Robust head CT image registration pipeline for craniosynostosis skull correction surgery

Craniosynostosis is a congenital malformation of the infant skull typically treated via corrective surgery. To accurately quantify the extent of deformation and identify the optimal correction strategy, the patient-specific skull model extracted from a pre-surgical computed tomography (CT) image needs to be registered to an atlas of head CT images representative of normal subjects. Here, the authors present a robust multi-stage, multi-resolution registration pipeline to map a patient-specific CT image to the atlas space of normal CT images. The proposed registration pipeline first performs an initial optimisation at very low resolution to yield a good initial alignment that is subsequently refined at high resolution. They demonstrate the robustness of the proposed method by evaluating its performance on 560 head CT images of 320 normal subjects and 240 craniosynostosis patients and show a success rate of 92.8 and 94.2%, respectively. Their method achieved a mean surface-to-surface distance between the patient and template skull of <2.5 mm in the targeted skull region across both the normal subjects and patients.

Image-Guided Interventions: We've come a long way, but are we there?

While the term "image-guided surgery" has gained popularity fairly recently, the use of imaging for medical interventions dates as far back as the beginning of the 20th century. Dr. George H. Gray of Lynn, Massachusetts, reported in his 1908 article "X-rays in Surgical Work," published in volume 2 of the Journal of Therapeutics and Dietetics, that "the one great stride in the handling of difficult cases was the accurate diagnosis made possible by the use of the X-rays." His story points to the day when a seamstress presented to his office with a broken sewing needle embedded in her hand. Thanks to the use of the recently discovered X-rays by Wilhelm Conrad Roentgen, the father of diagnostic radiology, Gray was able not only to confirm that the needle was indeed embedded in her hand but also to locate its parts, saving "an hour's hunting as some had previously done and then often failed."

An Interactive 3D Virtual Anatomy Puzzle for Learning and Simulation - Initial Demonstration and Evaluation

To inspire young students (grades 6-12) to become medical practitioners and biomedical engineers, it is necessary to expose them to key concepts of the field in a way that is both exciting and informative. Recent advances in medical image acquisition, manipulation, processing, visualization, and display have revolutionized the approach in which the human body and internal anatomy can be seen and studied. It is now possible to collect 3D, 4D, and 5D medical images of patient specific data, and display that data to the end user using consumer level 3D stereoscopic display technology. Despite such advancements, traditional 2D modes of content presentation such as textbooks and slides are still the standard didactic equipment used to teach young students anatomy. More sophisticated methods of display can help to elucidate the complex 3D relationships between structures that are so often missed when viewing only 2D media, and can instill in students an appreciation for the interconnection between medicine and technology. Here we describe the design, implementation, and preliminary evaluation of a 3D virtual anatomy puzzle dedicated to helping users learn the anatomy of various organs and systems by manipulating 3D virtual data. The puzzle currently comprises several components of the human anatomy and can be easily extended to include additional organs and systems. The 3D virtual anatomy puzzle game was implemented and piloted using three display paradigms - a traditional 2D monitor, a 3D TV with active shutter glass, and the DK2 version Oculus Rift, as well as two different user interaction devices - a space mouse and traditional keyboard controls.

The effect of elastic modulus on ablation catheter contact area

Cardiac ablation consists of navigating a catheter into the heart and delivering RF energy to electrically isolate tissue regions that generate or propagate arrhythmia. Besides the challenges of accurate and precise targeting of the arrhythmic sites within the beating heart, limited information is currently available to the cardiologist regarding intricate electrode-tissue contact, which directly impacts the quality of produced lesions. Recent advances in ablation catheter design provide intra-procedural estimates of tissue-catheter contact force, but the most direct indicator of lesion quality for any particular energy level and duration is the tissue-catheter contact area, and that is a function of not only force, but catheter pose and material elasticity as well. In this experiment, we have employed real-time ultrasound (US) imaging to determine the complete interaction between the ablation electrode and tissue to accurately estimate contact, which will help to better understand the effect of catheter pose and position relative to the tissue. By simultaneously recording tracked position, force reading and US image of the ablation catheter, the differing material properties of polyvinyl alcohol cryogel^[1] phantoms are shown to produce varying amounts of tissue depression and contact area (implying varying lesion quality) for equivalent force readings. We have shown that the elastic modulus significantly affects the surface-contact area between the catheter and tissue at any level of contact force. Thus we provide evidence that a prescribed level of catheter force may not always provide sufficient contact area to produce an effective ablation lesion in the prescribed ablation time.

When change happens: computer assistance and image guidance for minimally invasive therapy

Computer-assisted interventions are medical procedures that rely on image guidance and computer-based systems to provide visualisation and navigation information to the clinician, when direct vision of the sites or targets to be treated is not available, during minimally invasive procedures. Recent advances in medical image acquisition and processing, accompanied by technological breakthroughs in image fusion, visualisation and display have accelerated the adoption of minimally invasive approaches for a variety of medical procedures. This Letter is intended to serve as a brief overview of available image guidance and computer-assisted technology in the context of popular minimally invasive applications, while outlining some of the limitations and challenges in the transition from laboratory to clinical care.

Toward Standardized Mapping for Left Atrial Analysis and Cardiac Ablation Guidance

In catheter-based cardiac ablation, the pulmonary vein ostia are important landmarks for guiding the ablation procedure, and for this reason, have been the focus of many studies quantifying their size, structure, and variability. Analysis of pulmonary vein structure, however, has been limited by the lack of a standardized reference space for population based studies. Standardized maps are important tools for characterizing anatomic variability across subjects with the goal of separating normal inter-subject variability from abnormal variability associated with disease. In this work, we describe a novel technique for computing flat maps of left atrial anatomy in a standardized space. A flat map of left atrial anatomy is created by casting a single ray through the volume and systematically rotating the camera viewpoint to obtain the entire field of view. The technique is validated by assessing preservation of relative surface areas and distances between the original 3D geometry and the flat map geometry. The proposed methodology is demonstrated on 10 subjects which are subsequently combined to form a probabilistic map of anatomic location for each of the pulmonary vein ostia and the boundary of the left atrial appendage. The probabilistic map demonstrates that the location of the inferior ostia have higher variability than the superior ostia and the variability of the left atrial appendage is similar to the superior pulmonary veins. This technique could also have potential application in mapping electrophysiology data, radio-frequency ablation burns, or treatment planning in cardiac ablation therapy.

On mixed reality environments for minimally invasive therapy guidance: systems architecture, successes and challenges in their implementation from laboratory to clinic

Mixed reality environments for medical applications have been explored and developed over the past three decades in an effort to enhance the clinician's view of anatomy and facilitate the performance of minimally invasive procedures. These environments must faithfully represent the real surgical field and require seamless integration of pre- and intra-operative imaging, surgical instrument tracking, and display technology into a common framework centered around and registered to the patient. However, in spite of their reported benefits, few mixed reality environments have been successfully translated into clinical use. Several challenges that contribute to the difficulty in integrating such environments into clinical practice are presented here and discussed in terms of both technical and clinical limitations. This article should raise awareness among both developers and end-users toward facilitating a greater application of such environments in the surgical practice of the future.

Image-based Modeling and Characterization of RF Ablation Lesions in Cardiac Arrhythmia Therapy

In spite of significant efforts to enhance guidance for catheter navigation, limited research has been conducted to consider the changes that occur in the tissue during ablation as means to provide useful feedback on the progression of therapy delivery. We propose a technique to visualize lesion progression and monitor the effects of the RF energy delivery using a surrogate thermal ablation model. The model incorporates both physical and physiological tissue parameters, and uses heat transfer principles to estimate temperature distribution in the tissue and geometry of the generated lesion in near real time. The ablation model has been calibrated and evaluated using ex vivo beef muscle tissue in a clinically relevant ablation protocol. To validate the model, the predicted temperature distribution was assessed against that measured directly using fiberoptic temperature probes inserted in the tissue. Moreover, the model-predicted lesions were compared to the lesions observed in the post-ablation digital images. Results showed an agreement within 5°C between the model-predicted and experimentally measured tissue temperatures, as well as comparable predicted and observed lesion characteristics and geometry. These results suggest that the proposed technique is capable of providing reasonably accurate and sufficiently fast representations of the created RF ablation lesions, to generate lesion maps in near real time. These maps can be used to guide the placement of successive lesions to ensure continuous and enduring suppression of the arrhythmic pathway.

Toward modeling of radio-frequency ablation lesions for image-guided left atrial fibrillation therapy: model formulation and preliminary evaluation

In the context of image-guided left atrial fibrillation therapy, relatively very little work has been done to consider the changes that occur in the tissue during ablation in order to monitor therapy delivery. Here we describe a technique to predict the lesion progression and monitor the radio-frequency energy delivery via a thermal ablation model that uses heat transfer principles to estimate the tissue temperature distribution and resulting lesion. A preliminary evaluation of the model was conducted in ex vivo skeletal beef muscle tissue while emulating a clinically relevant tissue ablation protocol. The predicted temperature distribution within the tissue was assessed against that measured directly using fiberoptic temperature probes and showed agreement within 5°C between the model-predicted and experimentally measured tissue temperatures at prescribed locations. We believe this technique is capable of providing reasonably accurate representations of the tissue response to radio-frequency energy delivery.

Toward online modeling for lesion visualization and monitoring in cardiac ablation therapy

Despite extensive efforts to enhance catheter navigation, limited research has been done to visualize and monitor the tissue lesions created during ablation in the attempt to provide feedback for effective therapy. We propose a technique to visualize the temperature distribution and extent of induced tissue injury via an image-based model that uses physiological tissue parameters and relies on heat transfer principles to characterize lesion progression in near real time. The model was evaluated both numerically and experimentally using ex vivo bovine muscle samples while emulating a clinically relevant ablation protocol. Results show agreement to within 5 degreeC between the model-predicted and experimentally measured end-ablation tissue temperatures, as well as comparable predicted and observed lesion characteristics. The model yields temperature and lesion updates in near real-time, thus providing reasonably accurate and sufficiently fast monitoring for effective therapy.

Calibration and Evaluation of a Magnetically Tracked ICE Probe for Guidance of Left Atrial Ablation Therapy

The novel prototype system for advanced visualization for image-guided left atrial ablation therapy developed in our laboratory permits ready integration of multiple imaging modalities, surgical instrument tracking, interventional devices and electro-physiologic data. This technology allows subject-specific procedure planning and guidance using 3D dynamic, patient-specific models of the patient's heart, augmented with real-time intracardiac echocardiography (ICE). In order for the 2D ICE images to provide intuitive visualization for accurate catheter to surgical target navigation, the transducer must be tracked, so that the acquired images can be appropriately presented with respect to the patient-specific anatomy. Here we present the implementation of a previously developed ultrasound calibration technique for a magnetically tracked ICE transducer, along with a series of evaluation methods to ensure accurate imaging and faithful representation of the imaged structures. Using an engineering-designed phantom, target localization accuracy is assessed by comparing known target locations with their transformed locations inferred from the tracked US images. In addition, the 3D volume reconstruction accuracy is also estimated by comparing a truth volume to that reconstructed from sequential 2D US images. Clinically emulating validation studies are conducted using a patient-specific left atrial phantom. Target localization error of clinically-relevant surgical targets represented by nylon fiducials implanted within the endocardial wall of the phantom was assessed. Our studies have demonstrated 2.4 ± 0.8 mm target localization error in the engineering-designed evaluation phantoms, 94.8 ± 4.6 % volume reconstruction accuracy, and 3.1 ± 1.2 mm target localization error in the left atrial-mimicking phantom. These results are consistent with those disseminated in the literature and also with the accuracy constraints imposed by the employed technology and the clinical application.

Augmented environments for minimally invasive therapy: implementation barriers from technology to practice

Augmented environments for medical applications have been explored and developed in an effort to enhance the clinician's view of anatomy and facilitate the performance of minimally invasive procedures. These environments must faithfully represent the real surgical field and require seamless integration of pre- and intra-operative imaging, surgical instrument tracking and display technology into a common framework centered around the patient. However, few image guidance environments have been successfully translated into clinical use. Several challenges that contribute to the slow progress of integrating such environments into clinical practice are discussed here in terms of both technical and clinical limitations.

Accuracy considerations in image-guided cardiac interventions: experience and lessons learned

MOTIVATION

Medical imaging and its application in interventional guidance has revolutionized the development of minimally invasive surgical procedures leading to reduced patient trauma, fewer risks, and shorter recovery times. However, a frequently posed question with regard to an image guidance system is "how accurate is it?" On one hand, the accuracy challenge can be posed in terms of the tolerable clinical error associated with the procedure; on the other hand, accuracy is bound by the limitations of the system's components, including modeling, patient registration, and surgical instrument tracking, all of which ultimately impact the overall targeting capabilities of the system.

METHODS

While these processes are not unique to any interventional specialty, this paper discusses them in the context of two different cardiac image guidance platforms: a model-enhanced ultrasound platform for intracardiac interventions and a prototype system for advanced visualization in image-guided cardiac ablation therapy.

RESULTS

Pre-operative modeling techniques involving manual, semi-automatic and registration-based segmentation are discussed. The performance and limitations of clinically feasible approaches for patient registration evaluated both in the laboratory and in the operating room are presented. Our experience with two different magnetic tracking systems for instrument and ultrasound transducer localization is reported. Ultimately, the overall accuracy of the systems is discussed based on both in vitro and preliminary in vivo experience.

CONCLUSION

While clinical accuracy is specific to a particular patient and procedure and vastly dependent on the surgeon's experience, the system's engineering limitations are critical to determine whether the clinical requirements can be met.

Evaluation of model-enhanced ultrasound-assisted interventional guidance in a cardiac phantom

Minimizing invasiveness associated with cardiac procedures has led to limited visual access to the target tissues. To address these limitations, we have developed a visualization environment that integrates interventional ultrasound (US) imaging with preoperative anatomical models and virtual representations of the surgical instruments tracked in real time. In this paper, we present a comprehensive evaluation of our model-enhanced US-guidance environment by simulating clinically relevant interventions in vitro . We have demonstrated that model-enhanced US guidance provides a clinically desired targeting accuracy better than 3-mm rms and maintains this level of accuracy even in the case of image-to-patient misalignments that are often encountered in the clinic. These studies emphasize the benefits of integrating real-time imaging with preoperative data to enhance surgical navigation in the absence of direct vision during minimally invasive cardiac interventions.

How accurate is accurate enough? A brief overview on accuracy considerations in image-guided cardiac interventions

Image-guided interventions have revolutionized the development of minimally invasive surgical procedures, leading to reduced patient trauma, fewer risks and shorter recovery times. However, one of the most frequently posed question with regards to an image guidance system is how accurate it is. In this work we provide a brief overview on accuracy considerations from our perspective on cardiac image-guided procedures: what are the clinically-imposed accuracy constraints, how do these measure against the limitations of the image-guidance system, and how can surgeons directly benefit from real-time accuracy feedback to ensure optimal navigation at all times during the intervention?

Tips on effective presentation design and delivery

For many of us oral presentations can be the prime means for communicating our ideas and our research, not only to our peers, but also to our employers and to potential customers. As students, you are no exception the prospect of an oral presentation can be daunting, the pressure is on to make a good impression with your research. That we are scientists presenting sometimes very complicated scientific ideas and results need not necessarily be a recipe for a sleep inducing "death by PowerPoint" presentation, rather there are simple ways in which we can all try and make our presentations effective and captivating. This session aims to give you some all-round pointers on preparing and delivering an effective presentation that best conveys your ideas smoothly, understandably and, most important, succinctly.

Negotiating your first BME job: Do's and don'ts in academia, private sector and government

This session is intended to prepare current bioengineering students and post-doctoral fellows, getting them in the right shape to apply, negotiate and succeed in getting their first job in industry or academia. Tips on putting together the appropriate CV, preparing your portfolio and getting ready for the interview will be covered by the invited speakers. The panel will consist of representatives from academia and the private sector, as well as government and regulators. This session aims to give you some all-round pointers on the dos and donts towards choosing, applying, attending an interview and negotiating your future position as a young biomedical engineer.

Towards a biomechanics-based technique for assessing myocardial contractility: an inverse problem approach

This work presents the initial development and implementation of a novel 3D biomechanics-based approach to measure the mechanical activity of myocardial tissue, as a potential non-invasive tool to assess myocardial function. This technique quantifies the myocardial contraction forces developed within the ventricular myofibers in response to electro-physiological stimuli. We provide a 3D finite element formulation of a contraction force reconstruction algorithm, along with its implementation using magnetic resonance (MR) data. Our algorithm is based on an inverse problem solution governed by the fundamental continuum mechanics principle of conservation of linear momentum, under a first-order approximation of elastic and isotropic material conditions. We implemented our technique using a subject-specific ventricle model obtained by extracting the left ventricular anatomical features from a set of high-resolution cardiac MR images acquired throughout the cardiac cycle using prospective electrocardiographic gating. Cardiac motion information was extracted by non-rigid registration of the mid-diastole reference image to the remaining images of a 4D dataset. Using our technique, we reconstructed dynamic maps that show the contraction force distribution superimposed onto the deformed ventricle model at each acquired frame in the cardiac cycle. Our next objective will consist of validating this technique by showing the correlation between the presence of low contraction force patterns and poor myocardial functionality.

Towards a biomechanical-based method for assessing myocardial tissue viability

This work presents the first steps towards the development and implementation of a novel 3D biomechanical-based method for assessing the viability of myocardial tissue, with particular interest for its application in myocardial infarction (MI) diagnosis. This assessment technique quantifies the myocardial contraction forces developed within the ventricular myofibrils in response to the electrophysiological stimulus. In this manuscript we provide a 3D finite element (FE) formulation of a contraction force reconstruction algorithm based on an inverse problem solution of linear elasticity, along with its implementation using clinical data. This algorithm has been applied to patient-specific models obtained by extracting anatomical features from high-resolution, high-contrast magnetic resonance (MR) cardiac images. The input consists of motion information extracted by nonrigid registration of the mid-diastole reference image to the remaining images of the 4D data set, acquired using ECG-gating throughout the cardiac cycle. The result consists of a display-map of the contraction force distribution superimposed on the anatomical ventricle model, which allows the clinician to identify regions of low contractility in the myocardium.

Surgical accuracy under virtual reality-enhanced ultrasound guidance: an in vitro epicardial dynamic study

In the context of our ongoing objective to reduce morbidity associated with cardiac interventions, minimizing invasiveness has inevitably led to more limited visual access to the target tissues. To ameliorate these challenges, we provide the surgeons with a complex visualization environment that integrates interventional ultrasound imaging augmented with pre-operative anatomical models and virtual surgical instruments within a virtual reality environment. In this paper we present an in vitro study on a cardiac phantom aimed at assessing the feasibility and targeting accuracy of our surgical system in comparison to traditional ultrasound imaging for intra-operative surgical guidance. The 'therapy delivery' was modeled in the context of a blinded procedure, mimicking a closed-chest intervention. Four users navigated a tracked pointer to a target, under guidance provide by either US imaging or virtual reality-enhanced ultrasound. A 2.8 mm RMS targeting error was achieved using our novel surgical system, which is adequate from both a clinical and engineering perspective, under the inherent procedure requirements and limitations of the system.

Pathways to success in biomedical engineering

A valuable session for any student aspiring to venture into graduate biomedical engineering research, or alternatively into industrial or clinical service. Gain tips from panelists on how to successfully navigate through the issues involved in the bioengineering profession and how to accomplish your best.

You're hired! Negotiating your first biomedical engineering position: academia vs. private sector

This session is intended to prepare current bio-engineering students and post-doctoral fellows and getting them in the right shape to apply, negotiate and succeed in getting their first job in industry or academia. Tips on putting together the appropriate CV, preparing your portfolio and getting ready for the interview will be covered by the invited speakers. Academia-oriented trainees will also get a better feel on the academic requirements, what items should be highlighted in the CV, what makes a well-rounded junior faculty and what the expectations are of junior/assistant professors.

Towards subject-specific models of the dynamic heart for image-guided mitral valve surgery

Surgeons need a robust interventional system capable of providing reliable, real-time information regarding the position and orientation of the surgical targets and tools to compensate for the lack of direct vision and to enhance manipulation of intracardiac targets during minimally-invasive, off-pump cardiac interventions. In this paper, we describe a novel method for creating dynamic, pre-operative, subject-specific cardiac models containing the surgical targets and surrounding anatomy, and how they are used to augment the intra-operative virtual environment for guidance of valvular interventions. The accuracy of these pre-operative models was established by comparing the target registration error between the mitral valve annulus characterized in the pre-operative images and their equivalent structures manually extracted from 3D US data. On average, the mitral valve annulus was extracted with a 3.1 mm error across all cardiac phases. In addition, we also propose a method for registering the pre-operative models into the intra-operative virtual environment.