Volume CT with a flat-panel detector on a mobile, isocentric C-arm: Pre-clinical investigation in guidance of minimally invasive surgery

Fully automatic online geometric calibration for non-circular cone-beam CT orbits using fiducials with unknown placement

BACKGROUND

Cone-beam CT (CBCT) with non-circular scanning orbits can improve image quality for 3D intraoperative image guidance. However, geometric calibration of such scans can be challenging. Existing methods typically require a prior image, specialized phantoms, presumed repeatable orbits, or long computation time.

PURPOSE

We propose a novel fully automatic online geometric calibration algorithm that does not require prior knowledge of fiducial configuration. The algorithm is fast, accurate, and can accommodate arbitrary scanning orbits and fiducial configurations.

METHODS

The algorithm uses an automatic initialization process to eliminate human intervention in fiducial localization and an iterative refinement process to ensure robustness and accuracy. We provide a detailed explanation and implementation of the proposed algorithm. Physical experiments on a lab test bench and a clinical robotic C-arm scanner were conducted to evaluate spatial resolution performance and robustness under realistic constraints.

RESULTS

Qualitative and quantitative results from the physical experiments demonstrate high accuracy, efficiency, and robustness of the proposed method. The spatial resolution performance matched that of our existing benchmark method, which used a 3D-2D registration-based geometric calibration algorithm.

CONCLUSIONS

We have demonstrated an automatic online geometric calibration method that delivers high spatial resolution and robustness performance. This methodology enables arbitrary scan trajectories and should facilitate translation of such acquisition methods in a clinical setting.

Top 25 Most Cited Articles on Intraoperative Computer Tomography-Guided Navigation in Spine Surgery

BACKGROUND

In recent years, the use of intraoperative computer tomography-guided (CT-guided) navigation has gained significant popularity among health care providers who perform minimally invasive spine surgery. This review aims to identify and analyze trends in the literature related to the widespread adoption of CT-guided navigation in spine surgery, emphasizing the shift from conventional fluoroscopy-based techniques to CT-guided navigation.

METHODS

Articles pertaining to this study were identified via a database review and were hierarchically organized based on the number of citations. An "advanced document search" was performed on September 28th, 2022, utilizing Boolean search operator terms. The 25 most referenced articles were combined into a primary list after sorting results in descending order based on the total number of citations.

RESULTS

The "Top 25" list for intraoperative CT-guided navigation in spine surgery cumulatively received a total of 2742 citations, with an average of 12 new citations annually. The number of citations ranged from 246 for the most cited article to 60 for the 25th most cited article. The most cited article was a paper by Siewerdsen et al., with 246 total citations, averaging 15 new citations per year.

CONCLUSIONS

Intraoperative CT-guided navigation is 1 of many technological advances that is used to increase surgical accuracy, and it has become an increasingly popular alternative to conventional fluoroscopy-based techniques. Given the increasing adoption of intraoperative CT-guided navigation in spine surgery, this review provides impactful evidence for its utility in spine surgery.

UBES: Unified scatter correction using ultrafast Boltzmann equation solver for conebeam CT

A semi-analytical solution to the unified Boltzmann equation is constructed to exactly describe the scatter distribution on a flat-panel detector for high-quality conebeam CT (CBCT) imaging. The solver consists of three parts, including the phase space distribution estimator, the effective source constructor and the detector signal extractor. Instead of the tedious Monte Carlo solution, the derived Boltzmann equation solver achieves ultrafast computational capability for scatter signal estimation by combining direct analytical derivation and time-efficient one-dimensional numerical integration over the trajectory along each momentum of the photon phase space distribution. The execution of scatter estimation using the proposed ultrafast Boltzmann equation solver (UBES) for a single projection is finalized in around 0.4 seconds. We compare the performance of the proposed method with the state-of-the-art schemes, including a time-expensive Monte Carlo (MC) method and a conventional kernel-based algorithm using the same dataset, which is acquired from the CBCT scans of a head phantom and an abdominal patient. The evaluation results demonstrate that the proposed UBES method achieves comparable correction accuracy compared with the MC method, while exhibits significant improvements in image quality over learning and kernel-based methods. With the advantages of MC equivalent quality and superfast computational efficiency, the UBES method has the potential to become a standard solution to scatter correction in high-quality CBCT reconstruction.

Cone-Beam Weight-Bearing Computed Tomography of Ankle Arthritis and Total Ankle Arthroplasty

Weight-bearing computed tomography has multiple advantages in evaluating the hindfoot and ankle. It can assess hindfoot and ankle alignment, pathology in ankle arthritis, and complications related to total ankle replacements. It is an essential tool in ankle osteoarthritis diagnostic, preoperative planning, and total ankle replacement outcomes. It allows for better accuracy and reproducibility of alignment and implant size. In addition, it has the potential to more assertively detect complications related to weight bearing.

Using augmented reality to guide bone conduction device implantation

Exact placement of bone conduction implants requires avoidance of critical structures. Existing guidance technologies for intraoperative placement have lacked widespread adoption given accessibility challenges and significant cognitive loading. The purpose of this study is to examine the application of augmented reality (AR) guided surgery on accuracy, duration, and ease on bone conduction implantation. Five surgeons surgically implanted two different types of conduction implants on cadaveric specimens with and without AR projection. Pre- and postoperative computer tomography scans were superimposed to calculate centre-to-centre distances and angular accuracies. Wilcoxon signed-rank testing was used to compare centre-to-centre (C-C) and angular accuracies between the control and experimental arms. Additionally, projection accuracy was derived from the distance between the bony fiducials and the projected fiducials using image guidance coordinates. Both operative time (4.3 ± 1.2 min. vs. 6.6 ± 3.5 min., p = 0.030) and centre-to-centre distances surgery (1.9 ± 1.6 mm vs. 9.0 ± 5.3 mm, p < 0.001) were significantly less in augmented reality guided surgery. The difference in angular accuracy, however, was not significantly different. The overall average distance between the bony fiducial markings and the AR projected fiducials was 1.7 ± 0.6 mm. With direct intraoperative reference, AR-guided surgery enhances bone conduction implant placement while reduces operative time when compared to conventional surgical planning.

A streak artifact reduction algorithm in sparse-view CT using a self-supervised neural representation

PURPOSE

Sparse-view computed tomography (CT) has been attracting attention for its reduced radiation dose and scanning time. However, analytical image reconstruction methods suffer from streak artifacts due to insufficient projection views. Recently, various deep learning-based methods have been developed to solve this ill-posed inverse problem. Despite their promising results, they are easily overfitted to the training data, showing limited generalizability to unseen systems and patients. In this work, we propose a novel streak artifact reduction algorithm that provides a system- and patient-specific solution.

METHODS

Motivated by the fact that streak artifacts are deterministic errors, we regenerate the same artifacts from a prior CT image under the same system geometry. This prior image need not be perfect but should contain patient-specific information and be consistent with full-view projection data for accurate regeneration of the artifacts. To this end, we use a coordinate-based neural representation that often causes image blur but can greatly suppress the streak artifacts while having multiview consistency. By employing techniques in neural radiance fields originally proposed for scene representations, the neural representation is optimized to the measured sparse-view projection data via self-supervised learning. Then, we subtract the regenerated artifacts from the analytically reconstructed original image to obtain the final corrected image.

RESULTS

To validate the proposed method, we used simulated data of extended cardiac-torso phantoms and the 2016 NIH-AAPM-Mayo Clinic Low-Dose CT Grand Challenge and experimental data of physical pediatric and head phantoms. The performance of the proposed method was compared with a total variation-based iterative reconstruction method, naive application of the neural representation, and a convolutional neural network-based method. In visual inspection, it was observed that the small anatomical features were best preserved by the proposed method. The proposed method also achieved the best scores in the visual information fidelity, modulation transfer function, and lung nodule segmentation.

CONCLUSIONS

The results on both simulated and experimental data suggest that the proposed method can effectively reduce the streak artifacts while preserving small anatomical structures that are easily blurred or replaced with misleading features by the existing methods. Since the proposed method does not require any additional training datasets, it would be useful in clinical practice where the large datasets cannot be collected.

Extended Intraoperative Longitudinal 3-Dimensional Cone Beam Computed Tomography Imaging With a Continuous Multi-Turn Reverse Helical Scan

OBJECTIVES

Cone beam computed tomography (CBCT) imaging is becoming an indispensable intraoperative tool; however, the current field of view prevents visualization of long anatomical sites, limiting clinical utility. Here, we demonstrate the longitudinal extension of the intraoperative CBCT field of view using a multi-turn reverse helical scan and assess potential clinical utility in interventional procedures.

MATERIALS AND METHODS

A fixed-room robotic CBCT imaging system, with additional real-time control, was used to implement a multi-turn reverse helical scan. The scan consists of C-arm rotation, through a series of clockwise and anticlockwise rotations, combined with simultaneous programmed table translation. The motion properties and geometric accuracy of the multi-turn reverse helical imaging trajectory were examined using a simple geometric phantom. To assess potential clinical utility, a pedicle screw posterior fixation procedure in the thoracic spine from T1 to T12 was performed on an ovine cadaver. The multi-turn reverse helical scan was used to provide postoperative assessment of the screw insertion via cortical breach grading and mean screw angle error measurements (axial and sagittal) from 2 observers. For all screw angle measurements, the intraclass correlation coefficient was calculated to determine observer reliability.

RESULTS

The multi-turn reverse helical scans took 100 seconds to complete and increased the longitudinal coverage by 370% from 17 cm to 80 cm. Geometric accuracy was examined by comparing the measured to actual dimensions (0.2 ± 0.1 mm) and angles (0.2 ± 0.1 degrees) of a simple geometric phantom, indicating that the multi-turn reverse helical scan provided submillimeter and degree accuracy with no distortion. During the pedicle screw procedure in an ovine cadaver, the multi-turn reverse helical scan identified 4 cortical breaches, confirmed via the postoperative CT scan. Directly comparing the screw insertion angles (n = 22) measured in the postoperative multi-turn reverse helical and CT scans revealed an average difference of 3.3 ± 2.6 degrees in axial angle and 1.9 ± 1.5 degrees in the sagittal angle from 2 expert observers. The intraclass correlation coefficient was above 0.900 for all measurements (axial and sagittal) across all scan types (conventional CT, multi-turn reverse helical, and conventional CBCT), indicating excellent reliability between observers.

CONCLUSIONS

Extended longitudinal field-of-view intraoperative 3-dimensional imaging with a multi-turn reverse helical scan is feasible on a clinical robotic CBCT imaging system, enabling long anatomical sites to be visualized in a single image, including in the presence of metal hardware.

A C-arm photon counting CT prototype with volumetric coverage using multi-sweep step-and-shoot acquisitions

Objective.Existing clinical C-arm interventional systems use scintillator-based energy-integrating flat panel detectors (FPDs) to generate cone-beam CT (CBCT) images. Despite its volumetric coverage, FPD-CBCT does not provide sufficient low-contrast detectability desired for certain interventional procedures. The purpose of this work was to develop a C-arm photon counting detector (PCD) CT system with a step-and-shoot data acquisition method to further improve the tomographic imaging performance of interventional systems.Approach.As a proof-of-concept, a cadmium telluride-based 51 cm × 0.6 cm PCD was mounted in front of a FPD in an Artis Zee biplane system. A total of 10 C-arm sweeps (5 forward and 5 backward) were prescribed. A motorized patient table prototype was synchronized with the C-arm system such that it translates the object by a designated distance during the sub-second rest time in between gantry sweeps. To evaluate whether this multi-sweep step-and-shoot acquisition strategy can generate high-quality and volumetric PCD-CT images without geometric distortion artifacts, experiments were performed using physical phantoms, a human cadaver head, and anin vivoswine subject. Comparison with FPD-CT was made under matched narrow beam collimation and radiation dose conditions.Main results.Compared with FPD-CT images, PCD-CT images had lower noise and improved visualization of low-contrast lesion models, as well as improved visibility of small iodinated blood vessels. Fine structures were visualized more clearly by the PCD-CT than the highest-available resolution provided by FPD-CBCT and MDCT. No perceivable geometric distortion artifacts were observed in the multi-planar PCD-CT images.Significance.This work is the first demonstration of the feasibility of high-quality and multi-planar (volumetric) PCD-CT imaging with a rotating C-arm gantry.

Navigation-Guided Transnasal Endoscopic Delineation of the Posterior Margin for Maxillary Sinus Cancers: A Preclinical Study

Background

The resection of advanced maxillary sinus cancers can be challenging due to the anatomical proximity to surrounding critical anatomical structures. Transnasal endoscopy can effectively aid the delineation of the posterior margin of resection. Implementation with 3D-rendered surgical navigation with virtual endoscopy (3D-SNVE) may represent a step forward. This study aimed to demonstrate and quantify the benefits of this technology.

Material and Method

Four maxillary tumor models with critical posterior extension were created in four artificial skulls (Sawbones^®). Images were acquired with cone-beam computed tomography and the tumor and carotid were contoured. Eight head and neck surgeons were recruited for the simulations. Surgeons delineated the posterior margin of resection through a transnasal approach and avoided the carotid while establishing an adequate resection margin with respect to tumor extirpation. Three simulations were performed: 1) unguided: based on a pre-simulation study of cross-sectional imaging; 2) tumor-guided: guided by real-time tool tracking with 3D tumor and carotid rendering; 3) carotid-guided: tumor-guided with a 2-mm alert cloud surrounding the carotid. Distances of the planes from the carotid and tumor were classified as follows and the points of the plane were classified accordingly: “red”: through the carotid artery; “orange”: <2 mm from the carotid; “yellow”: >2 mm from the carotid and within the tumor or <5 mm from the tumor; “green”: >2 mm from the carotid and 5–10 mm from the tumor; and “blue”: >2 mm from the carotid and >10 mm from the tumor. The three techniques (unguided, tumor-guided, and carotid-guided) were compared.

Results

3D-SNVE for the transnasal delineation of the posterior margin in maxillary tumor models significantly improved the rate of margin-negative clearance around the tumor and reduced damage to the carotid artery. “Green” cuts occurred in 52.4% in the unguided setting versus 62.1% and 64.9% in the tumor- and carotid-guided settings, respectively (p < 0.0001). “Red” cuts occurred 6.7% of the time in the unguided setting versus 0.9% and 1.0% in the tumor- and carotid-guided settings, respectively (p < 0.0001).

Conclusions

This preclinical study has demonstrated that 3D-SNVE provides a substantial improvement of the posterior margin delineation in terms of safety and oncological adequacy. Translation into the clinical setting, with a meticulous assessment of the oncological outcomes, will be the proposed next step.

Development of an Integrated C-Arm Interventional Imaging System With a Strip Photon Counting Detector and a Flat Panel Detector

Modern interventional x-ray systems are often equipped with flat-panel detector-based cone-beam CT (FPD-CBCT) to provide tomographic, volumetric, and high spatial resolution imaging of interventional devices, iodinated vessels, and other objects. The purpose of this work was to bring an interchangeable strip photon-counting detector (PCD) to C-arm systems to supplement (instead of retiring) the existing FPD-CBCT with a high quality, spectral, and affordable PCD-CT imaging option. With minimal modification to the existing C-arm, a 51×0.6 cm² PCD with a 0.75 mm CdTe layer, two energy thresholds, and 0.1 mm pixels was integrated with a Siemens Artis Zee interventional imaging system. The PCD can be translated in and out of the field-of-view to allow the system to switch between FPD and PCD-CT imaging modes. A dedicated phantom and a new algorithm were developed to calibrate the projection geometry of the narrow-beam PCD-CT system and correct the gantry wobbling-induced geometric distortion artifacts. In addition, a detector response calibration procedure was performed for each PCD pixel using materials with known radiological pathlengths to address concentric artifacts in PCD-CT images. Both phantom and human cadaver experiments were performed at a high gantry rotation speed and clinically relevant radiation dose level to evaluate the spectral and non-spectral imaging performance of the prototype system. Results show that the PCD-CT system has excellent image quality with negligible artifacts after the proposed corrections. Compared with FPD-CBCT images acquired at the same dose level, PCD-CT images demonstrated a 53% reduction in noise variance and additional quantitative imaging capability.

A NOVEL METHOD FOR ESTIMATING PATIENT-SPECIFIC PRIMARY DOSE IN CONE-BEAM COMPUTED TOMOGRAPHY

For the purpose of real-time scan-protocol optimisation and patient-specific dose management in cone-beam computed tomography, we introduce a numerical algorithm that estimates the primary dose distributions in reconstructed images. The proposed algorithm is based on the ray-tracing technique and utilises reconstructed voxel data and scanning protocol. The algorithm is validated with the Monte Carlo (MC) and conventional model-based dose reconstruction methods for the simple cylindrical water and anthropomorphic head phantoms. The algorithm shows good agreement with both methods in terms of the zeroth-order x-ray interactions, which exclude the higher-order x-ray interactions at sites distant from the first interactions, and it consumes a significantly lower computational cost compared with the MC method. The differences between the proposed algorithm and the model-based dose reconstruction method as well as the improvement strategies of the algorithm are discussed in detail.

Geometry calibration and image reconstruction for carbon-nanotube-based multisource and multidetector CT

Conventional intraoperative computed tomography (CT) has a long scan time, degrading the image quality. Its large size limits the position of a surgeon during surgery. Therefore, this study proposes a CT system comprising of eight carbon-nanotube (CNT)-based x-ray sources and 16 detector modules to solve these limitations. Gantry only requires 45° of rotation to acquire the whole projection, reducing the scan time to 1/8 compared to the full rotation. Moreover, the volume and scan time of the system can be significantly reduced using CNT sources with a small volume and short pulse width and placing a heavy and large high-voltage generator outside the gantry. We divided the proposed system into eight subsystems and sequentially devised a geometry calibration method for each subsystem. Accordingly, a calibration phantom consisting of four polytetrafluoroethylene beads, each with 15 mm diameter, was designed. The geometry calibration parameters were estimated by minimizing the difference between the measured bead projection and the forward projection of the formulated subsystem. By reflecting the estimated geometry calibration parameters, the projection data were obtained via rebinning to be used in the filtered-backprojection reconstruction. The proposed calibration and reconstruction methods were validated by computer simulations and real experiments. Additionally, the accuracy of the geometry calibration method was examined by computer simulation. Furthermore, we validated the improved quality of the reconstructed image through the mean-squared error (MSE), structure similarity (SSIM), and visual inspections for both the simulated and experimental data. The results show that the calibrated images, reconstructed by reflecting the calibration results, have smaller MSE and higher SSIM values than the uncalibrated images. The calibrated images were observed to have fewer artifacts than the uncalibrated images in visual inspection, demonstrating that the proposed calibration and reconstruction methods effectively reduce artifacts caused by geometry misalignments.

Tolerance to geometrical inaccuracies in CBCT systems: A comprehensive study

PURPOSE

The last decades have seen the consolidation of the cone-beam CT (CBCT) technology, which is nowadays widely used for different applications such as micro-CT for small animals, mammography, dentistry, or surgical procedures. Some CBCT systems may suffer mechanical strains due to the heavy load of the x-ray tube. This fact, together with tolerances in the manufacturing process, lead to different types of undesirable effects in the reconstructed image unless they are properly accounted for during the reconstruction. To obtain good quality images, it is necessary to have a complete characterization of the system geometry including the angular position of the gantry, the source-object and detector-object distances, and the position and pose of the detector. These parameters can be obtained through a calibration process done periodically, depending on the stability of the system geometry. To the best of our knowledge, there are no comprehensive works studying the effect of inaccuracies in the geometrical calibration of CBCT systems in a systematic and quantitative way. In this work, we describe the effects of detector misalignments (linear shifts, rotation, and inclinations) on the image and define their tolerance as the maximum error that keeps the image free from artifacts.

METHODS

We used simulations of four phantoms including systematic and random misalignments. Reconstructions of these data with and without errors were compared to identify the artifacts introduced in the reconstructed image and the tolerance to miscalibration deemed to provide acceptable image quality.

RESULTS

Visual assessment provided an easy guideline to identify the sources of error by visual inspection of the artifactual images. Systematic errors result in blurring, shape distortion and/or reduction of the axial field of view while random errors produce streaks and blurring in all cases, with a tolerance which is more than twice that of systematic errors. The tolerance corresponding to errors in position of the detector along the tangential direction, that is, skew (<0.2°) and horizontal shift (<0.4 mm), is tighter than the tolerance to those errors affecting the position along the longitudinal direction or the magnification, that is, vertical shift (<2 mm), roll (<1.5°), tilt (<2°), and SDD (<3 mm).

CONCLUSION

We present a comprehensive study, based on realistic simulations, of the effects on the reconstructed image quality of errors in the geometrical characterization of a CBCT system and define their tolerance. These results could be used to guide the design of new systems, establishing the mechanical precision that must be achieved, and to help in the definition of an optimal geometrical calibration process. Also, the thorough visual assessment may be valuable to identify the most predominant sources of error based on the effects shown in the reconstructed image.

Development and Pre-Clinical Analysis of Spatiotemporal-Aware Augmented Reality in Orthopedic Interventions

Suboptimal interaction with patient data and challenges in mastering 3D anatomy based on ill-posed 2D interventional images are essential concerns in image-guided therapies. Augmented reality (AR) has been introduced in the operating rooms in the last decade; however, in image-guided interventions, it has often only been considered as a visualization device improving traditional workflows. As a consequence, the technology is gaining minimum maturity that it requires to redefine new procedures, user interfaces, and interactions. The main contribution of this paper is to reveal how exemplary workflows are redefined by taking full advantage of head-mounted displays when entirely co-registered with the imaging system at all times. The awareness of the system from the geometric and physical characteristics of X-ray imaging allows the exploration of different human-machine interfaces. Our system achieved an error of 4.76 ± 2.91mm for placing K-wire in a fracture management procedure, and yielded errors of 1.57 ± 1.16° and 1.46 ± 1.00° in the abduction and anteversion angles, respectively, for total hip arthroplasty (THA). We compared the results with the outcomes from baseline standard operative and non-immersive AR procedures, which had yielded errors of [4.61mm, 4.76°, 4.77°] and [5.13mm, 1.78°, 1.43°], respectively, for wire placement, and abduction and anteversion during THA. We hope that our holistic approach towards improving the interface of surgery not only augments the surgeon's capabilities but also augments the surgical team's experience in carrying out an effective intervention with reduced complications and provide novel approaches of documenting procedures for training purposes.

Assessment of a liposomal CT/optical contrast agent for image-guided head and neck surgery

This study evaluates a long-acting liposomal fluorescence / CT dual-modality contrast agent (CF800) in head and neck cancer to enhance intraoperative tumor demarcation with fluorescence imaging and cone-beam computed tomography (CBCT). CF800 was administered to 12 buccal cancer-bearing rabbits. Imaging was acquired at regular time points to quantify time-dependent contrast enhancement. Surgery was performed 5-7 days after, with intraoperative near-infrared fluorescence endoscopy and CBCT, followed by histological and ex-vivo fluorescence assessment. Tumor enhancement on CT was significant at 24, 96 and 120 hours. Volumetric analysis of tumor segmentation showed high correlation between CBCT and micro-CT. Fluorescence signal was apparent in both ex-vivo and in-vivo imaging. Histological correlation showed [100%] specificity for primary tumor. Sensitivity and specificity of CF800 in detecting nodal involvement require further investigation.CF800 is long acting and has dual function for CT and fluorescence contrast, making it an excellent candidate for image-guided surgery.

C-arm orbits for metal artifact avoidance (MAA) in cone-beam CT

Metal artifacts present a challenge to cone-beam CT (CBCT) image-guided surgery, obscuring visualization of metal instruments and adjacent anatomy-often in the very region of interest pertinent to the imaging/surgical tasks. We present a method to reduce the influence of metal artifacts by prospectively defining an image acquisition protocol-viz., the C-arm source-detector orbit-that mitigates metal-induced biases in the projection data. The metal artifact avoidance (MAA) method is compatible with simple mobile C-arms, does not require exact prior information on the patient or metal implants, and is consistent with 3D filtered backprojection (FBP), more advanced (e.g. polyenergetic) model-based image reconstruction (MBIR), and metal artifact reduction (MAR) post-processing methods. The MAA method consists of: (i) coarse localization of metal objects in the field-of-view (FOV) via two or more low-dose scout projection views and segmentation (e.g. a simple U-Net) in coarse backprojection; (ii) model-based prediction of metal-induced x-ray spectral shift for all source-detector vertices accessible by the imaging system (e.g. gantry rotation and tilt angles); and (iii) identification of a circular or non-circular orbit that reduces the variation in spectral shift. The method was developed, tested, and evaluated in a series of studies presenting increasing levels of complexity and realism, including digital simulations, phantom experiment, and cadaver experiment in the context of image-guided spine surgery (pedicle screw implants). The MAA method accurately predicted tilted circular and non-circular orbits that reduced the magnitude of metal artifacts in CBCT reconstructions. Realistic distributions of metal instrumentation were successfully localized (0.71 median Dice coefficient) from 2-6 low-dose scout views even in complex anatomical scenes. The MAA-predicted tilted circular orbits reduced root-mean-square error (RMSE) in 3D image reconstructions by 46%-70% and 'blooming' artifacts (apparent width of the screw shaft) by 20-45%. Non-circular orbits defined by MAA achieved a further ∼46% reduction in RMSE compared to the best (tilted) circular orbit. The MAA method presents a practical means to predict C-arm orbits that minimize spectral bias from metal instrumentation. Resulting orbits-either simple tilted circular orbits or more complex non-circular orbits that can be executed with a motorized multi-axis C-arm-exhibited substantial reduction of metal artifacts in raw CBCT reconstructions by virtue of higher fidelity projection data, which are in turn compatible with subsequent MAR post-processing and/or polyenergetic MBIR to further reduce artifacts.

Navigation-guided osteotomies improve margin delineation in tumors involving the sinonasal area: A preclinical study

OBJECTIVES

To demonstrate and quantify, in a preclinical setting, the benefit of three-dimensional (3D) navigation guidance for margin delineation during ablative open surgery for advanced sinonasal cancer.

MATERIALS AND METHODS

Seven tumor models were created. 3D images were acquired with cone beam computed tomography, and 3D tumor segmentations were contoured. Eight surgeons with variable experience were recruited for the simulation of osteotomies. Three simulations were performed: 1) Unguided, 2) Guided using real-time tool tracking with 3D tumor segmentation (tumor-guided), and 3) Guided by 3D visualization of both the tumor and 1-cm margin segmentations (margin-guided). Analysis of cutting planes was performed and distance from the tumor surface was classified as follows: "intratumoral" when 0 mm or negative, "close" when greater than 0 mm and less than or equal to 5 mm, "adequate" when greater than 5 mm and less than or equal to 15 mm, and "excessive" over 15 mm. The three techniques (unguided, tumor-guided, margin-guided) were statistically compared.

RESULTS

The use of 3D navigation for margin delineation significantly improved control of margins: unguided cuts had 18.1% intratumoral cuts compared to 0% intratumoral cuts with 3D navigation (p < 0.0001).

CONCLUSION

This preclinical study has demonstrated the significant benefit of navigation-guided osteotomies for sinonasal tumors. Translation into the clinical setting - with rigorous assessment of oncological outcomes - would be the proposed next step.

Online mobile C-arm calibration using inertial sensors: a preliminary study in order to achieve CBCT

PURPOSE

Cone beam computed tomography (CBCT) became increasingly popular over the last years. It allows more accurate diagnosis and treatment planning with a lower effective radiation dose. However, volume reconstruction algorithms require a very precise knowledge of the imaging geometry. Due to mechanical instabilities, mobile C-arms are incompatible with existing tomography algorithms. Therefore, C-arm online calibration is essential in order to achieve an accurate volume reconstruction.

METHODS

We present an online calibration method for mobile C-arms. It is based on tracking the detector and the X-ray source of the C-arm using three-axis gyroscopes and accelerometers. It aims to be precise and noninvasive. The performance of the calibration algorithm is evaluated in regard to the precision of the sensors and to whether or not dynamic models are considered. In addition, we present an algorithm which propagate the errors from the positions and orientations estimates to the 2D projections on the detector plane. Thus, we can evaluate the impact of the estimation errors on the acquired images.

RESULTS

The experiments are conducted on an experimental C-arm. The reached accuracy is [Formula: see text] for orientation and [Formula: see text] for position. These errors propagate as an error of [Formula: see text] for the 2D projections on the detector plane.

CONCLUSIONS

The proposed calibration algorithm achieves an accuracy comparable to the precision of existing calibration methods. The required angle accuracy by CBCT algorithms is reached. However, improvements are needed to achieve the required position precision. The in-plane translations of the X-ray source and the detector are the most crucial parameters to estimate in order to conduct CBCT on mobile C-arms.

A hybrid operating room for combined surgical and endovascular procedures for cerebrovascular diseases: a clinical experience at a single centre

Purpose: To describe our experiences with a fully equipped high-end digital subtraction angiography (DSA) system within a hybrid operating room (OR). Material and methods: A single-plane DSA system with 3-dimensional rotational angiography (3DRA), cone-beam computed tomography, and real-time navigation software was used in our hybrid OR. Between April 2014 and January 2018, 191 sessions of neurovascular procedures were performed in our hybrid OR. After the retrospective review of all cases, the procedures were categorised into five subcategorical procedures according to the dominance of surgical and/or endovascular procedures: intraoperative angiographic evaluation, combined endovascular and surgical procedure, complementary rescue procedure during intervention and surgery, surgical approach for interventional procedure, and frameless stereotaxic operation. Results: Intraoperative angiography revealed unsatisfactory clipping of intracranial aneurysms in 6 (13.6%) patients and remnant AVMs in 1 (16.7%) patient, which were determined as complete surgical outcome via indocyanine green videoangiography. Four cases of blood blister aneurysms and a ruptured posterior inferior cerebellar artery aneurysm were treated using bypass surgery and endovascular trapping. Eight cases of ruptured aneurysm with intracranial haemorrhage (ICH) were treated by partial embolisation and surgical clipping. Two (5.4%) of the 37 cases of pre-mature rupture during clipping were secured by endovascular coil embolisation. In 1 (0.8%) complicated case of 103 intra-arterial (IA) thrombectomy procedures, emergency surgical embolectomy with bypass surgery was performed. Direct puncture of the common carotid artery or vertebral artery was performed to achieve interventional access to treat aneurysm or recanalise vessel occlusions in 7 cases. In 27 cases of ICH, frameless stereotaxic haematoma aspiration was performed using XperGuide® system. All procedures were performed in single sessions without any procedural complications. Conclusion: Hybrid OR with a fully equipped DSA system could provide safe and precise treatment for neurovascular diseases. Hybrid procedures for neurovascular diseases in hybrid OR are a promising new trend.

Multi-pass approach to reduce cone-beam artifacts in a circular orbit cone-beam CT system

We propose a multi-pass approach to reduce cone-beam artifacts in a circular orbit cone-beam computed tomography (CT) system. Employing a large 2D detector array reduces the scan time but produces cone-beam artifacts in the Feldkamp, Davis, and Kress (FDK) reconstruction because of insufficient sampling for exact reconstruction. While the two-pass algorithm proposed by Hsieh is effective at reducing cone-beam artifacts, the correction performance is degraded when the bone density is moderate and the cone angle is large. In this work, we treated the cone-beam artifacts generated from bone and soft tissue as if they were from less dense bone objects and corrected them iteratively. The proposed method was validated using a numerical Defrise phantom, XCAT phantom data, and experimental data from a pediatric phantom followed by image quality assessment for FDK, the two-pass algorithm, the proposed method, and the total variation minimization-based iterative reconstruction (TV-IR). The results show that the proposed method was superior to the two-pass algorithm in cone-beam artifact reduction and effectively reduced the overcorrection by the two-pass algorithm near bone regions. It can also be observed that the proposed method produced better correction performance with fewer iterations than the TV-IR algorithm. A qualitative evaluation with mean-squared error, structural similarity, and structural dissimilarity demonstrated the effectiveness of the proposed method.

Task-driven source-detector trajectories in cone-beam computed tomography: I. Theory and methods

We develop a mathematical framework for the design of orbital trajectories that are optimal to a particular imaging task (or tasks) in advanced cone-beam computed tomography systems that have the capability of general source-detector positioning. The framework allows various parameterizations of the orbit as well as constraints based on imaging system capabilities. To accommodate nonstandard system geometries, a model-based iterative reconstruction method is applied. Such algorithms generally complicate the assessment and prediction of reconstructed image properties; however, we leverage efficient implementations of analytical predictors of local noise and spatial resolution that incorporate dependencies of the reconstruction algorithm on patient anatomy, x-ray technique, and geometry. These image property predictors serve as inputs to a task-based performance metric defined by detectability index, which is optimized with respect to the orbital parameters of data acquisition. We investigate the framework of the task-driven trajectory design in several examples to examine the dependence of optimal source-detector trajectories on the imaging task (or tasks), including location and spatial-frequency dependence. A variety of multitask objectives are also investigated, and the advantages to imaging performance are quantified in simulation studies.

Personalization of X-Ray Tube Motion in Digital Breast Tomosynthesis Using Virtual Defrise Phantoms

In digital breast tomosynthesis (DBT), projection images are acquired as the x-ray tube rotates in the plane of the chest wall. We constructed a prototype next-generation tomosynthesis (NGT) system that has an additional component of tube motion in the perpendicular direction (i.e., posteroanterior motion). Our previous work demonstrated the advantages of the NGT system using the Defrise phantom. The reconstruction shows higher contrast and fewer blurring artifacts. To expand upon that work, this paper analyzes how image quality can be further improved by customizing the motion path of the x-ray tube based on the object being imaged. In simulations, phantoms are created with realistic 3D breast outlines based on an established model of the breast under compression. The phantoms are given an internal structure similar to a Defrise phantom. Two tissue types (fibroglandular and adipose) are arranged in a square-wave pattern. The reconstruction is analyzed as a binary classification task using thresholding to segment the two tissue types. At various thresholds, the classification of each voxel in the reconstruction is compared against the phantom, and receiver operating characteristic (ROC) curves are calculated. It is shown that the area under the ROC curve (AUC) is dependent on the x-ray tube trajectory. The trajectory that maximizes AUC differs between phantoms. In conclusion, this paper demonstrates that the acquisition geometry in DBT should be personalized to the object being imaged in order to optimize the image quality.

Four-Year Experience Using an Advanced Interdisciplinary Hybrid Operating Room : Potentials in Treatment of Cerebrovascular Disease

Objective

To describe our experiences with a fully equipped high-end digital subtraction angiography (DSA) system within a hybrid operating room (OR).

Methods

A single-plane DSA system with 3-dimensional rotational angiography, cone-beam computed tomography (CBCT), and real-time navigation software was used in our hybrid OR. Between April 2014 and January 2018, 191 sessions of cerebrovascular procedures were performed in our hybrid OR. After the retrospective review of all cases, the procedures were categorized into three subcategorical procedures : combined endovascular and surgical procedure, complementary rescue procedure during intervention and surgery, and frameless stereotaxic operation.

Results

Forty-nine of 191 procedures were performed using hybrid techniques. Four cases of blood blister aneurysms and a ruptured posterior inferior cerebellar artery aneurysm were treated using bypass surgery and endovascular trapping. Eight cases of ruptured aneurysm with intracranial hemorrhage (ICH) were treated by partial embolization and surgical clipping. Six cases of ruptured arteriovenous malformation with ICH were treated by Onyx embolization of nidus and subsequent surgical removal of nidus and ICH. Two (5.4%) of the 37 cases of pre-mature rupture during clipping were secured by endovascular coil embolization. In one (0.8%) complicated case of 103 intra-arterial thrombectomy procedures, emergency surgical embolectomy with bypass surgery was performed. In 27 cases of ICH, frameless stereotaxic hematoma aspiration was performed using XperGuide^® system (Philips Medical Systems, Best, the Netherlands). All procedures were performed in single sessions without any procedural complications.

Conclusion

Hybrid OR with a fully equipped DSA system could provide precise and safe treatment strategies for cerebrovascular diseases. Especially, we could suggest a strategy to cope flexibly in complex lesions or unexpected situations in hybrid OR. CBCT with real-time navigation software could augment the usefulness of hybrid OR.

Predicting image properties in penalized-likelihood reconstructions of flat-panel CBCT

PURPOSE

Model-based iterative reconstruction (MBIR) algorithms such as penalized-likelihood (PL) methods exhibit data-dependent and shift-variant properties. Image quality predictors have been derived to prospectively estimate local noise and spatial resolution, facilitating both system hardware design and tuning of reconstruction methods. However, current MBIR image quality predictors rely on idealized system models, ignoring physical blurring effects and noise correlations found in real systems. In this work, we develop and validate a new set of predictors using a physical system model specific to flat-panel cone-beam CT (FP-CBCT).

METHODS

Physical models appropriate for integration with MBIR analysis are developed and parameterized to represent nonidealities in FP projection data including focal spot blur, scintillator blur, detector aperture effect, and noise correlations. Flat-panel-specific predictors for local spatial resolution and local noise properties in PL reconstructions are developed based on these realistic physical models. Estimation accuracy of conventional (idealized) and FP-specific predictors is investigated and validated against experimental CBCT measurements using specialized phantoms.

RESULTS

Validation studies show that flat-panel-specific predictors can accurately estimate the local spatial resolution and noise properties, while conventional predictors show significant deviations in the magnitude and scale of the spatial resolution and local noise. The proposed predictors show accurate estimations over a range of imaging conditions including varying x-ray technique and regularization strength. The conventional spatial resolution prediction is sharper than ground truth. Using conventional spatial resolution predictor, the full width at half maximum (FWHM) of local point spread function (PSF) is underestimated by 0.2 mm. This mismatch is mostly eliminated in FP-specific prediction. The general shape and amplitude of local noise power spectrum (NPS) FP-specific predictions are consistent with measurement, while the conventional predictions underestimated the noise level by 70%.

CONCLUSION

The proposed image quality predictors permit accurate estimation of local spatial resolution and noise properties for PL reconstruction, accounting for dependencies on the system geometry, x-ray technique, and patient-specific anatomy in real FP-CBCT. Such tools enable prospective analysis of image quality for a range of goals including novel system and acquisition design, adaptive and task-driven imaging, and tuning of MBIR for robust and reliable behavior.

Image quality and dose characteristics for an O-arm intraoperative imaging system with model-based image reconstruction

PURPOSE

To assess the imaging performance and radiation dose characteristics of the O-arm CBCT imaging system (Medtronic Inc., Littleton MA) and demonstrate the potential for improved image quality and reduced dose via model-based image reconstruction (MBIR).

METHODS

Two main studies were performed to investigate previously unreported characteristics of the O-arm system. First is an investigation of dose and 3D image quality achieved with filtered back-projection (FBP) - including enhancements in geometric calibration, handling of lateral truncation and detector saturation, and incorporation of an isotropic apodization filter. Second is implementation of an MBIR algorithm based on Huber-penalized likelihood estimation (PLH) and investigation of image quality improvement at reduced dose. Each study involved measurements in quantitative phantoms as a basis for analysis of contrast-to-noise ratio and spatial resolution as well as imaging of a human cadaver to test the findings under realistic imaging conditions.

RESULTS

View-dependent calibration of system geometry improved the accuracy of reconstruction as quantified by the full-width at half maximum of the point-spread function - from 0.80 to 0.65 mm - and yielded subtle but perceptible improvement in high-contrast detail of bone (e.g., temporal bone). Standard technique protocols for the head and body imparted absorbed dose of 16 and 18 mGy, respectively. For low-to-medium contrast (<100 HU) imaging at fixed spatial resolution (1.3 mm edge-spread function) and fixed dose (6.7 mGy), PLH improved CNR over FBP by +48% in the head and +35% in the body. Evaluation at different dose levels demonstrated 30% increase in CNR at 62% of the dose in the head and 90% increase in CNR at 50% dose in the body.

CONCLUSIONS

A variety of improvements in FBP implementation (geometric calibration, truncation and saturation effects, and isotropic apodization) offer the potential for improved image quality and reduced radiation dose on the O-arm system. Further gains are possible with MBIR, including improved soft-tissue visualization, low-dose imaging protocols, and extension to methods that naturally incorporate prior information of patient anatomy and/or surgical instrumentation.

Magnetorheological Fluids Actuated Haptic-Based Teleoperated Catheter Operating System

During conventional catheter endovascular procedures, surgeons needs to adjust the catheter intervention moving direction and velocity according to the direct sensation. Moreover, in the conventional method, both the surgeon and the patient are inevitable exposed to a large amount of, and for a long period of time, X-ray radiation during the surgical procedure. The purpose of this paper is to ensure surgical safety and to protect the surgeon from X-ray radiation during the surgical procedure by adopting a novel haptic-based robot-assisted master-slave system mode. In this paper, a kind of magnetorheological fluids (MR fluids)-based haptic interface has been developed to generate a kind of controllable haptic sensation providing to the catheter operator, and the catheter intervention kinematics parameters measured the motion capture part to control the salve robotic catheter operating system following the master side kinematics. The slave catheter operating the mechanical system has also been designed and manufactured to manipulate the clinical catheter by mimicking the surgeon operating the catheter intervention surgical procedure, which has a 2-DOF (advance, retreat, and rotate) catheter motion characteristic; in addition, the interaction force between the catheter and inner wall of vasculature can be measured by its force sensing unit and the feedback to the master system. The catheter intervention synchronous evaluation experiments between the master and slave system are tested. Also, the advantages of integrating the controllable haptic sensation to the master-slave system experimental evaluations have been done in vitro. The experimental results demonstrated that the proposed haptic-based robot-assisted master-slave system mode can reduce the surgical time and protect the surgeon from X-ray radiation.

Enabling tomography with low-cost C-arm systems

In scenarios where the use of a Computed Tomography (CT) is difficult, such as during surgery or in the ICU, the use of a C-arm system to generate tomographic information could contribute with interesting additional clinical information. Recent days are seeing the development of the so-called cone-beam CT (CBCT) based on advanced motorized isocentric C-arm systems. To be able to make use of more basic C-arm systems, apart from the geometric non-idealities common to any CBCT, we need to address other difficulties. First, the trajectory of the source-detector pair may differ from a circular path and the system may suffer mechanical strains that modify the relative positions of the source and detector for different projection angles. Second, and more importantly, the exact position of the source and detector elements may not be repeatable for consecutive rotations due to low mechanical precision, thus preventing an accurate geometrical calibration of the system. Finally, the limitation of the angular span and the difficulty of obtaining a high number of projections pose a great challenge to the image reconstruction. In this work, we present a novel method to adapt a standard C-arm, originally designed for planar imaging, to be used as a tomograph. The key parts of the new acquisition protocol are (1) a geometrical calibration method to compensate mechanical inaccuracies that prevent an accurate repetition of source-detector position between acquisitions, and (2) an advanced image reconstruction method able to deal with limited angle data, sparse projections and non-circular trajectories. Both methods exploit surface information from the patient, which can be obtained using a 3D surface scanner. The proposed method was evaluated with two real C-arm systems, based on an image intensifier and a flat panel detector respectively, showing the feasibility of the proposal.

On the data acquisition, image reconstruction, cone beam artifacts, and their suppression in axial MDCT and CBCT - A review

PURPOSE

In the clinic, computed tomography (CT) has evolved into an essential modality for diagnostic imaging by multidetector row CT (MDCT) and image guided intervention by cone beam CT (CBCT). Recognizing the increasing importance of axial MDCT/CBCT in clinical and preclinical applications, and the existence of CB artifacts in MDCT/CBCT images, we provide a review of CB artifacts' root causes, rendering mechanisms and morphology, and possible solutions for elimination and/or reduction of the artifacts.

METHODS

By examining the null space in Radon and Fourier domain, the root cause of CB artifacts (i.e., data insufficiency) in axial MDCT/CBCT is analytically investigated, followed by a review of the data sufficiency conditions and the "circle +" source trajectories. The rendering mechanisms and morphology of CB artifacts in axial MDCT/CBCT and their special cases (e.g., half/short scan and full scan with latitudinally displaced detector) are then analyzed, followed by a survey of the potential solutions to suppress the artifacts. The phenomenon of imaged zone indention and its variation over FBP, BPF/DBPF, two-pass and iterative CB reconstruction algorithms and/or schemes are discussed in detail.

RESULTS

An interdomain examination of the null space provides an insightful understanding of the root cause of CB artifacts in axial MDCT/CBCT. The decomposition of CB artifacts rendering mechanisms facilitates understanding of the artifacts' behavior under different conditions and the potential solutions to suppress them. An inspection of the imaged zone intention phenomenon provides guidance on the design and implementation of CB image reconstruction algorithms and schemes for CB artifacts suppression in axial MDCT/CBCT.

CONCLUSIONS

With increasing importance of axial MDCT/CBCT in clinical and preclinical applications, this review article can update the community with in-depth information and clarification on the latest progress in dealing with CB artifacts and thus increase clinical/preclinical confidence.

GPU based parallel acceleration for fast C-arm cone-beam CT reconstruction

BACKGROUND

With the introduction of Flat Panel Detector technology, cone-beam CT (CBCT) has become a novel image modality, and widely applied in clinical practices. C-arm mounted CBCT has shown extra suitability in image guided interventional surgeries. During practice, how to acquire high resolution and high quality 3D images with the real time requirement of clinical applications remain challenging.

METHODS

In this paper, we propose a GPU based accelerated method for fast C-arm CBCT 3D image reconstructions. A filtered back projection method is optimized and implemented with GPU parallel acceleration technique. A distributed system is designed to make full use of the image acquisition consumption to hide the reconstruction delay to further improve system performance.

RESULTS

With the acceleration both in algorithm and system design, we show that our method significantly increases system efficiency. The optimized GPU accelerated FDK algorithm improves the reconstruction efficiency. The system performance is further enhanced with the proposed system design by 26% and reconstruction delay is accelerated by 2.1 times when 90 frames of projections are used. When the number of frames used increases to 120, the numbers are 39% and 3.3 times. We also show that when the projection acquisition consumption increases, the reconstruction acceleration rate increases significantly.

Cone-Beam Computed Tomography-Guided Navigation in Complex Osteotomies Improves Accuracy at All Competence Levels: A Study Assessing Accuracy and Reproducibility of Joint-Sparing Bone Cuts

BACKGROUND

The objective of this study was to assess the accuracy and reproducibility of a novel cone-beam computed tomography (CBCT)-guided navigation system designed for osteotomies with joint-sparing bone cuts.

METHODS

Eighteen surgeons participated in this study. First, 3 expert tumor surgeons resected bone tumors in 3 Sawbones tumor models identical to actual patient scenarios. They first performed these osteotomies without navigation and then performed them using a navigation system and 3-dimensional (3D) planning tools based on CBCT imaging. The 2 sets of measurements were compared using image-based measurements from post-resection CBCT. Next, 15 residents, fellows, and orthopaedic staff surgeons were instructed on the use of the system, and their navigated resections were compared with navigated resections performed by the 3 expert tumor surgeons.

RESULTS

One hundred and twenty-six navigated cuts done by the orthopaedic oncologists were compared with 126 non-navigated cuts by the same surgeons. The cuts violated the tumor in 22% (6) of the 27 non-navigated resections compared with none of the 27 navigated resections. The navigated cuts were significantly more accurate in terms of entry point, pitch, and roll (p < 0.001). The variation among the 3 surgeons when they used navigation was <0.6 mm for the entry cut and, on average, 1.5° for pitch and roll. All 18 surgeons then completed a total of 144 navigated cuts. The level of experience did not result in a significant difference among groups with regard to cut accuracy. Two cuts went into the tumor. The mean distance from the planned bone cuts to the actual entry points into bone was 1.5 mm (standard deviation [SD] = 1.4 mm) for all users. The mean difference in pitch and roll between the planned and actual cuts was 3.5° (SD = 2.8°) and 3.7° (SD = 3.2°) for all users.

CONCLUSIONS

Even in expert hands, navigated cuts were significantly more accurate than non-navigated cuts. When the osteotomies were aided by navigation, their accuracy did not differ according to the level of professional experience. CBCT-based metrics enable intraoperative assessments of cut accuracy and reconstruction planning.

CLINICAL RELEVANCE

CBCT-guided navigated osteotomies can improve accuracy regardless of surgeon experience and decrease the variability among different surgeons.

Accuracy of image-guided percutaneous injection into a phantom spinal cord utilizing flat panel detector CT with MR fusion and integrated navigational software

PURPOSE

To evaluate the accuracy of percutaneous fluoroscopic injection into the spinal cord of a spine phantom utilizing integrated navigational guidance from fused flat panel detector CT (FDCT) and MR datasets. Conventional and convection-enhanced delivery (CED) techniques were evaluated.

MATERIALS AND METHODS

FDCT and MR datasets of a swine thoracic spine phantom were co-registered using an integrated guidance system and surface to spinal cord target trajectory planning was performed on the fused images. Under real-time fluoroscopic guidance with pre-planned trajectory overlay, spinal cord targets were accessed via a coaxial technique. Final needle tip position was compared with a pre-determined target on 10 independent passes. In a subset of cases, contrast was injected into the central spinal cord with a 25G spinal needle or customized 200 µm inner diameter step design cannula for CED.

RESULTS

Average needle tip deviation from target measured 0.92±0.5 mm in the transverse, 0.47±0.4 mm in the anterior-posterior, and 1.67±1.2 mm in the craniocaudal dimension for an absolute distance error of 2.12±1.12 mm. CED resulted in elliptical intramedullary diffusion of contrast compared with primary reflux observed with standard needle injection.

CONCLUSIONS

These phantom feasibility data demonstrate a minimally invasive percutaneous approach for targeted injection into the spinal cord utilizing real-time fluoroscopy aided by overlay trajectories derived from fused MRI and FDCT data sets with a target error of 2.1 mm. Intramedullary diffusion of injectate in the spinal cord is facilitated with CED compared with standard injection technique. Pre-clinical studies in large animal models are warranted.

C-arm cone-beam CT: general principles and technical considerations for use in interventional radiology

Digital flat-panel detector cone-beam computed tomography (CBCT) has recently been adapted for use with C-arm systems. This configuration provides projection radiography, fluoroscopy, digital subtraction angiography, and volumetric computed tomography (CT) capabilities in a single patient setup, within the interventional suite. Such capabilities allow the interventionalist to perform intraprocedural volumetric imaging without the need for patient transportation. Proper use of this new technology requires an understanding of both its capabilities and limitations. This article provides an overview of C-arm CBCT with particular attention to trade-offs between C-arm CBCT systems and conventional multi-detector CT.

Implementation of a Talbot-Lau interferometer in a clinical-like c-arm setup: A feasibility study

X-ray grating-based phase-contrast imaging has raised interest regarding a variety of potential clinical applications, whereas the method is feasible using a medical x-ray tube. Yet, the transition towards a clinical setup remains challenging due to the requirement of mechanical robustness of the interferometer and high demands applying to medical equipment in clinical use. We demonstrate the successful implementation of a Talbot-Lau interferometer in an interventional c-arm setup. The consequence of vibrations induced by the rotating anode of the tube is discussed and the prototype is shown to provide a visibility of 21.4% at a tube voltage of 60 kV despite the vibrations. Regarding clinical application, the prototype is mainly set back due to the limited size of the field of view covering an area of 17 mm × 46 mm. A c-arm offers the possibility to change the optical axis according to the requirements of the medical examination. We provide a method to correct for artifacts that result from the angulation of the c-arm. Finally, the images of a series of measurements with the c-arm in different angulated positions are shown. Thereby, it is sufficient to perform a single reference measurement in parking position that is valid for the complete series despite angulation.

Task-based statistical image reconstruction for high-quality cone-beam CT

Task-based analysis of medical imaging performance underlies many ongoing efforts in the development of new imaging systems. In statistical image reconstruction, regularization is often formulated in terms to encourage smoothness and/or sharpness (e.g. a linear, quadratic, or Huber penalty) but without explicit formulation of the task. We propose an alternative regularization approach in which a spatially varying penalty is determined that maximizes task-based imaging performance at every location in a 3D image. We apply the method to model-based image reconstruction (MBIR-viz., penalized weighted least-squares, PWLS) in cone-beam CT (CBCT) of the head, focusing on the task of detecting a small, low-contrast intracranial hemorrhage (ICH), and we test the performance of the algorithm in the context of a recently developed CBCT prototype for point-of-care imaging of brain injury. Theoretical predictions of local spatial resolution and noise are computed via an optimization by which regularization (specifically, the quadratic penalty strength) is allowed to vary throughout the image to maximize local task-based detectability index ([Formula: see text]). Simulation studies and test-bench experiments were performed using an anthropomorphic head phantom. Three PWLS implementations were tested: conventional (constant) penalty; a certainty-based penalty derived to enforce constant point-spread function, PSF; and the task-based penalty derived to maximize local detectability at each location. Conventional (constant) regularization exhibited a fairly strong degree of spatial variation in [Formula: see text], and the certainty-based method achieved uniform PSF, but each exhibited a reduction in detectability compared to the task-based method, which improved detectability up to ~15%. The improvement was strongest in areas of high attenuation (skull base), where the conventional and certainty-based methods tended to over-smooth the data. The task-driven reconstruction method presents a promising regularization method in MBIR by explicitly incorporating task-based imaging performance as the objective. The results demonstrate improved ICH conspicuity and support the development of high-quality CBCT systems.

Optimization of data acquisition in axial CT under the framework of sampling on lattice for suppression of aliasing artifacts with algorithmic detector interlacing

PURPOSE

We present the methodology for analyzing and optimizing the sampling structure of projection data acquisition in axial multidetector CT (MDCT) and cone beam CT (CBCT) under the framework of sampling on lattice. Specifically, we propose and evaluate the scheme of interlaced detector cell binning for suppression of longitudinal aliasing artifacts. In addition, we investigate the proposed scheme's capability of mitigating shift variation in spatial resolution and possibility of improving CB image reconstruction accuracy.

METHODS

Under the framework of sampling on lattice, the proposed scheme is evaluated using an axial MDCT with its architecture similar to that of state-of-the-art CT scanners for diagnostic imaging in the clinic. The widely used FDK algorithm is adopted for image reconstruction, in which either horizontal/latitudinal or vertical/longitudinal interpolation is used for lining-up of projection data between interlaced detector cells. Using a spiral clock phantom, the capability of suppressing aliasing artifacts and possibility of improving reconstruction accuracy is quantitatively investigated. The in-plane spatial resolution, as assessed by the modulation transfer function (MTF), and its shift-variant property are quantitatively assessed using wire phantoms, while the through-plane spatial resolution and its shift-variant behavior are assessed by the slice sensitivity profile (SSP) using thin foil phantoms.

RESULTS

The preliminary results show that the interlaced detector cell binning can suppress longitudinal aliasing artifacts effectively, while the shift variation in spatial resolution and reconstruction inaccuracy can be mitigated moderately. In addition, the direction, along which the interpolation is carried out to line up projection data between the interlaced detector cells for image reconstruction, plays a significant role in determining the in-plane and through-plane spatial resolution.

CONCLUSIONS

The scheme of interlaced detector cell binning with longitudinal interpolation for data lining-up is an effective solution for suppression of longitudinal aliasing artifacts in axial MDCT and CBCT.

Multi-modal imaging, model-based tracking, and mixed reality visualisation for orthopaedic surgery

Orthopaedic surgeons are still following the decades old workflow of using dozens of two-dimensional fluoroscopic images to drill through complex 3D structures, e.g. pelvis. This Letter presents a mixed reality support system, which incorporates multi-modal data fusion and model-based surgical tool tracking for creating a mixed reality environment supporting screw placement in orthopaedic surgery. A red–green–blue–depth camera is rigidly attached to a mobile C-arm and is calibrated to the cone-beam computed tomography (CBCT) imaging space via iterative closest point algorithm. This allows real-time automatic fusion of reconstructed surface and/or 3D point clouds and synthetic fluoroscopic images obtained through CBCT imaging. An adapted 3D model-based tracking algorithm with automatic tool segmentation allows for tracking of the surgical tools occluded by hand. This proposed interactive 3D mixed reality environment provides an intuitive understanding of the surgical site and supports surgeons in quickly localising the entry point and orienting the surgical tool during screw placement. The authors validate the augmentation by measuring target registration error and also evaluate the tracking accuracy in the presence of partial occlusion.

Percutaneous radiofrequency ablation of lung metastases from colorectal carcinoma under C-arm cone beam CT guidance

PURPOSE

The aim of this study was to assess the feasibility, safety and efficacy of percutaneous radiofrequency ablation of lung metastases from colorectal carcinoma using C-arm cone beam computed tomography (CBCT) guidance.

MATERIAL AND METHODS

This single-center prospective observational study was performed from August 2013 to August 2016, and included consecutive patients referred for radiofrequency ablation of lung metastases from colorectal cancer. Radiofrequency ablation procedures were performed under C-arm CBCT guidance. Feasibility was assessed by probe accuracy placement, time to accurate placement and number of C-arm CBCT acquisitions to reach the target lesion. Safety was assessed by the report of adverse event graded using the common terminology criteria for adverse events (CTCAE-V4.0). Efficacy was assessed by metastases response rate using RECIST 1.1 and ¹⁸FDG-PET-CT tumor uptake at 6months.

RESULTS

Fifty-four consecutive patients (32 men, 22 women) with a mean age of 63±8 (SD) years (range: 51-81years) with a total of 56 lung metastasis from colorectal metastases were treated in a single session. The mean tumor diameter was 25.6±4.5 (SD)mm (range: 17-31mm). Median time to insert the needle into the target lesion was 10min (range: 5-25min). Median number of needles repositioning and C-arm CBCT acquisition per patient was 1 (range: 0-3) and 4 (range: 3-6) respectively. The accuracy for radiofrequency ablation probe placement was 2±0.2 (SD)mm (range: 0-9mm). Pneumothorax requiring chest tube placement occurred in one patient (CTCAE-V4.0 grade 3). At 6months, all patients were alive with tumor response rate of -27% and had no significant activity on the ¹⁸FDG-PET CT follow-up.

CONCLUSION

Percutaneous radiofrequency ablation of lung metastases from colorectal cancer under C-arm CBCT guidance is feasible and safe, with immediate and short-term results similar to those obtained using conventional CT guidance.

Integration of free-hand 3D ultrasound and mobile C-arm cone-beam CT: Feasibility and characterization for real-time guidance of needle insertion

This work presents development of an integrated ultrasound (US)-cone-beam CT (CBCT) system for image-guided needle interventions, combining a low-cost ultrasound system (Interson VC 7.5MHz, Pleasanton, CA) with a mobile C-arm for fluoroscopy and CBCT via use of a surgical tracker. Imaging performance of the ultrasound system was characterized in terms of depth-dependent contrast-to-noise ratio (CNR) and spatial resolution. US-CBCT system was evaluated in phantom studies simulating three needle-based procedures: drug delivery, tumor ablation, and lumbar puncture. Low-cost ultrasound provided flexibility but exhibited modest CNR and spatial resolution that is likely limited to fairly superficial applications within a ∼10cm depth of view. Needle tip localization demonstrated target registration error 2.1-3.0mm using fiducial-based registration.

Intraoperative evaluation of device placement in spine surgery using known-component 3D-2D image registration

Intraoperative x-ray radiography/fluoroscopy is commonly used to assess the placement of surgical devices in the operating room (e.g. spine pedicle screws), but qualitative interpretation can fail to reliably detect suboptimal delivery and/or breach of adjacent critical structures. We present a 3D-2D image registration method wherein intraoperative radiographs are leveraged in combination with prior knowledge of the patient and surgical components for quantitative assessment of device placement and more rigorous quality assurance (QA) of the surgical product. The algorithm is based on known-component registration (KC-Reg) in which patient-specific preoperative CT and parametric component models are used. The registration performs optimization of gradient similarity, removes the need for offline geometric calibration of the C-arm, and simultaneously solves for multiple component bodies, thereby allowing QA in a single step (e.g. spinal construct with 4-20 screws). Performance was tested in a spine phantom, and first clinical results are reported for QA of transpedicle screws delivered in a patient undergoing thoracolumbar spine surgery. Simultaneous registration of ten pedicle screws (five contralateral pairs) demonstrated mean target registration error (TRE) of 1.1  ±  0.1 mm at the screw tip and 0.7  ±  0.4° in angulation when a prior geometric calibration was used. The calibration-free formulation, with the aid of component collision constraints, achieved TRE of 1.4  ±  0.6 mm. In all cases, a statistically significant improvement (p  <  0.05) was observed for the simultaneous solutions in comparison to previously reported sequential solution of individual components. Initial application in clinical data in spine surgery demonstrated TRE of 2.7  ±  2.6 mm and 1.5  ±  0.8°. The KC-Reg algorithm offers an independent check and quantitative QA of the surgical product using radiographic/fluoroscopic views acquired within standard OR workflow. Such intraoperative assessment could improve quality and safety, provide the opportunity to revise suboptimal constructs in the OR, and reduce the frequency of revision surgery.

BROMETH: Methodology to design safe reconfigurable medical robotic systems

BACKGROUND

This research paper deals with the development of a medical robotized control system for supracondylar humeral fracture treatment. Concurrent access to shared resources and applying reconfiguration scenarios can jeopardize the safety of the system.

METHODS

A new methodology is proposed in this paper, termed BROMETH, to guarantee the safety of such critical systems from their specification to their deployment, and passing through certification and implementation. The solution is applied to a real case study named Browser-based Reconfigurable Orthopedic Surgery (abbrev. BROS), a robotized platform dedicated to the treatment of supracondylar fractures, to illustrate the paper's contribution. This work starts from a medical issue, namely supracondylar humeral fracture treatment, to establish a new informatics solution, namely a new methodology to design safe reconfigurable medical robotic systems.

RESULTS

The results of the experiments performed on real SCH fracture radiographies were quite satisfactory.

CONCLUSIONS

Clinical experiments can then be performed after deploying the system on real hardware.

Technical Note: Confirming the prescribed angle of CT localizer radiographs and c-arm projection acquisitions

PURPOSE

Accurate CT radiograph angle is not usually important in diagnostic CT. However, there are applications in radiation oncology and interventional radiology in which the orientation of the x-ray source and detector with respect to the patient is clinically important. The authors present a method for measuring the accuracy of the tube/detector assembly with respect to the prescribed tube/detector position for CT localizer, fluoroscopic, and general radiograph imaging using diagnostic, mobile, and c-arm based CT systems.

METHODS

A mathematical expression relating the x-ray projection of two metal BBs is related to gantry angle. Measurement of the BBs at a prescribed gantry (i.e., c-arm) angle can be obtained and using this relation the prescribed versus actual gantry angle compared. No special service mode or proprietary information is required, only access to projection images is required. Projection images are available in CT via CT localizer radiographs and in the interventional setting via fluorography.

RESULTS

The technique was demonstrated on two systems, a mobile CT scanner and a diagnostic CT scanner. The results confirmed a known issue with the mobile scanner and accurately described the CT localizer angle of the diagnostic system tested.

CONCLUSIONS

This method can be used to quantify gantry angle, which is important when projection images are used for procedure guidance, such as in brachytherapy and interventional radiology applications.

Simultaneous 3D-2D image registration and C-arm calibration: Application to endovascular image-guided interventions

PURPOSE

Three-dimensional to two-dimensional (3D-2D) image registration is a key to fusion and simultaneous visualization of valuable information contained in 3D pre-interventional and 2D intra-interventional images with the final goal of image guidance of a procedure. In this paper, the authors focus on 3D-2D image registration within the context of intracranial endovascular image-guided interventions (EIGIs), where the 3D and 2D images are generally acquired with the same C-arm system. The accuracy and robustness of any 3D-2D registration method, to be used in a clinical setting, is influenced by (1) the method itself, (2) uncertainty of initial pose of the 3D image from which registration starts, (3) uncertainty of C-arm's geometry and pose, and (4) the number of 2D intra-interventional images used for registration, which is generally one and at most two. The study of these influences requires rigorous and objective validation of any 3D-2D registration method against a highly accurate reference or "gold standard" registration, performed on clinical image datasets acquired in the context of the intervention.

METHODS

The registration process is split into two sequential, i.e., initial and final, registration stages. The initial stage is either machine-based or template matching. The latter aims to reduce possibly large in-plane translation errors by matching a projection of the 3D vessel model and 2D image. In the final registration stage, four state-of-the-art intrinsic image-based 3D-2D registration methods, which involve simultaneous refinement of rigid-body and C-arm parameters, are evaluated. For objective validation, the authors acquired an image database of 15 patients undergoing cerebral EIGI, for which accurate gold standard registrations were established by fiducial marker coregistration.

RESULTS

Based on target registration error, the obtained success rates of 3D to a single 2D image registration after initial machine-based and template matching and final registration involving C-arm calibration were 36%, 73%, and 93%, respectively, while registration accuracy of 0.59 mm was the best after final registration. By compensating in-plane translation errors by initial template matching, the success rates achieved after the final stage improved consistently for all methods, especially if C-arm calibration was performed simultaneously with the 3D-2D image registration.

CONCLUSIONS

Because the tested methods perform simultaneous C-arm calibration and 3D-2D registration based solely on anatomical information, they have a high potential for automation and thus for an immediate integration into current interventional workflow. One of the authors' main contributions is also comprehensive and representative validation performed under realistic conditions as encountered during cerebral EIGI.