Real-time bladder lesion registration and navigation: a phantom study

Specular Reflection Removal for 3D Reconstruction of Tissues using Endoscopy Videos

Endoscopy is widely employed for diagnostic examination of the interior of organs and body cavities and numerous surgical interventions. Still, the inability to correlate individual 2D images with 3D organ morphology limits its applications, especially in intra-operative planning and navigation, disease physiology, cancer surveillance, etc. As a result, most endoscopy videos, which carry enormous data potential, are used only for real-time guidance and are discarded after collection. We present a complete method for the 3D reconstruction of inner organs that suggests image extraction techniques from endoscopic videos and a novel image pre-processing technique to reconstruct and visualize a 3D model of organs from an endoscopic video. We use advanced computer vision methods and do not require any modifications to the clinical-grade endoscopy hardware. We have also formalized an image acquisition protocol through experimentation with a calibrated test bed. We validate the accuracy and robustness of our reconstruction using a test bed with known ground truth. Our method can significantly contribute to endoscopy-based diagnostic and surgical procedures using comprehensive tissue and tumor 3D visualization.

Current Standards in the Endoscopic Management of Bladder Cancer: A Survey Evaluation among Urologists in German-Speaking Countries

INTRODUCTION

To assess the current diagnostic, treatment, and documentation strategies for bladder cancer (BC) in German-speaking countries.

MATERIALS AND METHODS

A 14-item web-based survey was distributed among members of the German, Austrian, and Swiss Associations of Urology, addressing physicians who perform cystoscopies and transurethral resection of bladder tumors (TURB).

RESULTS

The survey was responded to by 308 of 5,564 urologists with a mean age of 49.5 years (response rate: 5.5%). The majority of participants (57.3%) practice in an outpatient setting. White light cystoscopy only is used by 60.2%, with additional photodynamic diagnosis and narrow band imaging by 36.8 and 12.5%, respectively. Endoscopic findings are documented in written form by 93.5%, followed by image capture (33.7%) and a central data archive (20.8%). Inpatient hospital urologists document cystoscopic findings by freehand drawing (21.4 vs. 11.4%, p = 0.017), and with a fixed bladder scheme (31.3 vs. 7.4%, <0.05) significantly more frequently. Cystoscopic findings are mainly conveyed to other health professionals in written form (77.4%), and significantly more often by inpatient urologists (p < 0.05).

CONCLUSIONS

Significant differences exist in the approach to documenting and communicating cystoscopic BC findings. Accurate graphic documentation of lesions, visualization of the mucosa's totality, and meticulous consultation of previous surgical reports require improvements to reduce recurrence and progression rates.

Image-Guided Transurethral Resection of Bladder Tumors - Current Practice and Future Outlooks

Transurethral resection of bladder tumor (TURBT) under white light cystoscopy (WLC) is the cornerstone for the diagnosis, removal and local staging of non-muscle invasive bladder cancer (NMIBC). Despite technological improvements over the decades, significant shortcomings remain with WLC for tumor detection, thereby impacting the surgical quality and contributing to tumor recurrence and progression. Enhanced cystoscopy modalities such as blue light cystoscopy (BLC) and narrow band imaging (NBI) aid resections by highlighting tumors that might be missed on WLC. Optical biopsy technologies such as confocal laser endomicroscopy (CLE) and optical coherence tomography (OCT) characterize tissue in real-time to ensure a more thorough resection. New resection techniques, particularly en bloc resection, are actively under investigation to improve the overall quality of resections and aid pathologic interpretation. Moreover, new image processing computer algorithms may improve perioperative planning and longitudinal follow-up. Clinical translation of molecular imaging agents is also on the horizon to improve optical diagnosis of bladder cancer. This review focuses on emerging technologies that can impact the quality of TURBT to improve the overall management of NMIBC.

3D reconstruction of cystoscopy videos for comprehensive bladder records

White light endoscopy is widely used for diagnostic imaging of the interior of organs and body cavities, but the inability to correlate individual 2D images with 3D organ morphology limits its utility for quantitative or longitudinal studies of disease physiology or cancer surveillance. As a result, most endoscopy videos, which carry enormous data potential, are used only for real-time guidance and are discarded after collection. We present a computational method to reconstruct and visualize a 3D model of organs from an endoscopic video that captures the shape and surface appearance of the organ. A key aspect of our strategy is the use of advanced computer vision techniques and unmodified, clinical-grade endoscopy hardware with few constraints on the image acquisition protocol, which presents a low barrier to clinical translation. We validate the accuracy and robustness of our reconstruction and co-registration method using cystoscopy videos from tissue-mimicking bladder phantoms and show clinical utility during cystoscopy in the operating room for bladder cancer evaluation. As our method can powerfully augment the visual medical record of the appearance of internal organs, it is broadly applicable to endoscopy and represents a significant advance in cancer surveillance opportunities for big-data cancer research.

Digital Mapping of the Urinary Bladder: Potential for Standardized Cystoscopy Reports

OBJECTIVE

To develop a standardized digital reporting tool for cystoscopy of the urinary bladder using panoramic imaging.

MATERIALS AND METHODS

An image processing and stitching software (Endorama) was developed to generate panoramic images from cystoscopy data. In a processing phase, algorithms were modulated and refined by reference to cystoscopy sequences (n = 30). Subsequently, standard systematic cystoscopies (n = 12) were recorded in patients undergoing transurethral resection of a bladder tumor to create panoramic images.

RESULTS

All sequences were applicable for the development and refinements of the software. Processing increasingly allowed the creation of images illustrating large parts of the bladder and relevant anatomic landmarks in different locations. The pathway covered by the endoscope during the intervention was illustrated as a route in the respective digital image. During the application phase, panoramic images were successfully created in 10 out of 12 cases. The resolution of the images was 4096 × 2048 pixels and the images required a median digital memory of 3.9 MB (3.4-5.7). The panoramic images illustrated 22 relevant findings of which 7 were papillary tumors.

CONCLUSION

High-quality digital panoramic maps of the urinary bladder were created using specifically processed data of videocystoscopy. In this preliminary series, relevant findings were illustrated in the respective image. Our tool may help improve standardization of cystoscopy reports and reduce interobserver variability.

Registration of free-hand OCT daughter endoscopy to 3D organ reconstruction

Despite the trend to pair white light endoscopy with secondary image modalities for in vivo characterization of suspicious lesions, challenges remain to co-register such data. We present an algorithm to co-register two different optical imaging modalities as a mother-daughter endoscopy pair. Using white light cystoscopy (mother) and optical coherence tomography (OCT) (daughter) as an example, we developed the first forward-viewing OCT endoscope that fits in the working channel of flexible cystoscopes and demonstrated our algorithm's performance with optical phantom and clinical imaging data. The ability to register multimodal data opens opportunities for advanced analysis in cancer imaging applications.