmentation. Range of acceptable rotational offsets and translation point selection variability were determined. Finally, feasibility in relation to image acquisition quality, processing time, and suitability for VR simulation was evaluated.

RESULTS

The performance of automated segmentation was acceptable compared with manual segmentation as reflected in the quantitative metrics. Total time for processing for new data sets was on average 8.3 minutes per data set; of this, it was less than 30 seconds for manual steps. Two of the 36 data sets failed because of extreme rotational offset, but overall the registration routine was robust to rotation and manual selection of a translational reference point. Another seven data sets had successful automated segmentation but insufficient suitability for VR simulation.

CONCLUSION

Automated processing of CBCT imaging has potential for preoperative VR simulation but requires further refinement.

Cochlear Implantation: The use of OTOPLAN Reconstructed Images in Trajectory Identification

OBJECTIVES

This study aimed to define the best electrode trajectory line in cochlear implant (CI) surgery using the OTOPLAN (otology planning software) reconstructed 3D model and to investigate the surgical distance of the retro-facial approach as a direct access to the round window.

METHODS

Computed tomography (CT) scans of the normal temporal bone were included for analysis in this study. OTOPLAN reconstruction was used to build 3D models with specific ear structures for study analysis.

RESULTS

Twenty-five scans were included; the average age at the time of CT scan was 6.8±12 years. Twelve scans (48%) were right-sided and thirteen (52%) were left-sided. The best trajectory line to the round window was identified in all scans. The retro-facial approach was the optimal approach for 52% of cases (13/25). In all scans, the safe distance from the facial nerve were in favor of the retro-facial approach (P = 0.0011).

CONCLUSION

The OTOPLAN reconstructed imaging provided a good analysis of the retro-facial approach and helped in planning the surgical trajectory line towards the round window. Additionally, calculation of the surgical distance can help the surgeon compare the retro-facial approach to the standard facial recess for preoperative planning. These findings may help in robotic surgery.

Fully automated segmentation in temporal bone CT with neural network: a preliminary assessment study

BACKGROUND

Segmentation of important structures in temporal bone CT is the basis of image-guided otologic surgery. Manual segmentation of temporal bone CT is time- consuming and laborious. We assessed the feasibility and generalization ability of a proposed deep learning model for automated segmentation of critical structures in temporal bone CT scans.

METHODS

Thirty-nine temporal bone CT volumes including 58 ears were divided into normal (n = 20) and abnormal groups (n = 38). Ossicular chain disruption (n = 10), facial nerve covering vestibular window (n = 10), and Mondini dysplasia (n = 18) were included in abnormal group. All facial nerves, auditory ossicles, and labyrinths of the normal group were manually segmented. For the abnormal group, aberrant structures were manually segmented. Temporal bone CT data were imported into the network in unmarked form. The Dice coefficient (DC) and average symmetric surface distance (ASSD) were used to evaluate the accuracy of automatic segmentation.

RESULTS

In the normal group, the mean values of DC and ASSD were respectively 0.703, and 0.250 mm for the facial nerve; 0.910, and 0.081 mm for the labyrinth; and 0.855, and 0.107 mm for the ossicles. In the abnormal group, the mean values of DC and ASSD were respectively 0.506, and 1.049 mm for the malformed facial nerve; 0.775, and 0.298 mm for the deformed labyrinth; and 0.698, and 1.385 mm for the aberrant ossicles.

CONCLUSIONS

The proposed model has good generalization ability, which highlights the promise of this approach for otologist education, disease diagnosis, and preoperative planning for image-guided otology surgery.

Automatic segmentation of temporal bone structures from clinical conventional CT using a CNN approach

BACKGROUND

Automatic segmentation of temporal bone structures from patients' conventional computed tomography (CT) data plays an important role in the image-guided cochlear implant surgery. Existing convolutional neural network approaches have difficulties in segmenting such small tubular structures.

METHODS

We propose a light-weight three-dimensional convolutional neural network referred to as W-Net to achieve multiobjective segmentation of temporal bone structures including the cochlear labyrinth, ossicular chain and facial nerve from conventional temporal bone CT images. Data augmentation with morphological enhancement is proposed to increase the segmentation accuracy of small tubular structures. Evaluation against the state-of-the-art methods is performed.

RESULTS

Our method achieved mean Dice similarity coefficients (DSCs) of 0.90, 0.85 and 0.77 for the cochlear labyrinth, ossicular chain and facial nerve, respectively. These results were also close to the DSCs between human expert annotators (0.91, 0.91 and 0.72).

CONCLUSIONS

Our method achieves human-level accuracy in the segmentation of the cochlear labyrinth, ossicular chain and facial nerve.

Fully automated preoperative segmentation of temporal bone structures from clinical CT scans

Middle- and inner-ear surgery is a vital treatment option in hearing loss, infections, and tumors of the lateral skull base. Segmentation of otologic structures from computed tomography (CT) has many potential applications for improving surgical planning but can be an arduous and time-consuming task. We propose an end-to-end solution for the automated segmentation of temporal bone CT using convolutional neural networks (CNN). Using 150 manually segmented CT scans, a comparison of 3 CNN models (AH-Net, U-Net, ResNet) was conducted to compare Dice coefficient, Hausdorff distance, and speed of segmentation of the inner ear, ossicles, facial nerve and sigmoid sinus. Using AH-Net, the Dice coefficient was 0.91 for the inner ear; 0.85 for the ossicles; 0.75 for the facial nerve; and 0.86 for the sigmoid sinus. The average Hausdorff distance was 0.25, 0.21, 0.24 and 0.45 mm, respectively. Blinded experts assessed the accuracy of both techniques, and there was no statistical difference between the ratings for the two methods (p = 0.93). Objective and subjective assessment confirm good correlation between automated segmentation of otologic structures and manual segmentation performed by a specialist. This end-to-end automated segmentation pipeline can help to advance the systematic application of augmented reality, simulation, and automation in otologic procedures.

PWD-3DNet: A Deep Learning-Based Fully-Automated Segmentation of Multiple Structures on Temporal Bone CT Scans

The temporal bone is a part of the lateral skull surface that contains organs responsible for hearing and balance. Mastering surgery of the temporal bone is challenging because of this complex and microscopic three-dimensional anatomy. Segmentation of intra-temporal anatomy based on computed tomography (CT) images is necessary for applications such as surgical training and rehearsal, amongst others. However, temporal bone segmentation is challenging due to the similar intensities and complicated anatomical relationships among critical structures, undetectable small structures on standard clinical CT, and the amount of time required for manual segmentation. This paper describes a single multi-class deep learning-based pipeline as the first fully automated algorithm for segmenting multiple temporal bone structures from CT volumes, including the sigmoid sinus, facial nerve, inner ear, malleus, incus, stapes, internal carotid artery and internal auditory canal. The proposed fully convolutional network, PWD-3DNet, is a patch-wise densely connected (PWD) three-dimensional (3D) network. The accuracy and speed of the proposed algorithm was shown to surpass current manual and semi-automated segmentation techniques. The experimental results yielded significantly high Dice similarity scores and low Hausdorff distances for all temporal bone structures with an average of 86% and 0.755 millimeter (mm), respectively. We illustrated that overlapping in the inference sub-volumes improves the segmentation performance. Moreover, we proposed augmentation layers by using samples with various transformations and image artefacts to increase the robustness of PWD-3DNet against image acquisition protocols, such as smoothing caused by soft tissue scanner settings and larger voxel sizes used for radiation reduction. The proposed algorithm was tested on low-resolution CTs acquired by another center with different scanner parameters than the ones used to create the algorithm and shows potential for application beyond the particular training data used in the study.

'Black Bone' magnetic resonance imaging as a novel technique to aid the pre-operative planning of posterior tympanotomy for cochlear implantation

Purpose: 'Black Bone' magnetic resonance imaging (BB MRI) is a novel sequence developed as an alternative to computed tomography (CT) for osseous imaging. We explored its potential utilisation in the pre-operative surgical planning of posterior tympanotomy for cochlear implantation through depiction of the mastoid facial nerve (mFN) canal and the posterior canaliculus of the chorda tympani (ChT), thus defining the facial recess. Methods: Twenty five adult patients were prospectively imaged with a dedicated BB MRI sequence. A consensus qualitative BB MRI 'visibility score' for the confidence of demonstration of the mFN canal and the posterior canaliculus of the ChT was recorded, as well as a 'corresponding score' to determine whether the neural structures on BB MRI corresponded to the paths of the nerves on a previous CT study. Results/discussion: The BB MRI sequence was able to clearly delineate the course of mFN in 100% of cases and that of ChT in 72%, with their courses corresponding to those depicted on CT in almost all cases. Maximum intensity projections with 7 mm slabs provided the optimal simultaneous demonstration of mFN, ChT and round window along the posterior tympanotomy surgical approach. Conclusion: The proposed BB MRI sequence reliably depicts mFN and ChT in the majority of cases, with a performance comparable to that of CT. It is proposed that it will be a useful adjunct to MRI protocols as part of cochlear implant assessment in those centres where CT is not routinely performed.

Surgical planning assistance in keyhole and percutaneous surgery: A systematic review

Surgical planning of percutaneous interventions has a crucial role to guarantee the success of minimally invasive surgeries. In the last decades, many methods have been proposed to reduce clinician work load related to the planning phase and to augment the information used in the definition of the optimal trajectory. In this survey, we include 113 articles related to computer assisted planning (CAP) methods and validations obtained from a systematic search on three databases. First, a general formulation of the problem is presented, independently from the surgical field involved, and the key steps involved in the development of a CAP solution are detailed. Secondly, we categorized the articles based on the main surgical applications, which have been object of study and we categorize them based on the type of assistance provided to the end-user.

Insertion Depth for Optimized Positioning of Precurved Cochlear Implant Electrodes

HYPOTHESIS

Generic guidelines for insertion depth of precurved electrodes are suboptimal for many individuals.

BACKGROUND

Insertion depths that are too shallow result in decreased cochlear coverage, and ones that are too deep lift electrodes away from the modiolus and degrade the electro-neural interface. Guidelines for insertion depth are generically applied to all individuals using insertion depth markers on the array that can be referenced against anatomical landmarks.

METHODS

To normalize our measurements, we determined the optimal position and insertion vector where a precurved array best fits the cochlea for each patient in an IRB-approved, N = 131 subject CT database. The distances from the most basal electrode on an optimally placed array to anatomical landmarks, including the round window (RW) and facial recess (FR), was measured for all patients.

RESULTS

The standard deviations of the distance from the most basal electrode to the FR and RW are 0.65 mm and 0.26 mm, respectively. Owing to the high variability in FR distance, using the FR as a landmark to determine insertion depth results in >0.5 mm difference with ideal depth in 44% of cases. Alignment of either of the two most proximal RW markers with the RW would result in over-insertion failures for >80% of cases, whereas the use of the third, most medial marker would result in under-insertion in only 19% of cases.

CONCLUSIONS

Normalized measurements using the optimized insertion vector show low variance in distance from the basal electrode position to the RW, thereby suggesting it as a better landmark for determining insertion depth than the FR.

Preliminary Results With Image-guided Cochlear Implant Insertion Techniques

HYPOTHESIS

Using patient-customized cochlear measurements obtained from preoperative computed tomography (CT) scans to guide insertion of cochlear implant (CI) electrode arrays will lead to more optimal intracochlear positioning.

BACKGROUND

Cochlear duct length is highly variable ranging from 25.26 to 35.46 mm, yet CI electrode arrays are treated as one size fits most. We sought to investigate the impact of patient-customized insertion plans on final location of electrode arrays.

METHODS

Twenty cadaveric temporal bone specimens were CT scanned and randomly divided into groups A and B. Group A specimens had an optimal customized insertion plan generated including entry site (e.g., round window versus extended round window), entry vector based on anatomical landmarks (e.g., hug posterior aspect of facial recess and angle 1 mm inferior to stapes), depth to begin advancing off stylet, and final insertion depth. Suboptimal plans were chosen for group B by selecting an approach that was normal yet predicted to result in poor final electrode location. One surgeon, blinded as to group, carried out the CI insertions following which the electrode array was fixed using superglue and the specimen CT scanned to allow assessment of final electrode location.

RESULTS

Average perimodiolar distances for groups A and B were 0.51 and 0.60 mm, respectively. For group A, full scala tympani insertion was achieved in all specimens while in group B, 4 of 10 specimens had scalar translocation.

CONCLUSION

Patient customized cochlear implant insertion techniques achieved better positioning of electrode arrays in this study and have potential for improving electrode positioning in patients.

Detectability of minute temporal bone structures with ultra-high resolution CT

OBJECTIVE

Computed tomography (CT) is the imaging tool of choice in the diagnosis of temporal bone lesions. With the recent progress in imaging technology, CT with higher spatial resolution (Ultra-high resolution CT) has become available in the clinical setting. The purpose of this study is to evaluate the visibility of small temporal bone structures using ultra-high resolution CT.

MATERIAL AND METHODS

The visibility of 27 minute temporal bone structures on ultra-high resolution CT images was evaluated. Non-helical axial scans were performed in 18 normal hearing ears without previous otologic diseases. Visibility was scored by an experienced radiologist and otologist.

RESULTS

Minute temporal bone structures including the ossicular chain, the crus of the stapes, the greater superficial petrosal nerve, and the anterior malleolar ligament were clearly visualized on ultra-high resolution CT. The stapedius muscle tendon and the chorda tympani exiting the posterior canaliculus and coursing medial to the malleus could be visualized.

CONCLUSION

Ultra-high resolution CT provides good visualization of small temporal bone structures in normal subjects.

Review on Otological Robotic Systems: Toward Microrobot-Assisted Cholesteatoma Surgery

Otologic surgical procedures over time have become minimally invasive due to the development of medicine, microtechniques, and robotics. This trend then provides an expected reduction in the patient's recovery time and improvement in the accuracy of diagnosis and treatment. One of the most challenging difficulties that such techniques face are precise control of the instrument and supply of an ergonomic system to the surgeon. The objective of this literature review is to present requirements and guidelines for a surgical robotic system dedicated to middle ear surgery. This review is particularly focused on cholesteatoma surgery (diagnosis and surgical tools), which is one of the most frequent pathologies that urge for an enhanced treatment. This review also presents the current robotic systems that are implemented for otologic applications.

Atlas-Based Segmentation of Temporal Bone Anatomy

PURPOSE

To develop a time-efficient automated segmentation approach that could identify critical structures in the temporal bone for visual enhancement and use in surgical simulation software.

METHODS

An atlas-based segmentation approach was developed to segment the cochlea, ossicles, semicircular canals (SCCs), and facial nerve in normal temporal bone CT images. This approach was tested in images of 26 cadaver bones (13 left, 13 right). The results of the automated segmentation were compared to manual segmentation visually and using DICE metric, average Hausdorff distance, and volume similarity.

RESULTS

The DICE metrics were greater than 0.8 for the cochlea, malleus, incus, and the SCCs combined. It was slightly lower for the facial nerve. The average Hausdorff distance was less than one voxel for all structures, and the volume similarity was 0.86 or greater for all structures except the stapes.

CONCLUSIONS

The atlas-based approach with rigid body registration of the otic capsule was successful in segmenting critical structures of temporal bone anatomy for use in surgical simulation software.

Pre-operative Screening and Manual Drilling Strategies to Reduce the Risk of Thermal Injury During Minimally Invasive Cochlear Implantation Surgery

This article presents the development and experimental validation of a methodology to reduce the risk of thermal injury to the facial nerve during minimally invasive cochlear implantation surgery. The first step in this methodology is a pre-operative screening process, in which medical imaging is used to identify those patients that present a significant risk of developing high temperatures at the facial nerve during the drilling phase of the procedure. Such a risk is calculated based on the density of the bone along the drilling path and the thermal conductance between the drilling path and the nerve, and provides a criterion to exclude high-risk patients from receiving the minimally invasive procedure. The second component of the methodology is a drilling strategy for manually-guided drilling near the facial nerve. The strategy utilizes interval drilling and mechanical constraints to enable better control over the procedure and the resulting generation of heat. The approach is tested in fresh cadaver temporal bones using a thermal camera to monitor temperature near the facial nerve. Results indicate that pre-operative screening may successfully exclude high-risk patients and that the proposed drilling strategy enables safe drilling for low-to-moderate risk patients.

Cadaveric Testing of Robot-Assisted Access to the Internal Auditory Canal for Vestibular Schwannoma Removal

HYPOTHESIS

An image-guided robotic system can safely perform the bulk removal of bone during the translabyrinthine approach to vestibular schwannoma (VS).

BACKGROUND

The translabyrinthine approach to VS removal involves extensive manual milling in the temporal bone to gain access to the internal auditory canal (IAC) for tumor resection. This bone removal is time consuming and challenging due to the presence of vital anatomy (e.g., facial nerve) embedded within the temporal bone. A robotic system can use preoperative imaging and segmentations to guide a surgical drill to remove a prescribed volume of bone, thereby preserving the surgeon for the more delicate work of opening the IAC and resecting the tumor.

METHODS

Fresh human cadaver heads were used in the experiments. For each trial, the desired bone resection volume was planned on a preoperative computed tomography (CT) image, the steps in the proposed clinical workflow were undertaken, and the robot was programmed to mill the specified volume. A postoperative CT scan was acquired for evaluation of the accuracy of the milled cavity and examination of vital anatomy.

RESULTS

In all experimental trials, the facial nerve and chorda tympani were preserved. The root mean squared surface accuracy of the milled cavities ranged from 0.23 to 0.65 mm and the milling time ranged from 32.7 to 57.0 minute.

CONCLUSION

This work shows feasibility of using a robot-assisted approach for VS removal surgery. Further testing and system improvements are necessary to enable clinical translation of this technology.

Safety margins in robotic bone milling: from registration uncertainty to statistically safe surgeries

BACKGROUND

When robots mill bone near critical structures, safety margins are used to reduce the risk of accidental damage due to inaccurate registration. These margins are typically set heuristically with uniform thickness, which does not reflect the anisotropy and spatial variance of registration error.

METHODS

A method is described to generate spatially varying safety margins around vital anatomy using statistical models of registration uncertainty. Numerical simulations are used to determine the margin geometry that matches a safety threshold specified by the surgeon.

RESULTS

The algorithm was applied to CT scans of five temporal bones in the context of mastoidectomy, a common bone milling procedure in ear surgery that must approach vital nerves. Safety margins were generated that satisfied the specified safety levels in every case.

CONCLUSIONS

Patient safety in image-guided surgery can be increased by incorporating statistical models of registration uncertainty in the generation of safety margins around vital anatomy.

Preoperative preparation for otologic surgery: temporal bone simulation

PURPOSE OF REVIEW

The field of temporal bone simulation (TBS) has largely focused on the development and validation of simulators as training and assessment tools. As technology has progressed over the years, researchers have, however, envisioned new clinical applications for simulators extending to preoperative surgical planning and case rehearsal. The purpose of this article was to review the current state of the art in TBS and to highlight recent advancements in the field. Because of space limitations, we will limit our discussion to computer-based virtual reality simulators.

RECENT FINDINGS

A review of the recent literature on TBS revealed very limited application of virtual reality simulators for preoperative preparation. Current evidence suggests limitations in fidelity preclude successful patient-specific case rehearsal using virtual reality simulation. Further investigation and clinical evaluation are required to validate its use outside of training and skill assessment.

SUMMARY

This article provides an overview of the current use of virtual reality simulators with emphasis on preoperative planning. We evaluate the limitations of the technology, and discuss potential areas of improvement for the future. More studies are necessary to assess the value of virtual reality simulation for preoperative preparation.

Integration of high-resolution data for temporal bone surgical simulations

PURPOSE

To report on the state of the art in obtaining high-resolution 3D data of the microanatomy of the temporal bone and to process that data for integration into a surgical simulator. Specifically, we report on our experience in this area and discuss the issues involved to further the field.

DATA SOURCES

Current temporal bone image acquisition and image processing established in the literature as well as in house methodological development.

REVIEW METHODS

We reviewed the current English literature for the techniques used in computer-based temporal bone simulation systems to obtain and process anatomical data for use within the simulation. Search terms included "temporal bone simulation, surgical simulation, temporal bone." Articles were chosen and reviewed that directly addressed data acquisition and processing/segmentation and enhancement with emphasis given to computer-based systems. We present the results from this review in relationship to our approach.

CONCLUSIONS

High-resolution CT imaging ([Formula: see text] voxel resolution), along with unique image processing and rendering algorithms, and structure-specific enhancement are needed for high-level training and assessment using temporal bone surgical simulators. Higher-resolution clinical scanning and automated processes that run in efficient time frames are needed before these systems can routinely support pre-surgical planning. Additionally, protocols such as that provided in this manuscript need to be disseminated to increase the number and variety of virtual temporal bones available for training and performance assessment.

Visualization of multiple anatomical structures with explicit isosurface manipulation

In medical image analysis and surgical planning, it is an essential task to visualize and differentiate multiple anatomical structures. The traditional approaches require expensive 3D segmentation steps during pre-processing stage, which defeats the purpose of real-time interaction with the data. In this paper, we propose an interactive method for visualization of multiple anatomical structures. In our results, we show that the new method is a promising technique for visual analysis of medical datasets and a helpful tool for surgical planning. It can be very efficient for a wide range of visualization and analysis tasks.

A Compact, Bone-Attached Robot for Mastoidectomy

Otologic surgery often involves a mastoidectomy, which is the removal of a portion of the mastoid region of the temporal bone, to safely access the middle and inner ear. The surgery is challenging because many critical structures are embedded within the bone, making them difficult to see and requiring a high level of accuracy with the surgical dissection instrument, a high-speed drill. We propose to automate the mastoidectomy portion of the surgery using a compact, bone-attached robot. The system described in this paper is a milling robot with four degrees-of-freedom (DOF) that is fixed to the patient during surgery using a rigid positioning frame screwed into the surface of the bone. The target volume to be removed is manually identified by the surgeon pre-operatively in a computed tomography (CT) scan and converted to a milling path for the robot. The surgeon attaches the robot to the patient in the operating room and monitors the procedure. Several design considerations are discussed in the paper as well as the proposed surgical workflow. The mean targeting error of the system in free space was measured to be 0.5 mm or less at vital structures. Four mastoidectomies were then performed in cadaveric temporal bones, and the error at the edges of the target volume was measured by registering a postoperative computed tomography (CT) to the pre-operative CT. The mean error along the border of the milled cavity was 0.38 mm, and all critical anatomical structures were preserved.

Facial nerve image enhancement from CBCT using supervised learning technique

Facial nerve segmentation plays an important role in surgical planning of cochlear implantation. Clinically available CBCT images are used for surgical planning. However, its relatively low resolution renders the identification of the facial nerve difficult. In this work, we present a supervised learning approach to enhance facial nerve image information from CBCT. A supervised learning approach based on multi-output random forest was employed to learn the mapping between CBCT and micro-CT images. Evaluation was performed qualitatively and quantitatively by using the predicted image as input for a previously published dedicated facial nerve segmentation, and cochlear implantation surgical planning software, OtoPlan. Results show the potential of the proposed approach to improve facial nerve image quality as imaged by CBCT and to leverage its segmentation using OtoPlan.

Incorporating Target Registration Error Into Robotic Bone Milling

Robots have been shown to be useful in assisting surgeons in a variety of bone drilling and milling procedures. Examples include commercial systems for joint repair or replacement surgeries, with in vitro feasibility recently shown for mastoidectomy. Typically, the robot is guided along a path planned on a CT image that has been registered to the physical anatomy in the operating room, which is in turn registered to the robot. The registrations often take advantage of the high accuracy of fiducial registration, but, because no real-world registration is perfect, the drill guided by the robot will inevitably deviate from its planned path. The extent of the deviation can vary from point to point along the path because of the spatial variation of target registration error. The allowable deviation can also vary spatially based on the necessary safety margin between the drill tip and various nearby anatomical structures along the path. Knowledge of the expected spatial distribution of registration error can be obtained from theoretical models or experimental measurements and used to modify the planned path. The objective of such modifications is to achieve desired probabilities for sparing specified structures. This approach has previously been studied for drilling straight holes but has not yet been generalized to milling procedures, such as mastoidectomy, in which cavities of more general shapes must be created. In this work, we present a general method for altering any path to achieve specified probabilities for any spatial arrangement of structures to be protected. We validate the method via numerical simulations in the context of mastoidectomy.

Automated segmentation of the incus and malleus ossicles in conventional tri-dimensional computed tomography images

This article proposes a fully automated computational solution to segment the incus and malleus ear ossicles in conventional tri-dimensional X-ray computed tomography images. The solution uses a registration-based segmentation paradigm, followed by image segmentation refinement. It was tested against a dataset comprising 21 computed tomography volumetric images of the ear acquired using standard protocols and with resolutions varying from 0.162 × 0.162 × 0.6 to 0.166 × 0.166 × 1.0 mm(3). The images used were randomly selected from subjects who had had a computed tomography examination of the ear due to ear-related pathologies. Dice's coefficient and the Hausdorff distance were used to compare the results of the automated segmentation against those of a manual segmentation performed by two experts. The mean agreement between automated and manual segmentations was equal to 0.956 (Dice's coefficient), and the mean Hausdorff distance among the shapes obtained was 1.14 mm, which is approximately equal to the maximum distance between the neighbouring voxels in the dataset tested. The results confirm that the automated segmentation of the incus and malleus ossicles in tri-dimensional images acquired from patients with ear-related pathologies, using conventional computed tomography scanners and standard protocols, is feasible, robust and accurate. Thus, the solution developed can be employed efficiently in computed tomography ear examinations to help radiologists and otolaryngologists in the evaluation of bi-dimensional slices by providing the related tri-dimensional model.

An experimental evaluation of the force requirements for robotic mastoidectomy

HYPOTHESIS

During robotic milling of the temporal bone, forces on the cutting burr may be lowered by choice of cutting parameters.

BACKGROUND

Robotic bone removal systems are used in orthopedic procedures, but they are currently not accurate enough for safe use in otologic surgery. We propose the use of a bone-attached milling robot to achieve the required accuracy and speed. To design such a robot and plan its milling trajectories, it is necessary to predict the forces that the robot must exert and withstand under likely cutting conditions.

MATERIALS AND METHODS

We measured forces during bone removal for several surgical burr types, drill angles, depths of cut, cutting velocities, and bone types (cortical/surface bone and mastoid) on human temporal bone specimens.

RESULTS

Lower forces were observed for 5-mm diameter burrs compared with 3-mm burrs for a given bone removal rate. Higher linear cutting velocities and greater cutting depths independently resulted in higher forces. For combinations of velocities and depths that resulted in the same overall bone removal rate, lower forces were observed in parameter sets that combined higher cutting velocities and shallower depths. Lower mean forces and higher variability were observed in the mastoid compared with cortical/surface bone.

CONCLUSION

Forces during robotic milling of the temporal bone can be predicted from the parameter sets tested in this study. This information can be used to guide the design of a sufficiently rigid and powerful bone-attached milling robot and to plan efficient milling trajectories. To reduce the time of the surgical intervention without creating very large forces, high linear cutting velocities may be combined with shallow depths of cut. Faster and deeper cuts may be used in mastoid bone compared with the cortical bone for a chosen force threshold.

Minimally invasive image-guided access for drainage of petrous apex lesions: a case report

OBJECTIVE

In this case report, we present a novel, minimally invasive image-guided approach to drainage of a petrous apex lesion.

PATIENT(S)

A 34-year-old man diagnosed with a petrous apex lesion consistent with cholesterol granuloma. The granuloma was large and caused mild compression of the brainstem with associated neurologic symptoms and seizure-like activity.

INTERVENTIONS

Based on the anatomic location of the lesion, it was determined that the treatment plan would be to surgically drain the lesion via 2 linear paths-one after an infralabyrinthine approach and the other a subarcuate approach. Customized microstereotactic frames that mount on bone-implanted markers and constrain the drill along the desired path were used to accurately drill these desired paths and avoid damage to surrounding critical structures. After a simple mastoidectomy, the petrous apex was successfully reached without damage to vital adjacent structures by drilling the 2 linear channels using 2 custom microstereotactic frames.

MAIN OUTCOME MEASURES

Viscous brown liquid and debris was recovered by irrigating through one of the channels and suctioning through the other.

RESULTS

Drainage of the petrous apex was successfully performed via 2 linear channels without any complications. Custom microstereotactic frames were used to accurately drill those linear channels. Postoperative CT ensured no complications. Postoperative course of the patient was remarkable with normal hearing and normal facial nerve function.

CONCLUSION

We presented a successful implementation of an image-guided approach to drain petrous apex.

Preliminary Testing of a Compact, Bone-Attached Robot for Otologic Surgery

Otologic surgery often involves a mastoidectomy procedure, in which part of the temporal bone is milled away in order to visualize critical structures embedded in the bone and safely access the middle and inner ear. We propose to automate this portion of the surgery using a compact, bone-attached milling robot. A high level of accuracy is required to avoid damage to vital anatomy along the surgical path, most notably the facial nerve, making this procedure well-suited for robotic intervention. In this study, several of the design considerations are discussed and a robot design and prototype are presented. The prototype is a 4 degrees-of-freedom robot similar to a four-axis milling machine that mounts to the patient's skull. A positioning frame, containing fiducial markers and attachment points for the robot, is rigidly attached to the skull of the patient, and a CT scan is acquired. The target bone volume is manually segmented in the CT by the surgeon and automatically converted to a milling path and robot trajectory. The robot is then attached to the positioning frame and is used to drill the desired volume. The accuracy of the entire system (image processing, planning, robot) was evaluated at several critical locations within or near the target bone volume with a mean free space accuracy result of 0.50 mm or less at all points. A milling test in a phantom material was then performed to evaluate the surgical workflow. The resulting milled volume did not violate any critical structures.

Forces and trauma associated with minimally invasive image-guided cochlear implantation

OBJECTIVE

Minimally invasive image-guided cochlear implantation (CI) utilizes a patient-customized microstereotactic frame to access the cochlea via a single drill-pass. We investigate the average force and trauma associated with the insertion of lateral wall CI electrodes using this technique.

STUDY DESIGN

Assessment using cadaveric temporal bones.

SETTING

Laboratory setup.

SUBJECTS AND METHODS

Microstereotactic frames for 6 fresh cadaveric temporal bones were built using CT scans to determine an optimal drill path following which drilling was performed. CI electrodes were inserted using surgical forceps to manually advance the CI electrode array, via the drilled tunnel, into the cochlea. Forces were recorded using a 6-axis load sensor placed under the temporal bone during the insertion of lateral wall electrode arrays (2 each of Nucleus CI422, MED-EL standard, and modified MED-EL electrodes with stiffeners). Tissue histology was performed by microdissection of the otic capsule and apical photo documentation of electrode position and intracochlear tissue.

RESULTS

After drilling, CT scanning demonstrated successful access to cochlea in all 6 bones. Average insertion forces ranged from 0.009 to 0.078 N. Peak forces were in the range of 0.056 to 0.469 N. Tissue histology showed complete scala tympani insertion in 5 specimens and scala vestibuli insertion in the remaining specimen with depth of insertion ranging from 360° to 600°. No intracochlear trauma was identified.

CONCLUSION

The use of lateral wall electrodes with the minimally invasive image-guided CI approach was associated with insertion forces comparable to traditional CI surgery. Deep insertions were obtained without identifiable trauma.

Minimally invasive image-guided cochlear implantation surgery: first report of clinical implementation

OBJECTIVES/HYPOTHESIS

Minimally invasive image-guided approach to cochlear implantation (CI) involves drilling a narrow, linear tunnel to the cochlea. Reported herein is the first clinical implementation of this approach.

STUDY DESIGN

Prospective cohort study.

METHODS

On preoperative computed tomography (CT), a safe linear trajectory through the facial recess targeting the scala tympani was planned. Intraoperatively, fiducial markers were bone-implanted, a second CT was acquired, and the trajectory was transferred from preoperative to intraoperative CT. A customized microstereotactic frame was rapidly designed and constructed to constrain a surgical drill along the desired trajectory. Following sterilization, the frame was employed to drill the tunnel to the middle ear. After lifting a tympanomeatal flap and performing a cochleostomy, the electrode array was threaded through the drilled tunnel and into the cochlea.

RESULTS

Eight of nine patients were successfully implanted using the proposed approach with six insertions completely within the scala tympani. Traditional mastoidectomy was performed on one patient following difficulty threading the electrode array via the narrow tunnel. Other difficulties encountered included use of the backup implant when an electrode was dislodged during threading via the tunnel, tip fold-over, and facial nerve paresis (House-Brackmann II/VI at 12 months) secondary to heat during drilling. The average time of intervention was 182 ± 36 minutes.

CONCLUSIONS

Minimally invasive image-guided CI is clinically achievable. Further clinical study is necessary to address technological difficulties during drilling and insertion, and to assess potential benefits including decreased time of intervention, standardization of surgical intervention, and decreased tissue dissection potentially leading to shorter recovery and earlier implant activation.

Implantation of the completely ossified cochlea: an image-guided approach

OBJECTIVES

To report a novel modification of the cochlear drill-out procedure that uses customized microstereotactic frames as drill guides.

PATIENT(S)

A 34-year-old man with an 18-year history of profound bilateral hearing loss and completely ossified cochleae that underwent a previous unsuccessful conventional cochlear drill-out procedure in the contralateral ear.

INTERVENTIONS

Image-guided cochlear implantation using customized microstereotactic frames to drill linear basal and apical cochlear tunnels.

MAIN OUTCOME MEASURES

Transfacial recess cochlear drill-out procedure with full electrode insertion.

RESULTS

Two linear paths were drilled using customized microstereotactic frames targeting the proximal and distal basal turn followed by a full split array insertion. Postoperative imaging confirmed 2 cochlear tunnels straddling the modiolus with adequate clearance of the facial nerve and internal carotid artery. The patient received auditory benefit with device use and did not experience any surgical complication.

CONCLUSION

Successful cochlear implantation in the setting of total scalar obliteration poses a significant challenge. Image guidance technology may assist in navigating the ossified cochlea facilitating safe and precise cochlear tunnel drilling.

Validation of minimally invasive, image-guided cochlear implantation using Advanced Bionics, Cochlear, and Medel electrodes in a cadaver model

PURPOSE

Validation of a novel minimally invasive, image-guided approach to implant electrodes from three FDA-approved manufacturers-Medel, Cochlear, and Advanced Bionics-in the cochlea via a linear tunnel from the lateral cranium through the facial recess to the cochlea.

METHODS

Custom microstereotactic frames that mount on bone-implanted fiducial markers and constrain the drill along the desired path were utilized on seven cadaver specimens. A linear tunnel was drilled from the lateral skull to the cochlea followed by a marginal, round window cochleostomy and insertion of the electrode array into the cochlea through the drilled tunnel. Post-insertion CT scan and histological analysis were used to analyze the results.

RESULTS

All specimens ([Formula: see text]) were successfully implanted without visible injury to the facial nerve. The Medel electrodes ([Formula: see text]) had minimal intracochlear trauma with 8, 8, and 10 (out of 12) electrodes intracochlear. The Cochlear lateral wall electrodes (straight research arrays) ([Formula: see text]) had minimal trauma with 20 and 21 of 22 electrodes intracochlear. The Advanced Bionics electrodes ([Formula: see text]) were inserted using their insertion tool; one had minimal insertion trauma and 14 of 16 electrodes intracochlear, while the other had violation of the basilar membrane just deep to the cochleostomy following which it remained in scala vestibuli with 13 of 16 electrodes intracochlear.

CONCLUSIONS

Minimally invasive, image-guided cochlear implantation is possible using electrodes from the three FDA-approved manufacturers. Lateral wall electrodes were associated with less intracochlear trauma suggesting that they may be better suited for this surgical technique.

Determination of a facial nerve safety zone for navigated temporal bone surgery

BACKGROUND

Transtemporal approaches require surgeons to drill the temporal bone to expose target lesions while avoiding the critical structures within it, such as the facial nerve and other neurovascular structures. We envision a novel protective neuronavigation system that continuously calculates the drill tip-to-facial nerve distance intraoperatively and produces audiovisual warnings if the surgeon drills too close to the facial nerve. Two major problems need to be solved before such a system can be realized.

OBJECTIVE

To solve the problems of (1) facial nerve segmentation and (2) calculating a safety zone around the facial nerve in relation to drill-tip tracking inaccuracies.

METHODS

We developed a new algorithm called NerveClick for semiautomatic segmentation of the intratemporal facial nerve centerline from temporal bone computed tomography images. We evaluated NerveClick's accuracy in an experimental setting of neuro-otologic and neurosurgical patients. Three neurosurgeons used it to segment 126 facial nerves, which were compared with the gold standard: manually segmented facial nerve centerlines. The centerlines are used as a central axis around which a tubular safety zone is built. The zone's thickness incorporates the drill tip tracking errors. The system will warn when the tracked tip crosses the safety zone.

RESULTS

Neurosurgeons using NerveClick could segment facial nerve centerlines with a maximum error of 0.44 ± 0.23 mm (mean ± standard deviation) on average compared with manual segmentations.

CONCLUSION

Neurosurgeons using our new NerveClick algorithm can robustly segment facial nerve centerlines to construct a facial nerve safety zone, which potentially allows timely audiovisual warnings during navigated temporal bone drilling despite tracking inaccuracies.

Automatic pre- to intra-operative CT registration for image-guided cochlear implant surgery

Percutaneous cochlear implantation (PCI) is a minimally-invasive image-guided cochlear implant approach, where access to the cochlea is achieved by drilling a linear channel from the skull surface to the cochlea. The PCI approach requires pre- and intra-operative planning. Computation of a safe linear drilling trajectory is performed in a preoperative CT. This trajectory is mapped to intraoperative space using the transformation matrix that registers the pre- and intra-operative CTs. However, the difference in orientation between the pre- and intra-operative CTs is too extreme to be recovered by standard, gradient descent-based registration methods. Thus far, the registration has been initialized manually by an expert. In this paper, we present a method that aligns the scans completely automatically. We compared the performance of the automatic approach to the registration approach when an expert does the manual initialization on 11 pairs of scans. There is a maximum difference of 0.18 mm between the entry and target points of the trajectory mapped with expert initialization and the automatic registration method. This suggests that the automatic registration method is accurate enough to be used in a PCI surgery.

A manually operated, advance off-stylet insertion tool for minimally invasive cochlear implantation surgery

The current technique for cochlear implantation (CI) surgery requires a mastoidectomy to gain access to the cochlea for electrode array insertion. It has been shown that microstereotactic frames can enable an image-guided, minimally invasive approach to CI surgery called percutaneous cochlear implantation (PCI) that uses a single drill hole for electrode array insertion, avoiding a more invasive mastoidectomy. Current clinical methods for electrode array insertion are not compatible with PCI surgery because they require a mastoidectomy to access the cochlea; thus, we have developed a manually operated electrode array insertion tool that can be deployed through a PCI drill hole. The tool can be adjusted using a preoperative CT scan for accurate execution of the advance off-stylet (AOS) insertion technique and requires less skill to operate than is currently required to implant electrode arrays. We performed three cadaver insertion experiments using the AOS technique and determined that all insertions were successful using CT and microdissection.

Comparison of cochlear implant relevant anatomy in children versus adults

HYPOTHESIS

To test whether there are significant differences in pediatric and adult temporal bone anatomy as related to cochlear implant (CI) surgery.

BACKGROUND

Surgeons rely upon anatomic landmarks including the round window (RW) and facial recess (FR) to place CI electrodes within the scala tympani. Anecdotally, clinicians report differences in orientation of such structures in children versus adults.

METHODS

Institutional review board approval was obtained. High-resolution computed tomographic scans of 24 pediatric patients (46 ears) and 20 adult patients (40 ears) were evaluated using software consisting of a model-based segmentation algorithm that automatically localizes and segments temporal bone anatomy (e.g., facial nerve, chorda tympani, external auditory canal [EAC], and cochlea). On these scans, angles pertinent anatomy were manually delineated and measured blinded as to the age of the patient.

RESULTS

The EAC and FR were more parallel to the basal turn (BT) of the cochlea in children versus adults ([symbol in text] EAC:BT 20.55 degrees versus 24.28 degrees, p = 0.003; [symbol in text] FR:BT 5.15 degrees versus 6.88 degrees, p = 0.009). The RW was more closely aligned with the FR in children versus adults ([symbol in text] FR:RW 30.43 degrees versus 36.67 degrees, p = 0.009). Comparing the lateral portion of the EAC (using LatEAC as a marker) to the most medial portion (using [symbol in text] TM as a marker), the measured angle was 136.57 degrees in children and 172.20 degrees in adults (p < 0.001).

CONCLUSION

There are significant differences in the temporal bone anatomy of children versus adults pertinent to CI electrode insertion.

Variability of the temporal bone surface's topography: implications for otologic surgery

Otologic surgery is performed for a variety of reasons including treatment of recurrent ear infections, alleviation of dizziness, and restoration of hearing loss. A typical ear surgery consists of a tympanomastoidectomy in which both the middle ear is explored via a tympanic membrane flap and the bone behind the ear is removed via mastoidectomy to treat disease and/or provide additional access. The mastoid dissection is performed using a high-speed drill to excavate bone based on a pre-operative CT scan. Intraoperatively, the surface of the mastoid component of the temporal bone provides visual feedback allowing the surgeon to guide their dissection. Dissection begins in "safe areas" which, based on surface topography, are believed to be correlated with greatest distance from surface to vital anatomy thus decreasing the chance of injury to the brain, large blood vessels (e.g. the internal jugular vein and internal carotid artery), the inner ear, and the facial nerve. "Safe areas" have been identified based on surgical experience with no identifiable studies showing correlation of the surface with subsurface anatomy. The purpose of our study was to investigate whether such a correlation exists. Through a three-step registration process, we defined a correspondence between each of twenty five clinically-applicable temporal bone CT scans of patients and an atlas and explored displacement and angular differences of surface topography and depth of critical structures from the surface of the skull. The results of this study reflect current knowledge of osteogenesis and anatomy. Based on two features (distance and angular difference), two regions (suprahelical and posterior) of the temporal bone show the least variability between surface and subsurface anatomy.

Automatic segmentation of the facial nerve and chorda tympani in pediatric CT scans

PURPOSE

Cochlear implant surgery is used to implant an electrode array in the cochlea to treat hearing loss. The authors recently introduced a minimally invasive image-guided technique termed percutaneous cochlear implantation. This approach achieves access to the cochlea by drilling a single linear channel from the outer skull into the cochlea via the facial recess, a region bounded by the facial nerve and chorda tympani. To exploit existing methods for computing automatically safe drilling trajectories, the facial nerve and chorda tympani need to be segmented. The goal of this work is to automatically segment the facial nerve and chorda tympani in pediatric CT scans.

METHODS

The authors have proposed an automatic technique to achieve the segmentation task in adult patients that relies on statistical models of the structures. These models contain intensity and shape information along the central axes of both structures. In this work, the authors attempted to use the same method to segment the structures in pediatric scans. However, the authors learned that substantial differences exist between the anatomy of children and that of adults, which led to poor segmentation results when an adult model is used to segment a pediatric volume. Therefore, the authors built a new model for pediatric cases and used it to segment pediatric scans. Once this new model was built, the authors employed the same segmentation method used for adults with algorithm parameters that were optimized for pediatric anatomy.

RESULTS

A validation experiment was conducted on 10 CT scans in which manually segmented structures were compared to automatically segmented structures. The mean, standard deviation, median, and maximum segmentation errors were 0.23, 0.17, 0.18, and 1.27 mm, respectively.

CONCLUSIONS

The results indicate that accurate segmentation of the facial nerve and chorda tympani in pediatric scans is achievable, thus suggesting that safe drilling trajectories can also be computed automatically.

Evaluation of multiple-atlas-based strategies for segmentation of the thyroid gland in head and neck CT images for IMRT

Segmenting the thyroid gland in head and neck CT images is of vital clinical significance in designing intensity-modulated radiation therapy (IMRT) treatment plans. In this work, we evaluate and compare several multiple-atlas-based methods to segment this structure. Using the most robust method, we generate automatic segmentations for the thyroid gland and study their clinical applicability. The various methods we evaluate range from selecting a single atlas based on one of three similarity measures, to combining the segmentation results obtained with several atlases and weighting their contribution using techniques including a simple majority vote rule, a technique called STAPLE that is widely used in the medical imaging literature, and the similarity between the atlas and the volume to be segmented. We show that the best results are obtained when several atlases are combined and their contributions are weighted with a measure of similarity between each atlas and the volume to be segmented. We also show that with our data set, STAPLE does not always lead to the best results. Automatic segmentations generated by the combination method using the correlation coefficient (CC) between the deformed atlas and the patient volume, which is the most accurate and robust method we evaluated, are presented to a physician as 2D contours and modified to meet clinical requirements. It is shown that about 40% of the contours of the left thyroid and about 42% of the right thyroid can be used directly. An additional 21% on the left and 24% on the right require only minimal modification. The amount and the location of the modifications are qualitatively and quantitatively assessed. We demonstrate that, although challenged by large inter-subject anatomical discrepancy, atlas-based segmentation of the thyroid gland in IMRT CT images is feasible by involving multiple atlases. The results show that a weighted combination of segmentations by atlases using the CC as the similarity measure slightly outperforms standard combination methods, e.g. the majority vote rule and STAPLE, as well as methods selecting a single most similar atlas. The results we have obtained suggest that using our contours as initial contours to be edited has clinical value.

A new approach for tubular structure modeling and segmentation using graph-based techniques

In this work, a new approach for tubular structure segmentation is presented. This approach consists of two parts: (1) automatic model construction from manually segmented exemplars and (2) segmentation of structures in unknown images using these models. The segmentation problem is solved by finding an optimal path in a high-dimensional graph. The graph is designed with novel structures that permit the incorporation of prior information from the model into the optimization process and account for several weaknesses of traditional graph-based approaches. The generality of the approach is demonstrated by testing it on four challenging segmentation tasks: the optic pathways, the facial nerve, the chorda tympani, and the carotid artery. In all four cases, excellent agreement between automatic and manual segmentations is achieved.

Clinical anatomy of the chorda tympani: a systematic review

OBJECTIVE

The chorda tympani is at risk of iatrogenic injury throughout its course. This paper reviews the clinical anatomy of the nerve in adults.

DESIGN

Systematic literature review.

METHOD

Relevant English-language articles were identified using five electronic databases and one search engine. Data from approximately 70 scientific papers were supplemented with information from selected reference texts.

RESULTS

The anatomy of the chorda tympani differs from standard descriptions, particularly regarding its exit from the middle ear and area of lingual innervation. Whilst it is known to convey taste sensation from the anterior two-thirds of the tongue and parasympathetic innervation to the submandibular and sublingual salivary glands, the chorda tympani probably has additional sensory and secretomotor functions.

CONCLUSION

A detailed understanding of the anatomy of the chorda tympani may help to reduce the risk of iatrogenic injury during head, neck and middle-ear surgery, and to explain the variable consequences of such injury.

Design of a bone-attached parallel robot for percutaneous cochlear implantation

Access to the cochlea requires drilling in close proximity to bone-embedded nerves, blood vessels, and other structures, the violation of which can result in complications for the patient. It has recently been shown that microstereotactic frames can enable an image-guided percutaneous approach, removing reliance on human experience and hand-eye coordination, and reducing trauma. However, constructing current microstereotactic frames disrupts the clinical workflow, requiring multiday intrasurgical manufacturing delays, or an on-call machine shop in or near the hospital. In this paper, we describe a new kind of microsterotactic frame that obviates these delay and infrastructure issues by being repositionable. Inspired by the prior success of bone-attached parallel robots in knee and spinal procedures, we present an automated image-guided microstereotactic frame. Experiments demonstrate a mean accuracy at the cochlea of 0.20 ± 0.07 mm in phantom testing with trajectories taken from a human clinical dataset. We also describe a cadaver experiment evaluating the entire image-guided surgery pipeline, where we achieved an accuracy of 0.38 mm at the cochlea.

Evaluation of portable CT scanners for otologic image-guided surgery

PURPOSE

Portable CT scanners are beneficial for diagnosis in the intensive care unit, emergency room, and operating room. Portable fixed-base versus translating-base CT systems were evaluated for otologic image-guided surgical (IGS) applications based on geometric accuracy and utility for percutaneous cochlear implantation.

METHODS

Five cadaveric skulls were fitted with fiducial markers and scanned using both a translating-base, 8-slice CT scanner (CereTom(®)) and a fixed-base, flat-panel, volume CT (fpVCT) scanner (Xoran xCAT(®)). Images were analyzed for: (a) subjective quality (i.e., noise), (b) consistency of attenuation measurements (Hounsfield units) across similar tissue, and (c) geometric accuracy of fiducial marker positions. The utility of these scanners in clinical IGS cases was tested.

RESULTS

Five cadaveric specimens were scanned using each of the scanners. The translating-base, 8-slice CT scanner had spatially consistent Hounsfield units, and the image quality was subjectively good. However, because of movement variations during scanning, the geometric accuracy of fiducial marker positions was low. The fixed-base, fpVCT system had high spatial resolution, but the images were noisy and had spatially inconsistent attenuation measurements, while the geometric representation of the fiducial markers was highly accurate.

CONCLUSION

Two types of portable CT scanners were evaluated for otologic IGS. The translating-base, 8-slice CT scanner provided better image quality than a fixed-base, fpVCT scanner. However, the inherent error in three-dimensional spatial relationships by the translating-based system makes it suboptimal for otologic IGS use.