Real-Time High-Resolution MRI Endoscopy at up to 10 Frames per Second

Advances in Real-Time 3D Reconstruction for Medical Endoscopy

This contribution is intended to provide researchers with a comprehensive overview of the current state-of-the-art concerning real-time 3D reconstruction methods suitable for medical endoscopy. Over the past decade, there have been various technological advancements in computational power and an increased research effort in many computer vision fields such as autonomous driving, robotics, and unmanned aerial vehicles. Some of these advancements can also be adapted to the field of medical endoscopy while coping with challenges such as featureless surfaces, varying lighting conditions, and deformable structures. To provide a comprehensive overview, a logical division of monocular, binocular, trinocular, and multiocular methods is performed and also active and passive methods are distinguished. Within these categories, we consider both flexible and non-flexible endoscopes to cover the state-of-the-art as fully as possible. The relevant error metrics to compare the publications presented here are discussed, and the choice of when to choose a GPU rather than an FPGA for camera-based 3D reconstruction is debated. We elaborate on the good practice of using datasets and provide a direct comparison of the presented work. It is important to note that in addition to medical publications, publications evaluated on the KITTI and Middlebury datasets are also considered to include related methods that may be suited for medical 3D reconstruction.

Theoretical foundation for designing multilayer Halbach array magnets for benchtop NMR and MRI

Multilayer Halbach array magnets support portable NMR and MRI, but optimizing their design to maximize performance and minimize the use of expensive magnet materials is challenging. This is partly because our theoretical understanding of such arrays is incomplete and computationally intensive. Here we provide a theoretical description of the magnetic field distribution and we demonstrate that inhomogeneity is greatest along the z axis in multilayer Halbach array magnets. This allows the configuration of the multilayer Halbach array magnets to be optimized in a way that takes into account homogeneity, magnet volume, and magnetic flux density. At the same time, our description simplifies the design of multilayer array magnets, while accommodating the possibility of different outer radii, lengths for each layer array, or the presence of separation between the rings. We validated the theoretical description in simulations of a three-layer Halbach array magnet, then with a prototype three-layer 1-T Halbach array magnet. After adjusting the position of magnet blocks in the neighboring rings, we achieved homogeneity of 220 ppm for a standard 5 mm NMR tube while the inner diameter of the magnet is 20 mm. Our work provides a theoretical foundation for designing multilayer Halbach array magnets to maximize homogeneity and minimize the use of magnet materials.