Augmenting Image-Guided Procedures through In Situ Visualization of 3D Ultrasound via a Head-Mounted Display

Medical ultrasound (US) is a commonly used modality for image-guided procedures. Recent research systems providing an in situ visualization of 2D US images via an augmented reality (AR) head-mounted display (HMD) were shown to be advantageous over conventional imaging through reduced task completion times and improved accuracy. In this work, we continue in the direction of recent developments by describing the first AR HMD application visualizing real-time volumetric (3D) US in situ for guiding vascular punctures. We evaluated the application on a technical level as well as in a mixed-methods user study with a qualitative prestudy and a quantitative main study, simulating a vascular puncture. Participants completed the puncture task significantly faster when using 3D US AR mode compared to 2D US AR, with a decrease of 28.4% in time. However, no significant differences were observed regarding the success rate of vascular puncture (2D US AR-50% vs. 3D US AR-72%). On the technical side, the system offers a low latency of 49.90 ± 12.92 ms and a satisfactory frame rate of 60 Hz. Our work shows the feasibility of a system that visualizes real-time 3D US data via an AR HMD, and our experiments show, furthermore, that this may offer additional benefits in US-guided tasks (i.e., reduced task completion time) over 2D US images viewed in AR by offering a vividly volumetric visualization.

Three-dimensional greyscale transrectal ultrasound-guidance and biopsy core preembedding for detection of prostate cancer: Dutch clinical cohort study

Background

To overcome the limitations regarding two dimensional (2D) greyscale (GS) transrectal ultrasound (TRUS)-guided biopsy in prostate cancer (PCa) detection and tissue packaging in biopsy processing, there is an ongoing focus on new imaging and pathology techniques. A three-dimensional (3D) model of the prostate with biopsy needle guidance can be generate by the Navigo™ workstation (UC-care, Israel). The SmartBX™ system (UC-care, Israel) provides a prostate biopsy core preembedding method. The aim of this study was to compare cancer detection rates between the 3D TRUS-guidance and preembedding method with conventional 2D GS TRUS-guidance among patients undergoing prostate biopsies.

Methods

We retrospectively analyzed the records of all patients who underwent prostate biopsies for PCa detection at our institution from 2007 to 2016. The cohort was divided into a 2D GS TRUS-guidance cohort (from 2007 to 2013, n = 1149) and a 3D GS TRUS-guidance with preembedding cohort (from 2013 to 2016, n = 469). Effect of 3D GS TRUS-guidance with preembedding on detection rate of PCa and clinically significant PCa (Gleason score ≥ 7 or > 2 biopsy cores with a Gleason score 6) was compared to 2D GS TRUS-guidance using regression models.

Results

Detection rate of PCa and clinically significant PCa was 39.0 and 24.9% in the 3D GS TRUS cohort compared to 33.5 and 19.0% in the 2D GS TRUS cohort, respectively. On multivariate regression analysis the use of 3D GS TRUS-guidance with preembedding was associated with a significant increase in detection rate of PCa (aOR = 1.33; 95% CI: 1.03–1.72) and clinically significant PCa (aOR = 1.47; 95% CI: 1.09–1.98).

Conclusion

Our results suggest that 3D GS TRUS-guidance with biopsy core preembedding improves PCa and clinically significant PCa detection compared to 2D GS TRUS-guidance. Additional studies are needed to justify the application of these systems in clinical practice.

Electronic supplementary material

The online version of this article (10.1186/s12894-019-0455-7) contains supplementary material, which is available to authorized users.

Real-Time FEM-Based Registration of 3-D to 2.5-D Transrectal Ultrasound Images

We present a novel technique for real-time deformable registration of 3-D to 2.5-D transrectal ultrasound (TRUS) images for image-guided, robot-assisted laparoscopic radical prostatectomy (RALRP). For RALRP, a pre-operatively acquired 3-D TRUS image is registered to thin-volumes comprised of consecutive intra-operative 2-D TRUS images, where the optimal transformation is found using a gradient descent method based on analytical first and second order derivatives. Our method relies on an efficient algorithm for real-time extraction of arbitrary slices from a 3-D image deformed given a discrete mesh representation. We also propose and demonstrate an evaluation method that generates simulated models and images for RALRP by modeling tissue deformation through patient-specific finite-element models (FEM). We evaluated our method on in-vivo data from 11 patients collected during RALRP and focal therapy interventions. In the presence of an average landmark deformation of 3.89 and 4.62 mm, we achieved accuracies of 1.15 and 0.72 mm, respectively, on the synthetic and in-vivo data sets, with an average registration computation time of 264 ms, using MATLAB on a conventional PC. The results show that the real-time tracking of the prostate motion and deformation is feasible, enabling a real-time augmented reality-based guidance system for RALRP.].

Concordance of Gleason grading with three-dimensional ultrasound systematic biopsy and biopsy core pre-embedding

PURPOSE

To determine the value of a three-dimensional (3D) greyscale transrectal ultrasound (TRUS)-guided prostate biopsy system and biopsy core pre-embedding method on concordance between Gleason scores of needle biopsies and radical prostatectomy (RP) specimens.

METHODS

Retrospective analysis of prostate biopsies and subsequent RP for PCa in the Jeroen Bosch Hospital, the Netherlands, from 2007 to 2016. Two cohorts were analysed: conventional 2D TRUS-guided biopsies and RP (2007-2013, n = 266) versus 3D TRUS-guided biopsies with pre-embedding (2013-2016, n = 129). The impact of 3D TRUS-guidance with pre-embedding on Gleason score (GS) concordance between biopsy and RP was evaluated using the κ-coefficient. Predictors of biopsy GS 6 upgrading were assessed using logistic regression models.

RESULTS

Gleason concordance was comparable between the two cohorts with a κ = 0.44 for the 3D cohort, compared to κ = 0.42 for the 2D cohort. 3D TRUS-guidance with pre-embedding, did not significantly affect the risk of biopsy GS 6 upgrading in univariate and multivariate analysis.

CONCLUSIONS

3D TRUS-guidance with biopsy core pre-embedding did not improve Gleason concordance. Improved detection techniques are needed for recognition of low-grade disease upgrading.

3D Navigo™ versus TRUS-guided prostate biopsy in prostate cancer detection

INTRODUCTION

To overcome the limitations regarding transrectal ultrasound (TRUS)-guided biopsies in prostate cancer (PCa) detection, there is a focus on new imaging technologies. The Navigo™ system (UC-care, Israel) uses regular TRUS images and electrospatial monitoring to generate a 3D model of the prostate. The aim of this study was to compare cancer detection rates between the Navigo™ system and conventional TRUS, in patients without a history of PCa.

METHODS

We performed a retrospective study by collecting data from all patients who underwent 12-core prostate biopsies from lateral peripheral zones between September 2013 and February 2015 at the Jeroen Bosch Hospital in 's-Hertogenbosch (Netherlands).

RESULTS

A total of 325 patients met our inclusion criteria. 77.8 % of biopsy sessions were performed using the Navigo™ system. There was no statistically significant difference in PCa detection (39.9 vs 46.2 % with Navigo™ system and TRUS, respectively). Using the Navigo™ system for taking prostate biopsies proved not to be associated with the presence of PCa at biopsy, likewise for clinically significant PCa and for both subgroups.

LIMITATIONS

The limitations of the study include its retrospective design, the limited number of patients in the conventional TRUS group, the statistically significant different number of biopsy sessions and the ones performed by an advanced physician in both groups.

CONCLUSION

In our study, there is no added value of 3D TRUS using Navigo™ system compared to conventional 2D TRUS regarding PCa detection in biopsy-naive men and men with prior negative biopsy.

Three-Dimensional Nonrigid MR-TRUS Registration Using Dual Optimization

In this study, we proposed an efficient nonrigid magnetic resonance (MR) to transrectal ultrasound (TRUS) deformable registration method in order to improve the accuracy of targeting suspicious regions during a three dimensional (3-D) TRUS guided prostate biopsy. The proposed deformable registration approach employs the multi-channel modality independent neighborhood descriptor (MIND) as the local similarity feature across the two modalities of MR and TRUS, and a novel and efficient duality-based convex optimization-based algorithmic scheme was introduced to extract the deformations and align the two MIND descriptors. The registration accuracy was evaluated using 20 patient images by calculating the TRE using manually identified corresponding intrinsic fiducials in the whole gland and peripheral zone. Additional performance metrics [Dice similarity coefficient (DSC), mean absolute surface distance (MAD), and maximum absolute surface distance (MAXD)] were also calculated by comparing the MR and TRUS manually segmented prostate surfaces in the registered images. Experimental results showed that the proposed method yielded an overall median TRE of 1.76 mm. The results obtained in terms of DSC showed an average of 80.8±7.8% for the apex of the prostate, 92.0±3.4% for the mid-gland, 81.7±6.4% for the base and 85.7±4.7% for the whole gland. The surface distance calculations showed an overall average of 1.84±0.52 mm for MAD and 6.90±2.07 mm for MAXD.

Evaluation of MRI-TRUS fusion versus cognitive registration accuracy for MRI-targeted, TRUS-guided prostate biopsy

OBJECTIVE

The purpose of this article is to compare transrectal ultrasound (TRUS) biopsy accuracies of operators with different levels of prostate MRI experience using cognitive registration versus MRI-TRUS fusion to assess the preferred method of TRUS prostate biopsy for MRI-identified lesions. SUBJECTS AND METHODS; One hundred patients from a prospective prostate MRI-TRUS fusion biopsy study were reviewed to identify all patients with clinically significant prostate adenocarcinoma (PCA) detected on MRI-targeted biopsy. Twenty-five PCA tumors were incorporated into a validated TRUS prostate biopsy simulator. Three prostate biopsy experts, each with different levels of experience in prostate MRI and MRI-TRUS fusion biopsy, performed a total of 225 simulated targeted biopsies on the MRI lesions as well as regional biopsy targets. Simulated biopsies performed using cognitive registration with 2D TRUS and 3D TRUS were compared with biopsies performed under MRI-TRUS fusion.

RESULTS

Two-dimensional and 3D TRUS sampled only 48% and 45% of clinically significant PCA MRI lesions, respectively, compared with 100% with MRI-TRUS fusion. Lesion sampling accuracy did not statistically significantly vary according to operator experience or tumor volume. MRI-TRUS fusion-naïve operators showed consistent errors in targeting of the apex, midgland, and anterior targets, suggesting that there is biased error in cognitive registration. The MRI-TRUS fusion expert correctly targeted the prostate apex; however, his midgland and anterior mistargeting was similar to that of the less-experienced operators.

CONCLUSION

MRI-targeted TRUS-guided prostate biopsy using cognitive registration appears to be inferior to MRI-TRUS fusion, with fewer than 50% of clinically significant PCA lesions successfully sampled. No statistically significant difference in biopsy accuracy was seen according to operator experience with prostate MRI or MRI-TRUS fusion.

Development and validation of a virtual reality transrectal ultrasound guided prostatic biopsy simulator

OBJECTIVE

We present the design, reliability, face, content and construct validity testing of a virtual reality simulator for transrectal ultrasound (TRUS), which allows doctors-in-training to perform multiple different biopsy schemes.

METHODS

This biopsy system design uses a regular "end-firing" TRUS probe. Movements of the probe are tracked with a micro-magnetic sensor to dynamically slice through a phantom patient's 3D prostate volume to provide real-time continuous TRUS views. 3D TRUS scans during prostate biopsy clinics were recorded. Intrinsic reliability was assessed by comparing the left side of the prostate to the right side of the prostate for each biopsy. A content and face validity questionnaire was administered to 26 doctors to assess the simulator. Construct validity was assessed by comparing notes from experts and novices with regards to the time taken and the accuracy of each biopsy.

RESULTS

Imaging data from 50 patients were integrated into the simulator. The completed VR TRUS simulator uses real patient images, and is able to provide simulation for 50 cases, with a haptic interface that uses a standard TRUS probe and biopsy needle. Intrinsic reliability was successfully demonstrated by comparing results from the left and right sides of the prostate. Face and content validity respondents noted the realism of the simulator, and its appropriateness as a teaching model. The simulator was able to distinguish between experts and novices during construct validity testing.

CONCLUSIONS

A virtual reality TRUS simulator has successfully been created. It has promising face, content and construct validity results.

Quantification of prostate deformation due to needle insertion during TRUS-guided biopsy: comparison of hand-held and mechanically stabilized systems

PURPOSE

Prostate biopsy is the clinical standard for the definitive diagnosis of prostate cancer. To overcome the limitations of 2D TRUS-guided biopsy systems when targeting preplanned locations, systems have been developed with 3D guidance to improve the accuracy of cancer detection. Prostate deformation due to needle insertion and biopsy gun firing is a potential source of error that can cause target misalignments during biopsies.

METHODS

The authors used nonrigid registration of 2D TRUS images to quantify the deformation that occurs during the needle insertion and the biopsy gun firing procedure and compare this effect in biopsies performed using a hand-held TRUS probe to those performed using a mechanically assisted 3D TRUS-guided biopsy system. The authors calculated a spatially varying 95% confidence interval on the prostate tissue motion and analyzed this motion both as a function of distance to the biopsy needle and as a function of distance to the lower piercing point of the prostate. The former is relevant because biopsy targets lie along the needle axis, and the latter is of particular importance due to the reported high concentration of prostate cancer in the peripheral zone, a substantial portion of which lies on the posterior side of the prostate where biopsy needles enter the prostate after penetrating the rectal wall during transrectal biopsy.

RESULTS

The results show that for both systems, the tissue deformation is such that throughout the length of the needle axis, including regions proximal to the lower piercing point, spherical tumors with a radius of 2.1 mm or more can be sampled with 95% confidence under the assumption of zero error elsewhere in the biopsy system. More deformation was observed in the direction orthogonal to the needle axis compared to the direction parallel to the needle axis; this is of particular importance given the long, narrow shape of the biopsy core. The authors measured lateral tissue motion proximal to the needle axis of not more than 1.5 mm, with 95% confidence. The authors observed a statistically significant and clinically insignificant maximum difference of 0.38 mm in the deformation, resulting from the hand-held and mechanically assisted systems along the needle axis, and the mechanical system resulted in a lower relative increase in deformation proximal to the needle axis during needle insertion, as well as lower variability of deformation during biopsy gun firing.

CONCLUSIONS

Given the clinical need to biopsy tumors of volume greater than or equal to 0.5 cm3, corresponding to spherical tumors with a radius of 5 mm or more, the tissue motion induced by needle insertion and gun firing is an important consideration when setting the design specifications for TRUS-guided prostate biopsy systems.

Ultrasound-guided biopsy of focal lesions using three-dimensional ultrasound with a matrix array transducer: comparison with 2-dimensional ultrasound in a phantom study

OBJECTIVES

To investigate the feasibility of biopsy-guided 3-dimensional (3D) ultrasound (US) with a matrix array transducer (3D US-MAT), using the lateral and/or elevation tilt modes.

MATERIALS AND METHODS

Both inexperienced and experienced examiners performed biopsy experiments using a freehand technique on agar-based phantoms with 2-dimensional (2D) US guidance and 3D US-MAT guidance allowing real-time biplane imaging, using the lateral tilt mode and/or elevation tilt mode. Each phantom contained 4 targets of different sizes, and there were 3 different types of phantom, each having a different distance between the target and the surface. In every session, each target was aimed at 3 times, with 3 different distances between the transducer and puncture site, which resulted in 36 biopsies (3 biopsies per target × 4 targets × 3 phantoms, each of which was uniquely identified by size, depth, and angle). This procedure was carried out by each of 2 examiner twice by 2D US and twice by 3D US-MAT, resulting in paired data for each biopsy and each examiner. Target variables were target specimen length (TSL), procedure time, and agreement between the TSL of the first and second procedure by each examiner with identical biopsy parameters as a reliability measure.

RESULTS

The intraexaminer agreements between the TSLs with the 3D US-MAT in both inexperienced (r = 0.84) and experienced (r = 0.93) examiners were higher than with the 2D US (r = 0.59 with P = 0.0066, and r = 0.87 with P = 0.06, respectively). However, the procedure time with the 3D US-MAT was significantly longer than with the 2D US. The TSL were significantly longer with 3D US-MAT than with 2D US for both the examiners; the inexperienced examiner (P < 0.001) benefited more than his experienced colleague (P = 0.024). In addition, the 3D US-MAT had significant benefits for the acquisition of TSL with small target diameters and for targets with shallow locations; with more acute puncture angles for both the examiners (all P < 0.05).

CONCLUSIONS

Using a 3D US-MAT guidance improves the reliability and precision of biopsies, particularly under difficult conditions and for inexperienced examiners.