Rapid tip tracking with MRI by a limited projection reconstruction technique

A novel constrained reconstruction model towards high-resolution subtomogram averaging

MOTIVATION

Electron tomography (ET) offers a unique capacity to image biological structures in situ. However, the resolution of ET reconstructed tomograms is not comparable to that of the single-particle cryo-EM. If many copies of the object of interest are present in the tomograms, their structures can be reconstructed in the tomogram, picked, aligned and averaged to increase the signal-to-noise ratio and improve the resolution, which is known as the subtomogram averaging. To date, the resolution improvement of the subtomogram averaging is still limited because each reconstructed subtomogram is of low reconstruction quality due to the missing wedge issue.

RESULTS

In this article, we propose a novel computational model, the constrained reconstruction model (CRM), to better recover the information from the multiple subtomograms and compensate for the missing wedge issue in each of them. CRM is supposed to produce a refined reconstruction in the final turn of subtomogram averaging after alignment, instead of directly taking the average. We first formulate the averaging method and our CRM as linear systems, and prove that the solution space of CRM is no larger, and in practice much smaller, than that of the averaging method. We then propose a sparse Kaczmarz algorithm to solve the formulated CRM, and further extend the solution to the simultaneous algebraic reconstruction technique (SART). Experimental results demonstrate that CRM can significantly alleviate the missing wedge issue and improve the final reconstruction quality. In addition, our model is robust to the number of images in each tilt series, the tilt range and the noise level.

AVAILABILITY AND IMPLEMENTATION

The codes of CRM-SIRT and CRM-SART are available at https://github.com/icthrm/CRM.

SUPPLEMENTARY INFORMATION

Supplementary data are available at Bioinformatics online.

Real-time probe tracking using EM-optical sensor for MRI-guided cryoablation

BACKGROUND

A method of real-time, accurate probe tracking at the entrance of the MRI bore is developed, which, fused with pre-procedural MR images, will enable clinicians to perform cryoablation efficiently in a large workspace with image guidance.

METHODS

Electromagnetic (EM) tracking coupled with optical tracking is used to track the probe. EM tracking is achieved with an MRI-safe EM sensor working under the scanner's magnetic field to compensate the line-of-sight issue of optical tracking. Unscented Kalman filter-based probe tracking is developed to smooth the EM sensor measurements when occlusion occurs and to improve the tracking accuracy by fusing the measurements of two sensors.

RESULTS

Experiments with a spine phantom show that the mean targeting errors using the EM sensor alone and using the proposed method are 2.21 mm and 1.80 mm, respectively.

CONCLUSION

The proposed method achieves more accurate probe tracking than using an EM sensor alone at the MRI scanner entrance.

Simulations and experimental demonstration of coupling molecular and macroscopic level modalities with a robotic manipulator

Established and emerging molecular and cellular modalities, such as optical imaging and spectroscopy, offer new opportunities for assessing tissue pathophysiology in situ. A challenge with such applications is their limited tissue penetration and low sensitivity that can be addressed with trans-needle or trans-catheter access. In this work, we describe the use of an actuated manipulator to physically manipulate such sensors to scan an area of interest generating 1-D scans while registering them to a guiding modality. Simulations were performed for a miniature RF coil to determine the voxel size, and experimental studies were conducted using a miniature RF coil manipulated by the MR-compatible device. The experimental results on phantom studies show that potential diagnostic information can be collected by using this methodology. This system was pursued to address a critical limitation of emerging molecular and near-cellular modalities; the limited tissue penetration.

Interventional MRI: tapering improves the distal sensitivity of the loopless antenna

The "loopless antenna" is an interventional MRI detector consisting of a tuned coaxial cable and an extended inner conductor or "whip". A limitation is the poor sensitivity afforded at, and immediately proximal to, its distal end, which is exacerbated by the extended whip length when the whip is uniformly insulated. It is shown here that tapered insulation dramatically improves the distal sensitivity of the loopless antenna by pushing the current sensitivity toward the tip. The absolute signal-to-noise ratio is numerically computed by the electromagnetic method-of-moments for three resonant 3-T antennae with no insulation, uniform insulation, and with linearly tapered insulation. The analysis shows that tapered insulation provides an approximately 400% increase in signal-to-noise ratio in trans-axial planes 1 cm from the tip and a 16-fold increase in the sensitive area as compared to an equivalent, uniformly insulated antenna. These findings are directly confirmed by phantom experiments and by MRI of an aorta specimen. The results demonstrate that numerical electromagnetic signal-to-noise ratio analysis can accurately predict the loopless detector's signal-to-noise ratio and play a central role in optimizing its design. The manifold improvement in distal signal-to-noise ratio afforded by redistributing the insulation should improve the loopless antenna's utility for interventional MRI.

Can Magnetic Resonance Imaging Be the Key Technique to Visualize and Investigate Endovascular Biomaterials?

OBJECTIVE

Magnetic resonance imaging (MRI) is an established modality in clinical use but may be potentially underutilized to visualize and investigate biomaterials. As its use is totally contraindicated only for ferromagnetic devices, it was employed to visualize deployment, biofonctionality, healing, and biodurability of a commercially available endovascular device, namely the Medtronic-AVE AneuRx. The quality of the observations coupled with the absence of ionizing radiations are likely to make this technique an attractive imaging modality in the future.

METHOD

The potential benefits of the MRI technique were investigated in a GE Vectra-MR 0.5T MRI for the Medtronic-AVE AneuRx endovascular prosthesis, under different conditions: undeployed i.e., inserted in the delivery cartridge as received from the manufacturer (step 1), deployed in a mock glass-aneurysm tube (step 2), and as a pathological explant harvested at the autopsy of a patient (step 3). The device was submitted to X-rays for examination in addition to MRI. At step 3, the device was further investigated with light microscopy and scanning electron microscopy (SEM) together with X-ray diffraction.

RESULTS

The device which was inserted and pleated in the delivery cartridge did not demonstrate any significant observation either in MRI or in X-rays. When it was deployed in the mock aneurysmal glass tube, light artefacts were associated with the T2 weighed FSE images around the Nitinol whereas X-rays gave images of indisputable interest. Similar results were noted using the explanted device. Very high contrasts were obtained with T1 whereas T2 images were almost defect free. The X-rays allowed to accurate imaging of the Nitinol skeleton but were poor to discriminate between the different tissues. Pathology observations using light microscopy were not really challenged, as the magnetic resonance imaging was performed using a 0.5T machine.

DISCUSSION

The benefits of magnetic resonance imaging as a quality control technique to examine an endovascular device within its cartridge remains ill defined. Similarly, the role of conventional X-rays is unknown. The observation of devices fully deployed in a mock aneurysmal glass-tube under MRI are potentially useful but X-rays images allowed better definition. The MRI examination of the explanted device does permit observations related to the healing of the device that might be obtained in vivo and, thus offers new avenues for the follow-up of implanted devices. The pathological investigations brought additional informations about the tissues and the corrosion of the Nitinol. However, it is unlikely that MRI will permit detailed analysis of the biomaterials and in particular the corrosion process of the stents.

CONCLUSION

These early observations of the follow-up of devices using MRI warrant further investigation. The absence of ionizing radiation with MRI makes this technique particularly attractive. As there is no emission of ionizing radiation associated with magnetic resonance, it is recommended that further investigation using this environment friendly technique for the follow-up of devices made of biomaterials that are MRI compatible.

Image-guidance for surgical procedures

Contemporary imaging modalities can now provide the surgeon with high quality three- and four-dimensional images depicting not only normal anatomy and pathology, but also vascularity and function. A key component of image-guided surgery (IGS) is the ability to register multi-modal pre-operative images to each other and to the patient. The other important component of IGS is the ability to track instruments in real time during the procedure and to display them as part of a realistic model of the operative volume. Stereoscopic, virtual- and augmented-reality techniques have been implemented to enhance the visualization and guidance process. For the most part, IGS relies on the assumption that the pre-operatively acquired images used to guide the surgery accurately represent the morphology of the tissue during the procedure. This assumption may not necessarily be valid, and so intra-operative real-time imaging using interventional MRI, ultrasound, video and electrophysiological recordings are often employed to ameliorate this situation. Although IGS is now in extensive routine clinical use in neurosurgery and is gaining ground in other surgical disciplines, there remain many drawbacks that must be overcome before it can be employed in more general minimally-invasive procedures. This review overviews the roots of IGS in neurosurgery, provides examples of its use outside the brain, discusses the infrastructure required for successful implementation of IGS approaches and outlines the challenges that must be overcome for IGS to advance further.

Interventional and intraoperative MR: review and update of techniques and clinical experience

The concept of interventional magnetic resonance imaging (MRI) is based on the integration of diagnostic and therapeutic procedures, favored by the combination of the excellent morphological and functional imaging characteristics of MRI. The spectrum of MRI-assisted interventions ranges from biopsies and intraoperative guidance to thermal ablation modalities and vascular interventions. The most relevant recently published experimental and clinical results are discussed. In the future, interventional MRI is expected to play an important role in interventional radiology, minimal invasive therapy and guidance of surgical procedures. However, the associated high costs require a careful evaluation of its potentials in order to ensure cost-effective medical care.

Robotics in neurosurgery

Technological developments in imaging guidance, intraoperative imaging, and microscopy have pushed neurosurgeons to the limits of their dexterity and stamina. The introduction of robotically assisted surgery has provided surgeons with improved ergonomics and enhanced visualization, dexterity, and haptic capabilities. This article provides a historical perspective on neurosurgical robots, including image-guided stereotactic and microsurgery systems. The future of robot-assisted neurosurgery, including the use of surgical simulation tools and methods to evaluate surgeon performance, is discussed.

Real-time catheter tracking and adaptive imaging

PURPOSE

To evaluate the performance of a real-time MR system for interventional procedures that adjusts specific image parameters in real time based on a catheter's speed of insertion.

MATERIALS AND METHODS

The system was implemented using only the hardware provided with a standard short-bore 1.5 T scanner (Siemens Magnetom Sonata) (with the exception of small tracking markers affixed to the catheter). The system tracks the position of an MR microcoil-instrumented catheter and automatically updates the scan plane's position and orientation, as well as other features, including, but not limited to, field of view, resolution, tip angle, and TE. A real-time feedback loop continuously localizes the tracking markers, updates the scan plane position and orientation, calculates the catheter's speed, adjusts the value of specific image parameters, then collects new image data, reconstructs an image, and provides it for immediate display. The system was evaluated in phantom and in vivo porcine experiments.

RESULTS

The system is able to accurately localize a moving catheter in the abdominal aorta, calculate the device speed, and respond by adjusting specified image parameters 98% of the time, with precision of approximately 2 mm and 1.5 degrees.

CONCLUSION

Simply slowing the speed of the catheter allows the clinician to adjust predetermined image parameters. This work also has the potential to build a degree of intelligence into the scanner, enabling it to react to changes in the clinical environment and automatically optimize specific image parameters.

Undersampled projection reconstruction for active catheter imaging with adaptable temporal resolution and catheter-only views

In this study undersampled projection reconstruction (PR) was used for rapid catheter imaging in the heart, employing steady-state free precession (SSFP) contrast. Active catheters and phased-array coils were used for combined imaging of anatomy and catheter position in swine. Real-time imaging of catheter position was performed with relatively high spatial and temporal resolution, providing 2 x 2 x 8 mm spatial resolution and four to eight frames per second. Two interactive features were introduced. The number of projections (Np) was adjusted interactively to trade off imaging speed and artifact reduction, allowing acquisition of high-quality or high-frame-rate images. Thin-slice imaging was performed, with interactive requests for thick-slab projection images of the signal received solely from the active catheter. Briefly toggling on catheter-only projection images was valuable for verifying that the catheter tip was contained within the selected slice, or for locating the catheter when part of it was outside the selected slice.

Remote control of catheter tip deflection: an opportunity for interventional MRI

This study seeks to exploit the high magnetic field environment of a clinical MRI scanner and demonstrate the technical feasibility of developing a catheter whose tip can be remotely oriented within the magnetic field by applying a DC current to a coil wound around the catheter tip to generate a magnetic moment and consequent deflection. To achieve arbitrary three-dimensional deflections, a three-axis coil was wound on a 1.5 Fr cylindrical catheter. By applying DC currents in the 100 mA range, this catheter was successfully guided through a 3D phantom maze, mimicking the vasculature, under MR imaging guidance. Feasibility was demonstrated that the strong ambient magnetic field of the MR scanner offers a special opportunity to develop simple devices that can be remotely steered to sites of clinical interest.

Segmented k-space and real-time cardiac cine MR imaging with radial trajectories

The authors developed and evaluated two cine magnetic resonance (MR) imaging sequences with a radial rather than a rectilinear k-space coordinate frame: segmented k space and real-time true fast imaging with steady-state precession, or FISP. The two radial k-space segmentation (or view sharing) techniques, which were interleaved or continuous, were compared, and the feasibility of their application in cardiac cine MR imaging was explored in phantom and volunteer studies. Images obtained with the radial sequences were compared with those obtained with two-dimensional Fourier transform, or 2DFT, sequences currently used in cine MR imaging. Temporal resolution of 55 msec was achieved with the real-time radial sequences, which allowed acquisition of almost 19 high-quality images per second.

Image-guided surgery: from X-rays to virtual reality

Since the discovery of X-rays, medical imaging has played a major role in the guidance of surgical procedures. While medical imaging began with simple X-ray plates to indicate the presence of foreign objects within the human body, the advent of the computer has been a major factor in the recent development of this field. Imaging techniques have grown greatly in their sophistication and can now provide the surgeon with high quality three-dimensional images depicting not only the normal anatomy and pathology, but also vascularity and function. One key factor in the advances in Image-Guided Surgery (IGS) is the ability not only to register images derived from the various imaging modalities amongst themselves, but also to register them to the patient. The other crucial aspect of IGS is the ability to track instruments in real time during the procedure, and to portray them as part of a realistic model of the operative volume. Stereoscopic and virtual-reality techniques can usefully enhance the visualization process. IGS nevertheless relies heavily on the assumption that the images acquired prior to surgery, and upon which the surgical guidance is based, accurately represent the morphology of the tissue during the surgical procedure. In many instances this assumption is invalid, and intra-operative real-time imaging, using interventional MRI, Ultrasound, and electrophysiological recordings are often employed to overcome this limitation. Although now in extensive clinical use, IGS is often currently perceived as an intrusion into the operating room. It must evolve towards becoming a routine surgical tool, but this will only happen if natural and intuitive human interfaces are developed for these systems.

Radial keyhole sequences for low field projection reconstruction interventional MRI

Interventional magnetic resonance imaging (IMRI) is a rapidly emerging application for MRI in which diagnostic and therapeutic procedures are performed with MR image guidance. Real-time or near-real-time image acquisition and relative insensitivity to motion are essential for most intraoperative, therapeutic, and diagnostic procedures performed under MR guidance. The purpose of this work was to demonstrate the development and utility of two alternative rapid acquisition strategies during IMRI that are analogous to computed tomography fluoroscopy or keyhole MRI in a radial rather than rectilinear coordinate frame. The two strategies discussed here, interleaved projection reconstruction and continuous projection reconstruction, are compared and the feasibility of their application in experimental interventional applications is studied. J. Magn. Reson. Imaging 2001;13:142-151.

Endovascular procedures under near-real-time magnetic resonance imaging guidance: an experimental feasibility study

PURPOSE

The purpose of this study was to assess the feasibility of insertion of endovascular stents and the precision of an open-field interventional magnetic resonance imaging (iMRI) system in an in vivo model.

METHODS

A feasibility study was undertaken at a university-affiliated hospital. Three male piglets with an average age of 6 months and a weight between 70 and 77 kg and two 3-month-old male piglets that weighed 40 to 44 kg were anesthetized. The five piglets underwent placement of nitinol stents inserted through the right femoral artery, under the guidance of a SIGNA-SP 0. 5T open-configuration iMRI unit. With a dedicated high-resolution near-real-time MRI sequence, the stent was guided and deployed onto a predefined target.

RESULTS

The main outcome measures were the duration of the procedure from the beginning of positioning to the end of deployment of the stent, the final position of the stent in relation to the target on the iMRI screen, and comparison with autopsy findings. Three stents were deployed within the aorta at the level of the renal arteries, and two were deployed within the right iliac artery just below the aortic trifurcation. The average duration of the endovascular deployment was 13 minutes. There was an agreement of 0.6 mm in the position of the stent as observed on iMR images and found at autopsy. When the piglets were sacrificed, the average distance between the stents and the predefined target was 7. 8 mm, mostly because of the migration of one stent. Axial views allowed for accurate determination of stent impaction on the vascular wall.

CONCLUSIONS

This study confirms the feasibility of stent deployment under near-real-time MRI guidance. It also emphasizes some inherent characteristics that hold promise with regard to other conventional techniques: stents and vascular structures are visualized in near-real-time in any desired plane, and the technique is performed without the potential adverse effects of ionizing radiations and iodinated contrast agents.

Visualization, tracking, and navigation of instruments for magnetic resonance imaging-guided endovascular procedures

Interventional procedures using magnetic resonance imaging (MRI) guidance have increased in interest during the last few years. Central to the success and safety of MRI-guided procedures is the accurate visualization of the interventional instruments relative to the surrounding anatomy. A variety of methodologies for visualizing and automatically tracking instruments, including needles, radiofrequency and laser ablation devices, endoscopes, catheters, and guidewires have been developed and introduced to help the interventionalist to safely guide the device toward the target region. This article describes and compares characteristics of the four most commonly used localization and tracking systems used for MRI-guided interventional procedures: those based on the susceptibility artifact of the device, those that intentionally create field inhomogeneity along the device, those that rely on an optical tracking system, and active tracking systems using micro receive coils.

Undersampled projection reconstruction applied to MR angiography

Undersampled projection reconstruction (PR) is investigated as an alternative method for MRA (MR angiography). In conventional 3D Fourier transform (FT) MRA, resolution in the phase-encoding direction is proportional to acquisition time. Since the PR resolution in all directions is determined by the readout resolution, independent of the number of projections (Np), high resolution can be generated rapidly. However, artifacts increase for reduced Np. In X-ray CT, undersampling artifacts from bright objects like bone can dominate other tissue. In MRA, where bright, contrast-filled vessels dominate, artifacts are often acceptable and the greater resolution per unit time provided by undersampled PR can be realized. The resolution increase is limited by SNR reduction associated with reduced voxel size. The hybrid 3D sequence acquires fractional echo projections in the k(x)-k(y) plane and phase encodings in k(z). PR resolution and artifact characteristics are demonstrated in a phantom and in contrast-enhanced volunteer studies.

MR fluoroscopy using projection reconstruction multi-gradient-echo (prMGE) MRI

A projection reconstruction multi-gradient-echo (prMGE) technique is presented. The introduced technique is an extension of a standard projection reconstruction steady-state gradient-echo technique allowing for the acquisition of several gradient echoes after each excitation of the spin system. Each echo train is used for acquiring data of a certain angular segment of k-space. By use of echo trains consisting of up to four echoes, the overall acquisition time for a 128(2) image can be reduced to 150 ms without sacrificing image quality. Results are presented for cardiac fluoroscopy, for the visualization of swallowing, and for the visualization of joint motion. For all investigated applications promising results have been obtained. Especially in parts of the body where motion on an even shorter time scale than the acquisition process or significant in-plane or through-plane flow are within the field of view, the introduced technique appears to be a promising technique for MR fluoroscopy. Magn Reson Med 42:324-334, 1999.

High-resolution diffusion imaging with DIFRAD-FSE (diffusion-weighted radial acquisition of data with fast spin-echo) MRI

A novel MRI method, DIFRAD-FSE (diffusion-weighted radial acquisition of data with fast spin-echo), is demonstrated that enables rapid, high-resolution multi-shot diffusion-weighted MRI without significant artifacts due to motion. Following a diffusion-weighting spin-echo preparation period, multiple radial lines of Fourier data are acquired using spin-echo refocusing. Images can be reconstructed from the radial data set using a magnitude-only filtered back-projection reconstruction algorithm that removes phase errors due to motion. Results from human brain imaging demonstrate the ability of DIFRAD-FSE to acquire multiple radial lines of Fourier data each TR period without significant artifacts due to relaxation and to produce high-resolution diffusion-weighted MRI images without significant artifacts from motion.