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Lu Y, Fan K, Yuan J, Chen Y, Ge Y, Tao C, Liu X. Free scan real time 3D ultrasound imaging with shading artefacts removal. ULTRASONICS 2023; 135:107091. [PMID: 37515837 DOI: 10.1016/j.ultras.2023.107091] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 04/05/2023] [Revised: 06/19/2023] [Accepted: 06/21/2023] [Indexed: 07/31/2023]
Abstract
Ultrasound imaging (USI) is a widely adopted imaging method in clinical diagnosis owing to its low cost, convenience, and safety. However, due to the complex acoustic attenuation, two-dimensional (2D) USI lacks the capability to achieve a clear imaging result when the target is shaded by high echo tissues. This paper proposes a three-dimensional (3D) free-scan real-time ultrasound imaging (FRUSI) method. By integrating 2D ultrasound image sequences around the region of interest (ROI) with a real-time and spatially accurate probe tracking method, the proposed FRUSI system provides clear and accurate ultrasound images for medical study. The experiment results on reconstruction precision and accuracy show the potential ability of our proposed system to provide high-quality 3D ultrasound imaging. Moreover, previously shaded targets can be discerned clearly in the same scan plane in both phantom studies and in vivo studies on the human finger joint. The performance of the proposed FRUSI system has demonstrated its potential value for clinical diagnosis to provide high ultrasound imaging quality and rich details in spatial information. Due to the convenient setup, the FRUSI system might potentially be expanded to other ultrasound imaging modalities.
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Affiliation(s)
- Yanchen Lu
- School of Electronic Science and Engineering, Nanjing University, Nanjing 210046, China
| | - Kai Fan
- School of Electronic Science and Engineering, Nanjing University, Nanjing 210046, China
| | - Jie Yuan
- School of Electronic Science and Engineering, Nanjing University, Nanjing 210046, China.
| | - Ying Chen
- School of Electronic Science and Engineering, Nanjing University, Nanjing 210046, China
| | - Yun Ge
- School of Electronic Science and Engineering, Nanjing University, Nanjing 210046, China
| | - Chao Tao
- School of Physics, Nanjing University, Nanjing 210046, China
| | - Xiaojun Liu
- School of Physics, Nanjing University, Nanjing 210046, China
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Wen T, Wang C, Zhang Y, Zhou S. A Novel Ultrasound Probe Spatial Calibration Method Using a Combined Phantom and Stylus. ULTRASOUND IN MEDICINE & BIOLOGY 2020; 46:2079-2089. [PMID: 32446677 DOI: 10.1016/j.ultrasmedbio.2020.03.018] [Citation(s) in RCA: 11] [Impact Index Per Article: 2.8] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 07/31/2019] [Revised: 03/06/2020] [Accepted: 03/22/2020] [Indexed: 06/11/2023]
Abstract
Intra-operative ultrasound (US) is a popular imaging modality for its non-radiative and real-time advantages. However, it is still challenging to perform an interventional procedure under two-dimensional (2-D) US image guidance. Accordingly, the trend has been to perform three-dimensional (3-D) US image guidance by equipping the US probe with a spatial position tracking device, which requires accurate probe calibration for determining the spatial position between the B-scan image and the tracked probe. In this report, we propose a novel probe spatial calibration method by developing a calibration phantom combined with the tracking stylus. The calibration phantom is custom-designed to simplify the alignment between the stylus tip and the B-scan image plane. The spatial position of the stylus tip is tracked in real time, and its 2-D image pixel location is extracted and collected simultaneously. Gaussian distribution is used to model the spatial position of the stylus tip and the iterative closest point-based optimization algorithm is used to estimate the spatial transformation that matches these two point sets. Once the probe is calibrated, its trajectory and the B-scan image are collected and used for the volume reconstruction in our freehand 3-D US imaging system. Experimental results demonstrate that the probe calibration approach results in less than 1-mm mean point reconstruction accuracy. It requires less than 5 min for an inexperienced user to complete the probe calibration procedure with minimal training. The mockup test shows that the 3-D images are geometrically correct with 0.28°-angle accuracy and 0.40-mm distance accuracy.
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Affiliation(s)
- Tiexiang Wen
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, P. R. China; Key Laboratory of Health Informatics, Chinese Academy of Sciences, Shenzhen, P. R. China; University of Chinese Academy of Sciences, Beijing, P.R. China
| | - Cheng Wang
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, P. R. China
| | - Yi Zhang
- Center of Interventional Radiology & Vascular Surgery, Department of Radiology, Zhongda Hospital, Medical School, Southeast University, Nanjing, P.R. China
| | - Shoujun Zhou
- Shenzhen Institutes of Advanced Technology, Chinese Academy of Sciences, Shenzhen, P. R. China; Key Laboratory of Health Informatics, Chinese Academy of Sciences, Shenzhen, P. R. China.
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Cenni F, Monari D, Schless SH, Aertbeliën E, Desloovere K, Bruyninckx H. Efficient image based method using water-filled balloons for improving probe spatial calibration in 3D freehand ultrasonography. ULTRASONICS 2019; 94:124-130. [PMID: 30558809 DOI: 10.1016/j.ultras.2018.11.009] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Key Words] [Track Full Text] [Subscribe] [Scholar Register] [Received: 02/12/2018] [Revised: 11/26/2018] [Accepted: 11/26/2018] [Indexed: 06/09/2023]
Abstract
The ultrasound (US) probe spatial calibration is a key prerequisite for enabling the use of the 3D freehand US technique. Several methods have been proposed for achieving an accurate and precise calibration, although these methods still require specialised equipment. This equipment is often not available in research or clinical facilities. Therefore, the present investigation aimed to propose an efficient US probe calibration method that is accessible in terms of cost, easy to apply and capable of achieving results suitable for clinical applications. The data acquisition was carried out by performing two perpendicular US sweeps over water filled balloon phantoms. The data analysis was carried out by computing the similarity measures between 2D images from the first sweep and the corresponding images of the 3D reconstruction of the second sweep. These measures were maximized by using the Nelder-Mead algorithm, to find the optimal solution for the calibration parameters. The calibration results were evaluated in terms of accuracy and precision by comparing known phantom geometries with those extracted from the US images. The accuracy and the precision after applying the calibration method were improved. By using the parameters obtained from the plane phantom method as initialization of the calibration parameters, the accuracy and the precision in the best scenario was 0.4 mm and 1.5 mm, respectively. These results were in line with the methods requiring specialised equipment. However, the applied method was unable to consistently produce this level of accuracy and precision. The calibration parameters were also tested in a musculoskeletal application, revealing sufficient matching of the relevant anatomical features when multiple US sweeps are combined in a 3D reconstruction. To improve the current results and increase the reproducibility of this research, the developed software is made available.
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Affiliation(s)
- Francesco Cenni
- KU Leuven, Department of Movement Sciences, Tervuursevest 101, 3001 Leuven, Belgium; Clinical Motion Analysis Laboratory, University Hospital, Pellenberg, Weligerveld 1, 3212 Pellenberg, Belgium.
| | - Davide Monari
- Clinical Motion Analysis Laboratory, University Hospital, Pellenberg, Weligerveld 1, 3212 Pellenberg, Belgium; KU Leuven, Department of Mechanical Engineering, Celestijnenlaan 300b, 3001 Leuven, Belgium
| | - Simon-Henri Schless
- Clinical Motion Analysis Laboratory, University Hospital, Pellenberg, Weligerveld 1, 3212 Pellenberg, Belgium; KU Leuven, Department of Rehabilitation Sciences, Tervuursevest 101, 3001 Leuven, Belgium
| | - Erwin Aertbeliën
- KU Leuven, Department of Mechanical Engineering, Celestijnenlaan 300b, 3001 Leuven, Belgium
| | - Kaat Desloovere
- Clinical Motion Analysis Laboratory, University Hospital, Pellenberg, Weligerveld 1, 3212 Pellenberg, Belgium; KU Leuven, Department of Rehabilitation Sciences, Tervuursevest 101, 3001 Leuven, Belgium
| | - Herman Bruyninckx
- KU Leuven, Department of Mechanical Engineering, Celestijnenlaan 300b, 3001 Leuven, Belgium
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Actuator-Assisted Calibration of Freehand 3D Ultrasound System. JOURNAL OF HEALTHCARE ENGINEERING 2018; 2018:9314626. [PMID: 29854371 PMCID: PMC5954878 DOI: 10.1155/2018/9314626] [Citation(s) in RCA: 2] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Track Full Text] [Download PDF] [Figures] [Subscribe] [Scholar Register] [Received: 01/03/2018] [Revised: 03/21/2018] [Accepted: 04/11/2018] [Indexed: 11/23/2022]
Abstract
Freehand three-dimensional (3D) ultrasound has been used independently of other technologies to analyze complex geometries or registered with other imaging modalities to aid surgical and radiotherapy planning. A fundamental requirement for all freehand 3D ultrasound systems is probe calibration. The purpose of this study was to develop an actuator-assisted approach to facilitate freehand 3D ultrasound calibration using point-based phantoms. We modified the mathematical formulation of the calibration problem to eliminate the need of imaging the point targets at different viewing angles and developed an actuator-assisted approach/setup to facilitate quick and consistent collection of point targets spanning the entire image field of view. The actuator-assisted approach was applied to a commonly used cross wire phantom as well as two custom-made point-based phantoms (original and modified), each containing 7 collinear point targets, and compared the results with the traditional freehand cross wire phantom calibration in terms of calibration reproducibility, point reconstruction precision, point reconstruction accuracy, distance reconstruction accuracy, and data acquisition time. Results demonstrated that the actuator-assisted single cross wire phantom calibration significantly improved the calibration reproducibility and offered similar point reconstruction precision, point reconstruction accuracy, distance reconstruction accuracy, and data acquisition time with respect to the freehand cross wire phantom calibration. On the other hand, the actuator-assisted modified “collinear point target” phantom calibration offered similar precision and accuracy when compared to the freehand cross wire phantom calibration, but it reduced the data acquisition time by 57%. It appears that both actuator-assisted cross wire phantom and modified collinear point target phantom calibration approaches are viable options for freehand 3D ultrasound calibration.
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Toews M, Wells WM. Phantomless Auto-Calibration and Online Calibration Assessment for a Tracked Freehand 2-D Ultrasound Probe. IEEE TRANSACTIONS ON MEDICAL IMAGING 2018; 37:262-272. [PMID: 28910761 PMCID: PMC5808952 DOI: 10.1109/tmi.2017.2750978] [Citation(s) in RCA: 7] [Impact Index Per Article: 1.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 06/07/2023]
Abstract
This paper presents a method for automatically calibrating and assessing the calibration quality of an externally tracked 2-D ultrasound (US) probe by scanning arbitrary, natural tissues, as opposed a specialized calibration phantom as is the typical practice. A generative topic model quantifies the posterior probability of calibration parameters conditioned on local 2-D image features arising from a generic underlying substrate. Auto-calibration is achieved by identifying the maximum a-posteriori image-to-probe transform, and calibration quality is assessed online in terms of the posterior probability of the current image-to-probe transform. Both are closely linked to the 3-D point reconstruction error (PRE) in aligning feature observations arising from the same underlying physical structure in different US images. The method is of practical importance in that it operates simply by scanning arbitrary textured echogenic structures, e.g., in-vivo tissues in the context of the US-guided procedures, without requiring specialized calibration procedures or equipment. Observed data take the form of local scale-invariant features that can be extracted and fit to the model in near real-time. Experiments demonstrate the method on a public data set of in vivo human brain scans of 14 unique subjects acquired in the context of neurosurgery. Online calibration assessment can be performed at approximately 3 Hz for the US images of pixels. Auto-calibration achieves an internal mean PRE of 1.2 mm and a discrepancy of [2 mm, 6 mm] in comparison to the calibration via a standard phantom-based method.
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Najafi M, Afsham N, Abolmaesumi P, Rohling R. A closed-form differential formulation for ultrasound spatial calibration: single wall phantom. ULTRASOUND IN MEDICINE & BIOLOGY 2015; 41:1079-1094. [PMID: 25701520 DOI: 10.1016/j.ultrasmedbio.2014.11.020] [Citation(s) in RCA: 3] [Impact Index Per Article: 0.3] [Reference Citation Analysis] [Abstract] [Key Words] [MESH Headings] [Grants] [Track Full Text] [Subscribe] [Scholar Register] [Received: 05/23/2014] [Revised: 10/17/2014] [Accepted: 11/25/2014] [Indexed: 06/04/2023]
Abstract
Calibration is essential in freehand 3-D ultrasound to find the spatial transformation from the image coordinates to the sensor coordinate system. Ease of use, simplicity, precision and accuracy are among the most important factors in ultrasound calibration, especially when aiming to make calibration more reliable for day-to-day clinical use. We introduce a new mathematical framework for the simple and popular single-wall calibration phantom with a plane equation pre-determination step and the use of differential measurements to obtain accurate measurements. The proposed method provides a novel solution for ultrasound calibration that is accurate and easy to perform. This method is applicable to both radiofrequency (RF) and B-mode data, and both linear and curvilinear transducers. For a linear L14-5 transducer, the point reconstruction accuracy (PRA) of reconstructing 370 points is 0.73 ± 0.23 mm using 100 RF images, whereas the triple N-wire PRA is 0.67 ± 0.20 mm using 100 B-mode images. For a curvilinear C5-2 transducer, the PRA using the proposed method is 0.86 ± 0.28 mm on 400 points using 100 RF images, whereas N-wire calibration gives a PRA of 0.80 ± 0.46 mm using 100 B-mode images. Therefore, the accuracy of the proposed variation of the single-wall method using RF data is practically similar to the N-wire method while offering a simpler phantom with no need for accurate design and construction.
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Affiliation(s)
- Mohammad Najafi
- Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, British Columbia, Canada
| | - Narges Afsham
- Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, British Columbia, Canada
| | - Purang Abolmaesumi
- Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, British Columbia, Canada
| | - Robert Rohling
- Department of Electrical and Computer Engineering, University of British Columbia, Vancouver, British Columbia, Canada; Department of Mechanical Engineering, University of British Columbia, Vancouver, British Columbia, Canada.
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De Lorenzo D, Vaccarella A, Khreis G, Moennich H, Ferrigno G, De Momi E. Accurate calibration method for 3D freehand ultrasound probe using virtual plane. Med Phys 2011; 38:6710-20. [DOI: 10.1118/1.3663674] [Citation(s) in RCA: 10] [Impact Index Per Article: 0.8] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/07/2022] Open
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Schumann S, Nolte LP, Zheng G. Compensation of sound speed deviations in 3-D B-mode ultrasound for intraoperative determination of the anterior pelvic plane. ACTA ACUST UNITED AC 2011; 16:88-97. [PMID: 21984516 DOI: 10.1109/titb.2011.2170844] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/09/2022]
Abstract
An accurate determination of the pelvic orientation is inevitable for the correct cup prosthesis placement of navigated total hip arthroplasties. Conventionally, this step is accomplished by percutaneous palpation of anatomic landmarks. Sterility issues and an increased landmark localization error for obese patients lead to the application of B-mode ultrasound imaging in the field of computer-assisted orthopedic surgery. Many approaches have been proposed in the literature to replace the percutaneous digitization by 3-D B-mode ultrasound imaging. However, the correct depth localization of the pelvic landmarks could be significantly affected by the acoustic properties of the penetrated tissues. Imprecise depth estimation could lead to a miscalculation of the pelvic orientation and subsequently to a misalignment of the acetabular cup implant. But so far, no solution has been presented, which compensates for acoustic property differences for correct depth estimation. In this paper, we present a novel approach to determine pelvic orientation from ultrasound images by applying a hierarchical registration scheme based on patch statistical shape models to compensate for differences in speed of sound. The method was validated based on plastic bones and a cadaveric specimen.
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Affiliation(s)
- Steffen Schumann
- Institute for Surgical Technology and Biomechanics, University of Bern, Bern, Switzerland.
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Talib H, Peterhans M, García J, Styner M, González Ballester MA. Information Filtering for Ultrasound-Based Real-Time Registration. IEEE Trans Biomed Eng 2011; 58:531-40. [DOI: 10.1109/tbme.2010.2063703] [Citation(s) in RCA: 12] [Impact Index Per Article: 0.9] [Reference Citation Analysis] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/10/2022]
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New prototype neuronavigation system based on preoperative imaging and intraoperative freehand ultrasound: system description and validation. Int J Comput Assist Radiol Surg 2010; 6:507-22. [PMID: 20886304 DOI: 10.1007/s11548-010-0535-3] [Citation(s) in RCA: 38] [Impact Index Per Article: 2.7] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 04/08/2010] [Accepted: 09/13/2010] [Indexed: 10/19/2022]
Abstract
PURPOSE The aim of this report is to present IBIS (Interactive Brain Imaging System) NeuroNav, a new prototype neuronavigation system that has been developed in our research laboratory over the past decade that uses tracked intraoperative ultrasound to address surgical navigation issues related to brain shift. The unique feature of the system is its ability, when needed, to improve the initial patient-to-preoperative image alignment based on the intraoperative ultrasound data. Parts of IBIS Neuronav source code are now publicly available on-line. METHODS Four aspects of the system are characterized in this paper: the ultrasound probe calibration, the temporal calibration, the patient-to-image registration and the MRI-ultrasound registration. In order to characterize its real clinical precision and accuracy, the system was tested in a series of adult brain tumor cases. RESULTS Three metrics were computed to evaluate the precision and accuracy of the ultrasound calibration. 1) Reproducibility: 1.77 mm and 1.65 mm for the bottom corners of the ultrasound image, 2) point reconstruction precision 0.62-0.90 mm: and 3) point reconstruction accuracy: 0.49-0.74 mm. The temporal calibration error was estimated to be 0.82 ms. The mean fiducial registration error (FRE) of the homologous-point-based patient-to-MRI registration for our clinical data is 4.9 ± 1.1 mm. After the skin landmark-based registration, the mean misalignment between the ultrasound and MR images in the tumor region is 6.1 ± 3.4 mm. CONCLUSIONS The components and functionality of a new prototype system are described and its precision and accuracy evaluated. It was found to have an accuracy similar to other comparable systems in the literature.
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Talib H, Rajamani K, Kowal J, Nolte LP, Styner M, Ballester MAG. A comparison study assessing the feasibility of ultrasound-initialized deformable bone models. ACTA ACUST UNITED AC 2010; 10:293-9. [PMID: 16410231 DOI: 10.3109/10929080500379390] [Citation(s) in RCA: 9] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/13/2022]
Abstract
This article presents a feasibility and evaluation study for using 2D ultrasound in conjunction with our statistical deformable bone model within the scope of computer-assisted surgery. The final aim is to provide the surgeon with enhanced 3D visualization for surgical navigation in orthopedic surgery without the need for preoperative CT or MRI scans. We unified our earlier work to combine several automatic methods for statistical bone shape prediction and ultrasound segmentation and calibration to provide the intended rapid and accurate visualization. We compared the use of a tracked digitizing pointer and ultrasound for acquiring landmarks and bone surface points for the estimation of two cast proximal femurs.
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Affiliation(s)
- Haydar Talib
- Institute for Surgical Technology and Biomechanics, MEM Research Center, University of Bern, Bern, Switzerland.
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Peterhans M, Anderegg S, Gaillard P, Oliveira-Santos T, Weber S. A fully automatic calibration framework for navigated ultrasound imaging. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2010; 2010:1242-1245. [PMID: 21096125 DOI: 10.1109/iembs.2010.5626431] [Citation(s) in RCA: 5] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 05/30/2023]
Abstract
Navigated ultrasound (US) imaging is used for the intra-operative acquisition of 3D image data during image-guided surgery. The presented approach includes the design of a compact and easy to use US calibration device and its integration into a software application for navigated liver surgery. User interaction during the calibration process is minimized through automatic detection of the calibration process followed by automatic image segmentation, calculation of the calibration transform and validation of the obtained result. This leads to a fast, interaction-free and fully automatic calibration procedure enabling intra-operative US calibration being performed by the surgical user.
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Affiliation(s)
- Matthias Peterhans
- ARTORG Center for Computer-Aided Surgery at the Institute for Surgical Technology and Biomechanics, University of Bern, Switzerland.
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Murtha PE, Watterson N, Nikou C, Jaramaz B. Accuracy of ultrasound to MR registration of the knee. Int J Med Robot 2008; 4:51-7. [PMID: 18225855 DOI: 10.1002/rcs.170] [Citation(s) in RCA: 0] [Impact Index Per Article: 0] [Reference Citation Analysis] [Abstract] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/06/2022]
Abstract
BACKGROUND Ultrasound-based registration to 3D surfaces segmented from MR imaging is proposed as a non-invasive alternative to point-based registration for image-guided surgery. By relying upon diagnostic MR imaging, the expense of additional CT imaging (and exposure to radiation) is avoided. The technique would enable navigation in arthroscopic and other minimally invasive procedures. METHODS Optically tracked registrations using point-based and ultrasound-based methods to MR and CT imaging volumes for two cadaveric specimens were acquired and analysed. RESULTS The average RMS distance between fiducials was 0.27 mm for CT and 0.72 mm for MR utilizing point-based registration. The average RMS distance for ultrasound-based registration to CT was 0.59 mm and 0.76 mm to MR. The RMS distance for fiducials co-located in MR and CT imaging volumes was 0.74 mm. The end-to-end error of ultrasound registration to MR imaging was 2.98 mm, as compared to 1.65 mm for CT. CONCLUSIONS Ultrasound registration to MR imaging data is a viable non-invasive alternative to point-based registration.
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Affiliation(s)
- P E Murtha
- Institute for Computer Assisted Orthopaedic Surgery, Western Pennsylvania Hospital, Pittsburgh, PA 15224, USA.
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Helbig M, Krysztoforski K, Krowicki P, Helbig S, Gstoettner W, Kozak J. Development of prototype for navigated real-time sonography for the head and neck region. Head Neck 2008; 30:215-21. [PMID: 17764089 DOI: 10.1002/hed.20679] [Citation(s) in RCA: 6] [Impact Index Per Article: 0.4] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 11/08/2022] Open
Abstract
BACKGROUND To date, few imaging methods have been established for the head and neck region, in particular for soft tissues, that allow adequate visualization and simultaneously adequate real-time orientation. METHODS We report a new method using a navigated ultrasound device and a navigated surgical instrument that allows--even in the absence of bony landmarks--appropriate visualization and reliable orientation in real time. RESULTS The practical applicability of the system was tested. Good handling and acceptance of the system could be shown. The "3-dimensional error" derived from the deviations in all 3 dimensions lies at 0.64 mm. CONCLUSIONS With this ultrasound-guided navigated procedure, an accurate approach of soft tissue structures with a surgical instrument is possible. Changes of the situs are represented in real time.
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Affiliation(s)
- Matthias Helbig
- Department of Otolaryngology, Head and Neck Surgery, University of Frankfurt/Main, Theodor Stern Kai 7, 60590 Frankfurt/Main, Germany.
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Rajamani KT, Styner MA, Talib H, Zheng G, Nolte LP, González Ballester MA. Statistical deformable bone models for robust 3D surface extrapolation from sparse data. Med Image Anal 2007; 11:99-109. [PMID: 17349939 DOI: 10.1016/j.media.2006.05.001] [Citation(s) in RCA: 88] [Impact Index Per Article: 5.2] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Received: 08/19/2005] [Revised: 04/25/2006] [Accepted: 05/05/2006] [Indexed: 11/29/2022]
Abstract
A majority of pre-operative planning and navigational guidance during computer assisted orthopaedic surgery routinely uses three-dimensional models of patient anatomy. These models enhance the surgeon's capability to decrease the invasiveness of surgical procedures and increase their accuracy and safety. A common approach for this is to use computed tomography (CT) or magnetic resonance imaging (MRI). These have the disadvantages that they are expensive and/or induce radiation to the patient. In this paper we propose a novel method to construct a patient-specific three-dimensional model that provides an appropriate intra-operative visualization without the need for a pre or intra-operative imaging. The 3D model is reconstructed by fitting a statistical deformable model to minimal sparse 3D data consisting of digitized landmarks and surface points that are obtained intra-operatively. The statistical model is constructed using Principal Component Analysis from training objects. Our deformation scheme efficiently and accurately computes a Mahalanobis distance weighted least square fit of the deformable model to the 3D data. Relaxing the Mahalanobis distance term as additional points are incorporated enables our method to handle small and large sets of digitized points efficiently. Formalizing the problem as a linear equation system helps us to provide real-time updates to the surgeons. Incorporation of M-estimator based weighting of the digitized points enables us to effectively reject outliers and compute stable models. We present here our evaluation results using leave-one-out experiments and extended validation of our method on nine dry cadaver bones.
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Affiliation(s)
- Kumar T Rajamani
- MEM Research Center, Institute for Surgical Technology and Biomechanics, University of Bern, Stauffacherstrasse 78, CH-3014 Bern, Switzerland
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Emery SP, Kreutzer J, Sherman FR, Fujimoto KL, Jaramaz B, Nikou C, Tobita K, Keller BB. Computer-assisted navigation applied to fetal cardiac intervention. Int J Med Robot 2007; 3:187-98. [PMID: 17729376 DOI: 10.1002/rcs.145] [Citation(s) in RCA: 11] [Impact Index Per Article: 0.6] [Reference Citation Analysis] [Abstract] [MESH Headings] [Grants] [Track Full Text] [Journal Information] [Subscribe] [Scholar Register] [Indexed: 12/15/2022]
Abstract
BACKGROUND Prenatal cardiac interventions (PCI) for human fetal aortic valve (AoV) stenosis can reduce left ventricular hypoplasia and restore ventricular growth and function. However, 'freehand' needle delivery from the maternal skin through the uterine wall, fetal chest and ventricular apex to cross the fetal AoV remains technically challenging and time intensive, and is the rate-limiting step in the procedure. METHODS We developed a computer-assisted navigation (CANav) system that tracks the position and orientation of a two-dimensional (2D) ultrasound image relative to the trajectory of an electromagnetic (EM) embedded needle and stylet. We tested the CANav system in vitro using a water bath phantom, then in vivo using adult rats and pregnant (fetal) sheep. RESULTS The CANav system accurately tracked the delivered needle position in both in vitro phantom and adult rat model experiments. We performed 22 PCI attempts with or without CANav in a fetal sheep model. Maternal laparotomy was required to adjust the fetal position in 50% of the procedures. The time required to deliver the needle from the skin into the left ventricle (LV) using CANav was 2.9 +/- 1.7 (range 2-7) min (n = 14) vs. 5.5 +/- 4.3 (range 1-12) min (n = 8) without CANav (p < 0.05). The time needed to cross the aortic valve once the needle was within the LV was similar with and without CANav (p = 0.19). CONCLUSIONS CANav reduces the PCI time required to accurately deliver a needle to the fetal heart. Adaptations of this technical approach may be relevant to other congenital cardiac conditions and ultrasound-guided medical procedures.
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Affiliation(s)
- Stephen P Emery
- Department of Obstetrics and Gynecology, Magee-Women's Hospital, University of Pittsburgh School of Medicine, Pittsburgh, PA 15213, USA
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Hüfner T, Kendoff D, Citak M, Geerling J, Krettek C. Präzision in der orthopädischen Computernavigation. DER ORTHOPADE 2006; 35:1043-55. [PMID: 16917764 DOI: 10.1007/s00132-006-0995-x] [Citation(s) in RCA: 18] [Impact Index Per Article: 1.0] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Indexed: 10/24/2022]
Abstract
Navigation has become increasingly integrated into orthopaedic surgery, especially in the area of endoprosthetic procedures. Simplification of the instrumentation along with the use of imageless systems has increased the ease of use for the orthopaedic surgeon. Principle navigation systems enable an accuracy of corrections and alignments within intervals of 1 mm or 1 degrees . Consequently, potential intra- and interobserver failures during the registration procedure typically range within a few millimetres or degrees. Analysis of the actual algorithms used for the registration process of the lower extremity mechanical axis and the articular surfaces reveal valid and reproducible results. With the help of navigation, it is possible to achieve a higher degree of precision in total hip and knee implant placement, including a distinct reduction in variance as compared to conventional techniques. Similarly, application of navigation during a high tibial osteotomy or at the osteotomy of the distal radius also enables a more precise correction of the axis of the affected extremity, in addition to improved reproducibility. Despite these promising early results, large prospective clinical studies comparing conventional techniques versus computer assisted navigation are thus far only available for total knee arthroplasty. Whether navigated prosthesis placement can truly extend the longevity of an implant will require continued observation in the years to come. In addition, further prospective studies are required to determine the benefit of navigation in other orthopaedic procedures.
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Affiliation(s)
- T Hüfner
- Unfallchirurgische Klinik, Medizinische Hochschule, Carl Neubergstrasse 1, 30625 Hannover, Deutschland.
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Mercier L, Langø T, Lindseth F, Collins DL. A review of calibration techniques for freehand 3-D ultrasound systems. ULTRASOUND IN MEDICINE & BIOLOGY 2005; 31:449-71. [PMID: 15831324 DOI: 10.1016/j.ultrasmedbio.2004.11.015] [Citation(s) in RCA: 66] [Impact Index Per Article: 3.5] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/08/2004] [Revised: 11/05/2004] [Accepted: 11/11/2004] [Indexed: 05/03/2023]
Abstract
Three-dimensional (3-D) ultrasound (US) is an emerging new technology with numerous clinical applications. Ultrasound probe calibration is an obligatory step to build 3-D volumes from 2-D images acquired in a freehand US system. The role of calibration is to find the mathematical transformation that converts the 2-D coordinates of pixels in the US image into 3-D coordinates in the frame of reference of a position sensor attached to the US probe. This article is a comprehensive review of what has been published in the field of US probe calibration for 3-D US. The article covers the topics of tracking technologies, US image acquisition, phantom design, speed of sound issues, feature extraction, least-squares minimization, temporal calibration, calibration evaluation techniques and phantom comparisons. The calibration phantoms and methods have also been classified in tables to give a better overview of the existing methods.
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Affiliation(s)
- Laurence Mercier
- Montreal Neurological Institute, McGill University, Montreal, QUE H3A 2B4, Canada.
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Mercier L, Langø T, Lindseth F, Collins LD. A review of calibration techniques for freehand 3-D ultrasound systems. ULTRASOUND IN MEDICINE & BIOLOGY 2005; 31:143-165. [PMID: 15708453 DOI: 10.1016/j.ultrasmedbio.2004.11.001] [Citation(s) in RCA: 56] [Impact Index Per Article: 2.9] [Reference Citation Analysis] [Abstract] [MESH Headings] [Track Full Text] [Subscribe] [Scholar Register] [Received: 06/08/2004] [Revised: 11/05/2004] [Accepted: 11/11/2004] [Indexed: 05/24/2023]
Abstract
Three-dimensional (3-D) ultrasound (US) is an emerging new technology with numerous clinical applications. Ultrasound probe calibration is an obligatory step to build 3-D volumes from 2-D images acquired in a freehand US system. The role of calibration is to find the mathematical transformation that converts the 2-D coordinates of pixels in the US image into 3-D coordinates in the frame of reference of a position sensor attached to the US probe. This article is a comprehensive review of what has been published in the field of US probe calibration for 3-D US. The article covers the topics of tracking technologies, US image acquisition, phantom design, speed of sound issues, feature extraction, least-squares minimization, temporal calibration, calibration evaluation techniques and phantom comparisons. The calibration phantoms and methods have also been classified in tables to give a better overview of the existing methods.
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Affiliation(s)
- Laurence Mercier
- Montreal Neurological Institute, McGill University, Montreal, QUE, Canada.
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