A 40-MHz Ultrasound Transducer with an Angled Aperture for Guiding Percutaneous Revascularization of Chronic Total Occlusion: A Feasibility Study

Supervised segmentation for guiding peripheral revascularization with forward-viewing, robotically steered ultrasound guidewire

BACKGROUND

Approximately 500 000 patients present with critical limb ischemia (CLI) each year in the U.S., requiring revascularization to avoid amputation. While peripheral arteries can be revascularized via minimally invasive procedures, 25% of cases with chronic total occlusions are unsuccessful due to inability to route the guidewire beyond the proximal occlusion. Improvements to guidewire navigation would lead to limb salvage in a greater number of patients.

PURPOSE

Integrating ultrasound imaging into the guidewire could enable direct visualization of routes for guidewire advancement. In order to navigate a robotically-steerable guidewire with integrated imaging beyond a chronic occlusion proximal to the symptomatic lesion for revascularization, acquired ultrasound images must be segmented to visualize the path for guidewire advancement.

METHODS

The first approach for automated segmentation of viable paths through occlusions in peripheral arteries is demonstrated in simulations and experimentally-acquired data with a forward-viewing, robotically-steered guidewire imaging system. B-mode ultrasound images formed via synthetic aperture focusing (SAF) were segmented using a supervised approach (U-net architecture). A total of 2500 simulated images were used to train the classifier to distinguish the vessel wall and occlusion from viable paths for guidewire advancement. First, the size of the synthetic aperture resulting in the highest classification performance was determined in simulations (90 test images) and compared with traditional classifiers (global thresholding, local adaptive thresholding, and hierarchical classification). Next, classification performance as a function of the diameter of the remaining lumen (0.5 to 1.5 mm) in the partially-occluded artery was tested using both simulated (60 test images at each of 7 diameters) and experimental data sets. Experimental test data sets were acquired in four 3D-printed phantoms from human anatomy and six ex vivo porcine arteries. Accuracy of classifying the path through the artery was evaluated using microcomputed tomography of phantoms and ex vivo arteries as a ground truth for comparison.

RESULTS

An aperture size of 3.8 mm resulted in the best-performing classification based on sensitivity and Jaccard index, with a significant increase in Jaccard index (p < 0.05) as aperture diameter increased. In comparing the performance of the supervised classifier and traditional classification strategies with simulated test data, sensitivity and F1 score for U-net were 0.95 ± 0.02 and 0.96 ± 0.01, respectively, compared to 0.83 ± 0.03 and 0.41 ± 0.13 for the best-performing conventional approach, hierarchical classification. In simulated test images, sensitivity (p < 0.05) and Jaccard index both increased with increasing artery diameter (p < 0.05). Classification of images acquired in artery phantoms with remaining lumen diameters ≥ 0.75 mm resulted in accuracies > 90%, while mean accuracy decreased to 82% when artery diameter decreased to 0.5 mm. For testing in ex vivo arteries, average binary accuracy, F1 score, Jaccard index, and sensitivity each exceeded 0.9.

CONCLUSIONS

Segmentation of ultrasound images of partially-occluded peripheral arteries acquired with a forward-viewing, robotically-steered guidewire system was demonstrated for the first-time using representation learning. This could represent a fast, accurate approach for guiding peripheral revascularization.

A Robotically Steerable Guidewire With Forward-Viewing Ultrasound: Development of Technology for Minimally-Invasive Imaging

OBJECTIVE

The current standard of care for peripheral chronic total occlusions involves the manual routing of a guidewire under fluoroscopy. Despite significant improvements in recent decades, navigation remains clinically challenging with high rates of procedural failure and iatrogenic injury. To address this challenge, we present a proof-of-concept robotic guidewire system with forward-viewing ultrasound imaging to allow visualization and maneuverability through complex vasculature.

METHODS

A 0.035" guidewire-specific ultrasound transducer with matching layer and acoustic backing was designed, fabricated, and characterized. The effect of guidewire motion on signal decorrelation was assessed with simulations and experimentally, driving the development of a synthetic aperture beamforming approach to form images as the transducer is steered on the robotic guidewire. System performance was evaluated by imaging wire targets in water. Finally, proof-of-concept was demonstrated by imaging an ex vivo artery.

RESULTS

The designed custom transducer was fabricated with a center frequency of 15.7 MHz, 45.4% fractional bandwidth, and 31 dB SNR. In imaging 20 μm wire targets at a depth of 6 mm, the lateral -6 dB target width was 0.25 ± 0.03 mm. The 3D artery reconstruction allowed visualization of vessel wall structure and lumen.

CONCLUSION

Initial proof-of-concept for an ultrasound transducer-tipped steerable guidewire including 3D image formation without an additional sensor to determine guidewire position was demonstrated for a sub-mm system with an integrated ultrasound transducer and a robotically-steered guidewire.

SIGNIFICANCE

The developed forward-viewing, robotically-steered guidewire may enable navigation through occluded vascular regions that cannot be crossed with current methods.

Mechanically Rotating Intravascular Ultrasound (IVUS) Transducer: A Review

Intravascular ultrasound (IVUS) is a valuable imaging modality for the diagnosis of atherosclerosis. It provides useful clinical information, such as lumen size, vessel wall thickness, and plaque composition, by providing a cross-sectional vascular image. For several decades, IVUS has made remarkable progress in improving the accuracy of diagnosing cardiovascular disease that remains the leading cause of death globally. As the quality of IVUS images mainly depends on the performance of the IVUS transducer, various IVUS transducers have been developed. Therefore, in this review, recently developed mechanically rotating IVUS transducers, especially ones exploiting piezoelectric ceramics or single crystals, are discussed. In addition, this review addresses the history and technical challenges in the development of IVUS transducers and the prospects of next-generation IVUS transducers.

Intravascular Ultrasound Transducer by Using Polarization Inversion Technique for Tissue Harmonic Imaging: Modeling and Experiments

Intravascular ultrasound (IVUS) tissue harmonic imaging (THI) is a useful vessel imaging technique that can provide deep penetration depth as well as high spatial and contrast resolution. Typically, a high-frequency IVUS transducer for THI requires a broad bandwidth or dual-frequency bandwidth. However, it is very difficult to make an IVUS transducer with a frequency bandwidth covering from the fundamental frequency to the second harmonic or a dual-peak at the desired frequency. To solve this problem, in this study, we applied the polarization inversion technique (PIT) to the IVUS transducer for THI. The PIT makes it relatively easy to design IVUS transducers with suitable frequency characteristics for THI depending on the inversion ratio of the piezoelectric layer and specifications of the passive materials. In this study, two types of IVUS transducers based on the PIT were developed for THI. One is a front-side inversion layer (FSIL) transducer with a broad bandwidth, and the other is a back-side inversion layer (BSIL) transducer with a dual-frequency bandwidth. These transducers were designed using finite element analysis (FEA)-based simulation, and the prototype transducers were fabricated. Subsequently, the performance was evaluated by not only electrical impedance and pulse-echo response tests but also B-mode imaging tests with a 25 μm tungsten wire and tissue-mimicking gelatin phantoms. The FEA simulation and experimental results show that the proposed scheme can successfully implement the tissue harmonic IVUS image, and thus it can be one of the promising techniques for developing IVUS transducers for THI.

Magnetically Actuated Forward-Looking Interventional Ultrasound Imaging: Feasibility Studies

OBJECTIVE

Interventional ultrasound imaging is a prerequisite for guiding implants and treatment within the hearts and blood vessels. Due to limitations on the catheter's diameter, interventional ultrasonic transducers have side-looking structures although forward-looking imaging may provide more intuitive and real time guidance in treating diseased sites ahead of catheters. To address the issue, a magnetically actuated forward-looking interventional ultrasound imaging device is implemented for the first time.

METHODS

A forward-looking catheter containing a 1 mm ring type focused 35 MHz ultrasound transducer and a micro magnet, was fabricated. For imaging, the transducer was placed at the center of four electromagnetic coils positioned on four sides of a squared acrylic housing. By modifying the magnetic field, the catheter tip could be remotely translated for sector scanning.

RESULTS

The scanning angle could reach up to 3° in 1 Hz with 15 mT, while wider angles of 5° could be achieved with a higher magnetic field of 25 mT for ex-vivo imaging. The position of the transducer could be detected by monitoring the motion with a CCD camera, mimicking clinical X-ray imaging. In the wire target and tissue mimicking phantom studies, the measured hole size, spatial resolution and distance between wires by the proposed system were comparable with the values from a linear scanner. Multi-frame real time data acquisition was demonstrated via ex-vivo imaging on a pig's coronary artery.

CONCLUSION/SIGNIFICANCE

The feasibility of magnetically actuated forward-looking interventional ultrasound imaging was demonstrated. The remote-controlled scanning method may allow to simplify the structures of forward-looking interventional ultrasound imaging catheters.