Deep learning-based ultrasound auto-segmentation of the prostate with brachytherapy implanted needles

BACKGROUND

Accurate segmentation of the clinical target volume (CTV) corresponding to the prostate with or without proximal seminal vesicles is required on transrectal ultrasound (TRUS) images during prostate brachytherapy procedures. Implanted needles cause artifacts that may make this task difficult and time-consuming. Thus, previous studies have focused on the simpler problem of segmentation in the absence of needles at the cost of reduced clinical utility.

PURPOSE

To use a convolutional neural network (CNN) algorithm for segmentation of the prostatic CTV in TRUS images post-needle insertion obtained from prostate brachytherapy procedures to better meet the demands of the clinical procedure.

METHODS

A dataset consisting of 144 3-dimensional (3D) TRUS images with implanted metal brachytherapy needles and associated manual CTV segmentations was used for training a 2-dimensional (2D) U-Net CNN using a Dice Similarity Coefficient (DSC) loss function. These were split by patient, with 119 used for training and 25 reserved for testing. The 3D TRUS training images were resliced at radial (around the axis normal to the coronal plane) and oblique angles through the center of the 3D image, as well as axial, coronal, and sagittal planes to obtain 3689 2D TRUS images and masks for training. The network generated boundary predictions on 300 2D TRUS images obtained from reslicing each of the 25 3D TRUS images used for testing into 12 radial slices (15° apart), which were then reconstructed into 3D surfaces. Performance metrics included DSC, recall, precision, unsigned and signed volume percentage differences (VPD/sVPD), mean surface distance (MSD), and Hausdorff distance (HD). In addition, we studied whether providing algorithm-predicted boundaries to the physicians and allowing modifications increased the agreement between physicians. This was performed by providing a subset of 3D TRUS images of five patients to five physicians who segmented the CTV using clinical software and repeated this at least 1 week apart. The five physicians were given the algorithm boundary predictions and allowed to modify them, and the resulting inter- and intra-physician variability was evaluated.

RESULTS

Median DSC, recall, precision, VPD, sVPD, MSD, and HD of the 3D-reconstructed algorithm segmentations were 87.2 [84.1, 88.8]%, 89.0 [86.3, 92.4]%, 86.6 [78.5, 90.8]%, 10.3 [4.5, 18.4]%, 2.0 [-4.5, 18.4]%, 1.6 [1.2, 2.0] mm, and 6.0 [5.3, 8.0] mm, respectively. Segmentation time for a set of 12 2D radial images was 2.46 [2.44, 2.48] s. With and without U-Net starting points, the intra-physician median DSCs were 97.0 [96.3, 97.8]%, and 94.4 [92.5, 95.4]% (p < 0.0001), respectively, while the inter-physician median DSCs were 94.8 [93.3, 96.8]% and 90.2 [88.7, 92.1]%, respectively (p < 0.0001). The median segmentation time for physicians, with and without U-Net-generated CTV boundaries, were 257.5 [211.8, 300.0] s and 288.0 [232.0, 333.5] s, respectively (p = 0.1034).

CONCLUSIONS

Our algorithm performed at a level similar to physicians in a fraction of the time. The use of algorithm-generated boundaries as a starting point and allowing modifications reduced physician variability, although it did not significantly reduce the time compared to manual segmentations.

JoCoRank: Joint correlation learning with ranking similarity regularization for imbalanced fetal brain age regression

Estimating fetal brain age based on sulci by magnetic resonance imaging (MRI) is clinically crucial in determining the normal development of fetal brains. Deep learning provides a possible way for fetal brain age estimation using MRI. Previous studies have mainly emphasized optimizing individual-wise correlation criteria, such as mean square error. However, they ignored the very important global and peer-wise criterion, which are essential for learning the structured relationships among regression samples. Moreover, the imbalanced label distribution introduces an adverse bias, which impairs the reliability and interpretation of correlation estimation and the model's fairness and generalizability. In this work, we propose a novel joint correlation learning with ranking similarity regularization (JoCoRank) algorithm for deep imbalanced regression of fetal brain age. Joint correlation learning concurrently captures individual, global, and peer-level valuable relationship information, and the customized optimization scheme for each criterion exhibits strong robustness against outliers and imbalanced regression. Ranking similarity regularization is designed to calibrate the biased feature representations by aligning the sorted list of neighbors in the label space with those in the feature space. A total of 1327 MRI images from 157 healthy fetuses between 22 and 34 weeks were collected at Wuhan Children's Hospital and utilized to evaluate the performance of JoCoRank in fetal brain age estimation. JoCoRank achieved promising results with an average mean absolute error of 0.693±0.064 weeks and R2 coefficient of 0.930±0.019. Our fetal brain age estimation algorithm would be useful for identifying abnormalities in fetal brain development and undertaking early intervention in clinical practice.

An image registration-based self-supervised Su-Net for carotid plaque ultrasound image segmentation

BACKGROUND AND OBJECTIVES

Total Plaque Area (TPA) measurement is critical for early diagnosis and intervention of carotid atherosclerosis in individuals with high risk for stroke. The delineation of the carotid plaques is necessary for TPA measurement, and deep learning methods can automatically segment the plaque and measure TPA from carotid ultrasound images. A large number of labeled images is essential for training a good deep learning model, but it is very difficult to collect such large labeled datasets for carotid image segmentation in clinical practice. Self-supervised learning can provide a possible solution to improve the deep-learning models on small labeled training datasets by designing a pretext task to pre-train the models without using the segmentation masks. However, the existing self-supervised learning methods do not consider the feature presentations of object contours.

METHODS

In this paper, we propose an image registration-based self-supervised learning method and a stacked U-Net (SSL-SU-Net) for carotid plaque ultrasound image segmentation, which can better exploit the semantic features of carotid plaque contours in self-supervised task training.

RESULTS

Our network was trained on different numbers of labeled images (n = 10, 33, 50 and 100 subjects) and tested on 44 subjects from the SPARC dataset (n = 144, London, Canada). The network trained on the entire SPARC dataset was then directly applied to an independent dataset collected in Zhongnan hospital (n = 497, Wuhan, China). For the 44 subjects tested on the SPARC dataset, our method yielded a DSC of 80.25-89.18% and the produced TPA measurements, which were strongly correlated with manual segmentation (r = 0.965-0.995, ρ< 0.0001). For the Zhongnan dataset, the DSC was 90.3% and algorithm TPAs were strongly correlated with manual TPAs (r = 0.985, ρ< 0.0001).

CONCLUSIONS

The results demonstrate that our proposed method yielded excellent performance and good generalization ability when trained on a small labeled dataset, facilitating the use of deep learning in carotid ultrasound image analysis and clinical practice. The code of our algorithm is available https://github.com/a610lab/Registration-SSL.

Three-dimensional ultrasound to investigate synovitis in first carpometacarpal osteoarthritis: A feasibility study

BACKGROUND

Synovitis is one of the defining characteristics of osteoarthritis (OA) in the carpometacarpal (CMC1) joint of the thumb. Quantitative characterization of synovial volume is important for furthering our understanding of CMC1 OA disease progression, treatment response, and monitoring strategies. In previous studies, three-dimensional ultrasound (3-D US) has demonstrated the feasibility of being a point-of-care system for monitoring knee OA. However, 3-D US has not been tested on the smaller joints of the hand, which presents unique physiological and imaging challenges.

PURPOSE

To develop and validate a novel application of 3-D US to monitor soft-tissue characteristics of OA in a CMC1 OA patient population compared to the current gold standard, magnetic resonance imaging (MRI).

METHODS

A motorized submerged transducer moving assembly was designed for this device specifically for imaging the joints of the hands and wrist. The device used a linear 3-D scanning approach, where a 14L5 2-D transducer was translated over the region of interest. Two imaging phantoms were used to test the linear and volumetric measurement accuracy of the 3-D US device. To evaluate the accuracy of the reconstructed 3-D US geometry, a multilayer monofilament string-grid phantom (10 mm square grid) was scanned. To validate the volumetric measurement capabilities of the system, a simulated synovial tissue phantom with an embedded synovial effusion was fabricated and imaged. Ten CMC1 OA patients were imaged by our 3-D US and a 3.0 T MRI system to compare synovial volumes. The synovial volumes were manually segmented by two raters on the 2D slices of the 3D US reconstruction and MR images, to assess the accuracy and precision of the device for determining synovial tissue volumes. The Standard Error of Measurement and Minimal Detectable Change was used to assess the precision and sensitivity of the volume measurements. Paired sample t-tests were used to assess statistical significance. Additionally, rater reliability was assessed using Intra-Class Correlation (ICC) coefficients.

RESULTS

The largest percent difference observed between the known physical volume of synovial extrusion in the phantom and the volume measured by our 3D US was 1.1% (p-value = 0.03). The mean volume difference between the 3-D US and the gold standard MRI was 1.78% (p-value = 0.48). The 3-D US synovial tissue volume measurements had a Standard Error Measurement (SEm ) of 11.21 mm3 and a Minimal Detectible Change (MDC) of 31.06 mm3 , while the MRI synovial tissue volume measurements had an SEM of 16.82 mm3 and an MDC of 46.63 mm3 . Excellent inter- and intra-rater reliability (ICCs = 0.94-0.99) observed across all imaging modalities and raters.

CONCLUSION

Our results indicate the feasibility of applying 3-D US technology to provide accurate and precise CMC1 synovial tissue volume measurements, similar to MRI volume measurements. Lower MDC and SEm values for 3-D US volume measurements indicate that it is a precise measurement tool to assess synovial volume and that it is sensitive to variation between volume segmentations. The application of this imaging technique to monitor OA pathogenesis and treatment response over time at the patient's bedside should be thoroughly investigated in future studies.

Self-supervised enhanced thyroid nodule detection in ultrasound examination video sequences with multi-perspective evaluation

Objective.Ultrasound is the most commonly used examination for the detection and identification of thyroid nodules. Since manual detection is time-consuming and subjective, attempts to introduce machine learning into this process are ongoing. However, the performance of these methods is limited by the low signal-to-noise ratio and tissue contrast of ultrasound images. To address these challenges, we extend thyroid nodule detection from image-based to video-based using the temporal context information in ultrasound videos.Approach.We propose a video-based deep learning model with adjacent frame perception (AFP) for accurate and real-time thyroid nodule detection. Compared to image-based methods, AFP can aggregate semantically similar contextual features in the video. Furthermore, considering the cost of medical image annotation for video-based models, a patch scale self-supervised model (PASS) is proposed. PASS is trained on unlabeled datasets to improve the performance of the AFP model without additional labelling costs.Main results.The PASS model is trained by 92 videos containing 23 773 frames, of which 60 annotated videos containing 16 694 frames were used to train and evaluate the AFP model. The evaluation is performed from the video, frame, nodule, and localization perspectives. In the evaluation of the localization perspective, we used the average precision metric with the intersection-over-union threshold set to 50% (AP@50), which is the area under the smoothed Precision-Recall curve. Our proposed AFP improved AP@50 from 0.256 to 0.390, while the PASS-enhanced AFP further improved the AP@50 to 0.425. AFP and PASS also improve the performance in the valuations of other perspectives based on the localization results.Significance.Our video-based model can mitigate the effects of low signal-to-noise ratio and tissue contrast in ultrasound images and enable the accurate detection of thyroid nodules in real-time. The evaluation from multiple perspectives of the ablation experiments demonstrates the effectiveness of our proposed AFP and PASS models.

Clinical implementation of 3D transvaginal ultrasound for intraoperative guidance of needle implant in template interstitial gynecologic high-dose-rate brachytherapy

PURPOSE

To demonstrate novel clinical implementation of a 3D transvaginal ultrasound (3DTVUS) system for intraoperative needle insertion guidance in perineal template interstitial gynecologic high-dose-rate brachytherapy and assess its impact on implant quality.

METHODS AND MATERIALS

Interstitial implants began with preimplant 3DTVUS to visualize the tumor and anatomy, with intermittent 3DTVUS to assess the implant and guide needle adjustment. Analysis includes visualization of the implant relative to anatomy, identification of cases where 3DTVUS is beneficial, dosimetry, and a survey distributed to 3DTVUS clinicians.

RESULTS

Seven patients treated between November 2021 and October 2022 were included in this study. Twenty needles were inserted under 3DTVUS guidance. The tumor and vaginal wall were well-differentiated in four and all seven patients, respectively. Patients with tumours below the superior aspect of the vagina are suited for 3DTVUS. Four radiation oncologists responded to the survey. There was general agreement that 3DTVUS improves implant and anatomy visualization and is preferred over standard 2D ultrasound guidance techniques.

CONCLUSIONS

Based on qualitative feedback from primary users and a small preliminary patient cohort, 3DTVUS imaging improves tumor and vaginal wall visualization during gynecologic perineal template interstitial needle implant and is a powerful tool for implant assessment in an intraoperative setting.

Cost-effective, portable, patient-dedicated three-dimensional automated breast ultrasound for point-of-care breast cancer screening

Breast cancer screening has substantially reduced mortality across screening populations. However, a clinical need persists for more accessible, cost-effective, and robust approaches for increased-risk and diverse patient populations, especially those with dense breasts where screening mammography is suboptimal. We developed and validated a cost-effective, portable, patient-dedicated three-dimensional (3D) automated breast ultrasound (ABUS) system for point-of-care breast cancer screening. The 3D ABUS system contains a wearable, rapid-prototype 3D-printed dam assembly, a compression assembly, and a computer-driven 3DUS scanner, adaptable to any commercially available US machine and transducer. Acquisition is operator-agnostic, involves a 40-second scan time, and provides multiplanar 3D visualization for whole-breast assessment. Geometric reconstruction accuracy was evaluated with a 3D grid phantom and tissue-mimicking breast phantoms, demonstrating linear measurement and volumetric reconstruction errors < 0.2 mm and < 3%, respectively. The system's capability was demonstrated in a healthy male volunteer and two healthy female volunteers, representing diverse patient geometries and breast sizes. The system enables comfortable ultrasonic coupling and tissue stabilization, with adjustable compression to improve image quality while alleviating discomfort. Moreover, the system effectively mitigates breathing and motion, since its assembly affixes directly onto the patient. While future studies are still required to evaluate the impact on current clinical practices and workflow, the 3D ABUS system shows potential for adoption as an alternative, cost-effective, dedicated point-of-care breast cancer screening approach for increased-risk populations and limited-resource settings.

3D US-CT/MRI registration for percutaneous focal liver tumor ablations

PURPOSE

US-guided percutaneous focal liver tumor ablations have been considered promising curative treatment techniques. To address cases with invisible or poorly visible tumors, registration of 3D US with CT or MRI is a critical step. By taking advantage of deep learning techniques to efficiently detect representative features in both modalities, we aim to develop a 3D US-CT/MRI registration approach for liver tumor ablations.

METHODS

Facilitated by our nnUNet-based 3D US vessel segmentation approach, we propose a coarse-to-fine 3D US-CT/MRI image registration pipeline based on the liver vessel surface and centerlines. Then, phantom, healthy volunteer and patient studies are performed to demonstrate the effectiveness of our proposed registration approach.

RESULTS

Our nnUNet-based vessel segmentation model achieved a Dice score of 0.69. In healthy volunteer study, 11 out of 12 3D US-MRI image pairs were successfully registered with an overall centerline distance of 4.03±2.68 mm. Two patient cases achieved target registration errors (TRE) of 4.16 mm and 5.22 mm.

CONCLUSION

We proposed a coarse-to-fine 3D US-CT/MRI registration pipeline based on nnUNet vessel segmentation models. Experiments based on healthy volunteers and patient trials demonstrated the effectiveness of our registration workflow. Our code and example data are publicly available in this r epository.

Carotid Vessel-Wall-Volume Ultrasound Measurement via a UNet++ Ensemble Algorithm Trained on Small Data Sets

Vessel wall volume (VWV) is a 3-D ultrasound measurement for the assessment of therapy in patients with carotid atherosclerosis. Deep learning can be used to segment the media-adventitia boundary (MAB) and lumen-intima boundary (LIB) and to quantify VWV automatically; however, it typically requires large training data sets with expert manual segmentation, which are difficult to obtain. In this study, a UNet++ ensemble approach was developed for automated VWV measurement, trained on five small data sets (n = 30 participants) and tested on 100 participants with clinically diagnosed coronary artery disease enrolled in a multicenter CAIN trial. The Dice similarity coefficient (DSC), average symmetric surface distance (ASSD), Pearson correlation coefficient (r), Bland-Altman plots and coefficient of variation (CoV) were used to evaluate algorithm segmentation accuracy, agreement and reproducibility. The UNet++ ensemble yielded DSCs of 91.07%-91.56% and 87.53%-89.44% and ASSDs of 0.10-0.11 mm and 0.33-0.39 mm for the MAB and LIB, respectively; the algorithm VWV measurements were correlated (r = 0.763-0.795, p < 0.001) with manual segmentations, and the CoV for VWV was 8.89%. In addition, the UNet++ ensemble trained on 30 participants achieved a performance similar to that of U-Net and Voxel-FCN trained on 150 participants. These results suggest that our approach could provide accurate and reproducible carotid VWV measurements using relatively small training data sets, supporting deep learning applications for monitoring atherosclerosis progression in research and clinical trials.

Toward mechatronic MRI-guided focal laser ablation of the prostate: Robust registration for improved needle delivery

BACKGROUND

Multiparametric MRI (mpMRI) is an effective tool for detecting and staging prostate cancer (PCa), guiding interventional therapy, and monitoring PCa treatment outcomes. MRI-guided focal laser ablation (FLA) therapy is an alternative, minimally invasive treatment method to conventional therapies, which has been demonstrated to control low-grade, localized PCa while preserving patient quality of life. The therapeutic success of FLA depends on the accurate placement of needles for adequate delivery of ablative energy to the target lesion. We previously developed an MR-compatible mechatronic system for prostate FLA needle guidance and validated its performance in open-air and clinical 3T in-bore experiments using virtual targets.

PURPOSE

To develop a robust MRI-to-mechatronic system registration method and evaluate its in-bore MR-guided needle delivery accuracy in tissue-mimicking prostate phantoms.

METHODS

The improved registration multifiducial assembly houses thirty-six aqueous gadolinium-filled spheres distributed over a 7.3 × 7.3 × 5.2 cm volume. MRI-guided needle guidance accuracy was quantified in agar-based tissue-mimicking prostate phantoms on trajectories (N = 44) to virtual targets covering the mechatronic system's range of motion. 3T gradient-echo recalled (GRE) MRI images were acquired after needle insertions to each target, and the air-filled needle tracks were segmented. Needle guidance error was measured as the shortest Euclidean distance between the target point and the segmented needle trajectory, and angular error was measured as the angle between the targeted trajectory and the segmented needle trajectory. These measurements were made using both the previously designed four-sphere registration fiducial assembly on trajectories (N = 7) and compared with the improved multifiducial assembly using a Mann-Whitney U test.

RESULTS

The median needle guidance error of the system using the improved registration fiducial assembly at a depth of 10 cm was 1.02 mm with an interquartile range (IQR) of 0.42-2.94 mm. The upper limit of the one-sided 95% prediction interval of needle guidance error was 4.13 mm. The median (IQR) angular error was 0.0097 rad (0.0057-0.015 rad) with a one-sided 95% prediction interval upper limit of 0.022 rad. The median (IQR) positioning error using the previous four-sphere registration fiducial assembly was 1.87 mm (1.77-2.14 mm). This was found to be significantly different (p = 0.0012) from the median (IQR) positioning error of 0.28 mm (0.14-0.95 mm) using the new registration fiducial assembly on the same trajectories. No significant difference was detected between the medians of the angular errors (p = 0.26).

CONCLUSION

This is the first study presenting an improved registration method and validation in tissue-mimicking phantoms of our remotely actuated MR-compatible mechatronic system for delivery of prostate FLA needles. Accounting for the effects of needle deflection, the system was demonstrated to be capable of needle delivery with an error of 4.13 mm or less in 95% of cases under ideal conditions, which is a statistically significant improvement over the previous method. The system will next be validated in a clinical setting.

Validation of a surface-based deformable MRI-3D ultrasound image registration algorithm toward clinical implementation for interstitial prostate brachytherapy

PURPOSE

The purpose of this study was to evaluate and clinically implement a deformable surface-based magnetic resonance imaging (MRI) to three-dimensional ultrasound (US) image registration algorithm for prostate brachytherapy (BT) with the aim to reduce operator dependence and facilitate dose escalation to an MRI-defined target.

METHODS AND MATERIALS

Our surface-based deformable image registration (DIR) algorithm first translates and scales to align the US- and MR-defined prostate surfaces, followed by deformation of the MR-defined prostate surface to match the US-defined prostate surface. The algorithm performance was assessed in a phantom using three deformation levels, followed by validation in three retrospective high-dose-rate BT clinical cases. For comparison, manual rigid registration and cognitive fusion by physician were also employed. Registration accuracy was assessed using the Dice similarity coefficient (DSC) and target registration error (TRE) for embedded spherical landmarks. The algorithm was then implemented intraoperatively in a prospective clinical case.

RESULTS

In the phantom, our DIR algorithm demonstrated a mean DSC and TRE of 0.74 ± 0.08 and 0.94 ± 0.49 mm, respectively, significantly improving the performance compared to manual rigid registration with 0.64 ± 0.16 and 1.88 ± 1.24 mm, respectively. Clinical results demonstrated reduced variability compared to the current standard of cognitive fusion by physicians.

CONCLUSIONS

We successfully validated a DIR algorithm allowing for translation of MR-defined target and organ-at-risk contours into the intraoperative environment. Prospective clinical implementation demonstrated the intraoperative feasibility of our algorithm, facilitating targeted biopsies and dose escalation to the MR-defined lesion. This method provides the potential to standardize the registration procedure between physicians, reducing operator dependence.

Cross-sectional reliability and concurrent validity of a quantitative 2-dimensional ultrasound image analysis of effusion and synovial hypertrophy in knee osteoarthritis

Objective

Effusion-synovitis is related to pain and progression in knee osteoarthritis (OA), but current gold standard ultrasound (US) measures are limited to semi-quantitative grading of joint distension or 1-dimensional thickness measures. A novel quantitative 2-dimensional image analysis methodology is applied to US images of effusion-synovitis; reliability and concurrent validity was assessed in patients with knee OA.

Methods

Cross sectional analysis of US images collected from 51 patients with symptomatic knee OA were processed in ImageJ and segmented in 3DSlicer to produce a binary mask of the supra-patellar synovitis region of interest (ROI). Area measures (mm²) of total synovitis, effusion and hypertrophy components were exported. Intra-rater reliability and test-retest reliability (1-14 days washout) were estimated with intra-class correlation coefficients (ICCs). Concurrent validity was measured by Spearman correlations between quantitative measures and gold standard OMERACT and caliper measurements of synovitis.

Results

Intra-rater reliability for hypertrophy area was estimated at 0.98, 0.99 for effusion area, and 0.99 for total synovitis area. The test-retest reliability for total synovitis area was 0.63 (SEM 87.8 ​mm²), 0.59 for hypertrophy area (SEM 21.0 ​mm²), and 0.64 for effusion area (SEM 73.8 ​mm²). Correlation between total synovitis area and OMERACT grade was 0.84, 0.81 between total synovitis area and effusion-synovitis calipers, and 0.81 between total effusion area and effusion calipers.

Conclusion

This new research tool for image analysis demonstrated excellent intra-rater reliability, good concurrent validity, and moderate test-retest reliability. Quantitative 2D US measures of effusion-synovitis and its individual components may enhance the study and management of knee OA.

A power Doppler ultrasound method for improving intraoperative tip localization for visually obstructed needles in interstitial prostate brachytherapy

PURPOSE

High-dose-rate (HDR) interstitial brachytherapy (BT) is a common treatment technique for localized intermediate to high-risk prostate cancer. Transrectal ultrasound (US) imaging is typically used for guiding needle insertion, including localization of the needle tip which is critical for treatment planning. However, image artifacts can limit needle tip visibility in standard brightness (B)-mode US, potentially leading to dose delivery that deviates from the planned dose. To improve intraoperative tip visualization in visually obstructed needles, we propose a power Doppler (PD) US method which utilizes a novel wireless mechanical oscillator, validated in phantom experiments and clinical HDR-BT cases as part of a feasibility clinical trial.

METHODS

Our wireless oscillator contains a DC motor housed in a 3D printed case and is powered by rechargeable battery allowing the device to be operated by one person with no additional equipment required in the operating room. The oscillator end-piece features a cylindrical shape designed for BT applications to fit on top of the commonly used cylindrical needle mandrins. Phantom validation was completed using tissue-equivalent agar phantoms with the clinical US system and both plastic and metal needles. Our PD method was tested using a needle implant pattern matching a standard HDR-BT procedure as well as an implant pattern designed to maximize needle shadowing artifacts. Needle tip localization accuracy was assessed using the clinical method based on ideal reference needles as well as a comparison to computed tomography (CT) as a gold standard. Clinical validation was completed in five patients who underwent standard HDR-BT as part of a feasibility clinical trial. Needle tips positions were identified using B-mode US and PD US with perturbation from our wireless oscillator.

RESULTS

Absolute mean ± standard deviation tip error for B-mode alone, PD alone, and B-mode combined with PD was respectively: 0.3 ± 0.3 mm, 0.6 ± 0.5 mm, and 0.4 ± 0.2 mm for the mock HDR-BT needle implant; 0.8 ± 1.7 mm, 0.4 ± 0.6 mm, and 0.3 ± 0.5 mm for the explicit shadowing implant with plastic needles; and 0.5 ± 0.2 mm, 0.5 ± 0.3 mm, and 0.6 ± 0.2 mm for the explicit shadowing implant with metal needles. The total mean absolute tip error for all five patients in the feasibility clinical trial was 0.9 ± 0.7 mm using B-mode US alone and 0.8 ± 0.5 mm when including PD US, with increased benefit observed for needles classified as visually obstructed.

CONCLUSIONS

Our proposed PD needle tip localization method is easy to implement and requires no modifications or additions to the standard clinical equipment or workflow. We have demonstrated decreased tip localization error and variation for visually obstructed needles in both phantom and clinical cases, including providing the ability to visualize needles previously not visible using B-mode US alone. This method has the potential to improve needle visualization in challenging cases without burdening the clinical workflow, potentially improving treatment accuracy in HDR-BT and more broadly in any minimally invasive needle-based procedure.

Can ventricular 3D ultrasound of neonates with posthemorrhagic hydrocephalus inform on the need for a ventriculoperitoneal shunt?

OBJECTIVE

Some neonates born prematurely with intraventricular hemorrhage develop posthemorrhagic hydrocephalus and require lifelong treatment to divert the flow of CSF. Early prediction of the eventual need for a ventriculoperitoneal shunt (VPS) is difficult, and early discussions with families are based on statistics and the grade of hemorrhage. The authors hypothesize that change in ventricular volume during ventricular taps that is measured with repeated 3D ultrasound (3D US) imaging of the lateral ventricles could be used to assess the risk of the future requirement of a VPS.

METHODS

A total of 92 neonates with intraventricular hemorrhage who were treated in the NICU were recruited between April 2012 and November 2019. Only patients who required ventricular taps (VTs) were included in this study, resulting in the analysis of 19 patients with a total of 61 VTs. Among them, 14 patients were treated with a VPS, and in 5 patients the hydrocephalus resolved spontaneously. Parameters studied were total ventricular volume measured with 3D US, ventricular volume change after VT, the ratio between volume reduction and tap amount, the difference between tap amount and volume reduction after tap, the average tap amount, the average number of days between taps, pre-tap head circumference, and reduction in head circumference after tap.

RESULTS

Statistically significant differences were found in ventricular volume reduction after tap (p = 0.007), the ratio between volume reduction and tap amount (p = 0.03), the difference between tap amount and volume reduction after tap (p = 0.05), and the interval of days between taps (p = 0.0115).

CONCLUSIONS

Measuring with 3D US before and after VT can be a useful tool for quantifying ventricular volume. The findings in this study showed that neonates who experience a large reduction of ventricular volume after VT are more likely to be treated with a shunt than are neonates who experience a small reduction.

Ultrasound carotid plaque segmentation via image reconstruction-based self-supervised learning with limited training labels

Carotid total plaque area (TPA) is an important contributing measurement to the evaluation of stroke risk. Deep learning provides an efficient method for ultrasound carotid plaque segmentation and TPA quantification. However, high performance of deep learning requires datasets with many labeled images for training, which is very labor-intensive. Thus, we propose an image reconstruction-based self-supervised learning algorithm (IR-SSL) for carotid plaque segmentation when few labeled images are available. IR-SSL consists of pre-trained and downstream segmentation tasks. The pre-trained task learns region-wise representations with local consistency by reconstructing plaque images from randomly partitioned and disordered images. The pre-trained model is then transferred to the segmentation network as the initial parameters in the downstream task. IR-SSL was implemented with two networks, UNet++ and U-Net, and evaluated on two independent datasets of 510 carotid ultrasound images from 144 subjects at SPARC (London, Canada) and 638 images from 479 subjects at Zhongnan hospital (Wuhan, China). Compared to the baseline networks, IR-SSL improved the segmentation performance when trained on few labeled images (n = 10, 30, 50 and 100 subjects). For 44 SPARC subjects, IR-SSL yielded Dice-similarity-coefficients (DSC) of 80.14-88.84%, and algorithm TPAs were strongly correlated (r=0.962-0.993, p < 0.001) with manual results. The models trained on the SPARC images but applied to the Zhongnan dataset without retraining achieved DSCs of 80.61-88.18% and strong correlation with manual segmentation (r=0.852-0.978, p < 0.001). These results suggest that IR-SSL could improve deep learning when trained on small labeled datasets, making it useful for monitoring carotid plaque progression/regression in clinical use and trials.

Proof-of-Concept Study of a 3-D Ultrasound Scanner Used for Ankle Joint Assessment

Joint arthropathies often require continuous monitoring of the joint condition, typically performed using magnetic resonance (MR) or ultrasound (US) imaging. US imaging is often the preferred screening or diagnostic tool as it is fast and inexpensive. However, conventional 2-D US has limited capability to compare imaging results between examinations because of its operator dependence and challenges related to repeat imaging in the same location and orientation. Comparison between several imaging sessions is crucial to assess the interval progression of joint conditions. We propose a novel 3-D US scanner for ankle joint assessment that can partially overcome these issues by enabling 3-D imaging. Here, we (i) present the design of the 3-D US ankle scanner system, (ii) validate the geometric reconstruction accuracy of the system, (iii) provide preliminary images of healthy volunteer ankles and (iv) compare 3-D US imaging results with MR imaging. The 3-D ankle scanner consists of a tub filled with water, a linear US probe attached to the wall of the tub and a motorized unit that rotates the US probe 360° around the center of the tub. As the probe rotates, a 3-D US image is formed of the ankle of the patient positioned in the middle of the tub. US probe height, angle and distance from the tub center can be adjusted. The reconstruction accuracy of the system was validated in each of the coordinate directions at different probe angles using two test phantoms. A phantom consisting of numerous Ø200-µm nylon threads with known spacing and a metal rod with machined grooves was used for validation in the horizontal and vertical directions, respectively. The volumetric reconstruction accuracy validation was performed by imaging an agar phantom with two embedded spheres of known volumes and comparing the segmented sphere volume and surface area with the expected. Three-dimensional US and MR images of both ankles of five healthy volunteers were acquired. Distal tibia and proximal talus were segmented in both imaging modalities and the surfaces of these segmentations were compared using the 95% Hausdorff and mean surface distances. The observed mean linear measurement error in all the coordinate directions and over several probe angles was 2.98%. The mean measured volumetric measurement error was 3.45%. The volunteer study revealed useful features for joint assessment present in the 3-D ankle scanner images, such as joint spacing, distal tibia and proximal talus. The mean 95% Hausdorff and mean surface distances between segmentations in 3-D US and MR images were 5.68 ± 0.83 and 2.01 ± 0.30 mm, respectively. In this proof-of-concept study, the 3-D US ankle scanner enabled visualization of the ankle joint features that are useful for joint assessment.

3D US-Based Evaluation and Optimization of Tumor Coverage for US-Guided Percutaneous Liver Thermal Ablation

Complete tumor coverage by the thermal ablation zone and with a safety margin (5 or 10 mm) is required to achieve the entire tumor eradication in liver tumor ablation procedures. However, 2D ultrasound (US) imaging has limitations in evaluating the tumor coverage by imaging only one or multiple planes, particularly for cases with multiple inserted applicators or irregular tumor shapes. In this paper, we evaluate the intra-procedural tumor coverage using 3D US imaging and investigate whether it can provide clinically needed information. Using data from 14 cases, we employed surface- and volume-based evaluation metrics to provide information on any uncovered tumor region. For cases with incomplete tumor coverage or uneven ablation margin distribution, we also proposed a novel margin uniformity -based approach to provide quantitative applicator adjustment information for optimization of tumor coverage. Both the surface- and volume-based metrics showed that 5 of 14 cases had incomplete tumor coverage according to the estimated ablation zone. After applying our proposed applicator adjustment approach, the simulated results showed that 92.9% (13 of 14) cases achieved 100% tumor coverage and the remaining case can benefit by increasing the ablation time or power. Our proposed method can evaluate the intra-procedural tumor coverage and intuitively provide applicator adjustment information for the physician. Our 3D US-based method is compatible with the constraints of conventional US-guided ablation procedures and can be easily integrated into the clinical workflow.

Ageing and degeneration analysis using ageing-related dynamic attention on lateral cephalometric radiographs

With the increase of the ageing in the world’s population, the ageing and degeneration studies of physiological characteristics in human skin, bones, and muscles become important topics. Research on the ageing of bones, especially the skull, are paid much attention in recent years. In this study, a novel deep learning method representing the ageing-related dynamic attention (ARDA) is proposed. The proposed method can quantitatively display the ageing salience of the bones and their change patterns with age on lateral cephalometric radiographs images (LCR) images containing the craniofacial and cervical spine. An age estimation-based deep learning model based on 14142 LCR images from 4 to 40 years old individuals is trained to extract ageing-related features, and based on these features the ageing salience maps are generated by the Grad-CAM method. All ageing salience maps with the same age are merged as an ARDA map corresponding to that age. Ageing salience maps show that ARDA is mainly concentrated in three regions in LCR images: the teeth, craniofacial, and cervical spine regions. Furthermore, the dynamic distribution of ARDA at different ages and instances in LCR images is quantitatively analyzed. The experimental results on 3014 cases show that ARDA can accurately reflect the development and degeneration patterns in LCR images.

Does the Head Position Affect Neonatal Lateral Ventricular Volume?

OBJECTIVE

This study aimed to determine whether there are differences in the lateral ventricular volumes, measured by three-dimensional ultrasound (3D US) depending on the posture of the neonate (right and left lateral decubitus).

STUDY DESIGN

This was a prospective analysis of the lateral ventricular volumes of preterm neonates recruited from Victoria Hospital, London, Ontario (June 2018-November 2019). A total of 24 premature neonates were recruited. The first cohort of 18 unstable premature neonates were imaged with 3D US in their current sides providing 15 right-sided and 16 left-sided 3D US images. The neonates in the second cohort of six relatively stable infants were imaged after positioning in each lateral decubitus position for 30 minutes, resulting in 40 3D US images obtained from 20 posture change sessions. The images were segmented and the ventricle volumes in each lateral posture were compared with determine whether the posture of the head influenced the volume of the upper and lower ventricle.

RESULTS

For the first cohort who did not have their posture changed, the mean of the right and left ventricle volumes were 23.81 ± 15.51 and 21.61 ± 16.19 cm³, respectively, for the 15 images obtained in a right lateral posture and 13.96 ± 8.69 and 14.92 ± 8.77 cm³, respectively, for the 16 images obtained in the left lateral posture. Similarly, for the second cohort who had their posture changed, the mean of right and left ventricle volumes were 20.92 ± 17.3 and 32.74 ± 32.33 cm³, respectively, after 30 minutes in the right lateral posture, and 21.25 ± 18.4 and 32.65 ± 31.58 cm³, respectively, after 30 minutes in the left lateral posture. Our results failed to show a statistically significant difference in ventricular volumes dependence on posture.

CONCLUSION

Head positioned to any lateral side for 30 minutes does not have any effect on the lateral ventricular volumes of neonates.

KEY POINTS

· Three-dimensional cranial ultrasound can measure neonatal ventricle volume.. · Ventricle volume in each lateral ventricle may be affected by posture of the neonate.. · The 30 minutes in any lateral posture is not sufficient to create volume difference in lateral ventricles..

Effect of dataset size, image quality, and image type on deep learning-based automatic prostate segmentation in 3D ultrasound

Three-dimensional (3D) transrectal ultrasound (TRUS) is utilized in prostate cancer diagnosis and treatment, necessitating time-consuming manual prostate segmentation. We have previously developed an automatic 3D prostate segmentation algorithm involving deep learning prediction on radially sampled 2D images followed by 3D reconstruction, trained on a large, clinically diverse dataset with variable image quality. As large clinical datasets are rare, widespread adoption of automatic segmentation could be facilitated with efficient 2D-based approaches and the development of an image quality grading method. The complete training dataset of 6761 2D images, resliced from 206 3D TRUS volumes acquired using end-fire and side-fire acquisition methods, was split to train two separate networks using either end-fire or side-fire images. Split datasets were reduced to 1000, 500, 250, and 100 2D images. For deep learning prediction, modified U-Net and U-Net++ architectures were implemented and compared using an unseen test dataset of 40 3D TRUS volumes. A 3D TRUS image quality grading scale with three factors (acquisition quality, artifact severity, and boundary visibility) was developed to assess the impact on segmentation performance. For the complete training dataset, U-Net and U-Net++ networks demonstrated equivalent performance, but when trained using split end-fire/side-fire datasets, U-Net++ significantly outperformed the U-Net. Compared to the complete training datasets, U-Net++ trained using reduced-size end-fire and side-fire datasets demonstrated equivalent performance down to 500 training images. For this dataset, image quality had no impact on segmentation performance for end-fire images but did have a significant effect for side-fire images, with boundary visibility having the largest impact. Our algorithm provided fast (<1.5 s) and accurate 3D segmentations across clinically diverse images, demonstrating generalizability and efficiency when employed on smaller datasets, supporting the potential for widespread use, even when data is scarce. The development of an image quality grading scale provides a quantitative tool for assessing segmentation performance.

Spatially tracked whole-breast three-dimensional ultrasound system toward point-of-care breast cancer screening in high-risk women with dense breasts

BACKGROUND

Mammographic screening has reduced mortality in women through the early detection of breast cancer. However, the sensitivity for breast cancer detection is significantly reduced in women with dense breasts, in addition to being an independent risk factor. Ultrasound (US) has been proven effective in detecting small, early-stage, and invasive cancers in women with dense breasts.

PURPOSE

To develop an alternative, versatile, and cost-effective spatially tracked three-dimensional (3D) US system for whole-breast imaging. This paper describes the design, development, and validation of the spatially tracked 3DUS system, including its components for spatial tracking, multi-image registration and fusion, feasibility for whole-breast 3DUS imaging and multi-planar visualization in tissue-mimicking phantoms, and a proof-of-concept healthy volunteer study.

METHODS

The spatially tracked 3DUS system contains (a) a six-axis manipulator and counterbalanced stabilizer, (b) an in-house quick-release 3DUS scanner, adaptable to any commercially available US system, and removable, allowing for handheld 3DUS acquisition and two-dimensional US imaging, and (c) custom software for 3D tracking, 3DUS reconstruction, visualization, and spatial-based multi-image registration and fusion of 3DUS images for whole-breast imaging. Spatial tracking of the 3D position and orientation of the system and its joints (J_1-6 ) were evaluated in a clinically accessible workspace for bedside point-of-care (POC) imaging. Multi-image registration and fusion of acquired 3DUS images were assessed with a quadrants-based protocol in tissue-mimicking phantoms and the target registration error (TRE) was quantified. Whole-breast 3DUS imaging and multi-planar visualization were evaluated with a tissue-mimicking breast phantom. Feasibility for spatially tracked whole-breast 3DUS imaging was assessed in a proof-of-concept healthy male and female volunteer study.

RESULTS

Mean tracking errors were 0.87 ± 0.52, 0.70 ± 0.46, 0.53 ± 0.48, 0.34 ± 0.32, 0.43 ± 0.28, and 0.78 ± 0.54 mm for joints J_1-6 , respectively. Lookup table (LUT) corrections minimized the error in joints J₁ , J₂ , and J₅ . Compound motions exercising all joints simultaneously resulted in a mean tracking error of 1.08 ± 0.88 mm (N = 20) within the overall workspace for bedside 3DUS imaging. Multi-image registration and fusion of two acquired 3DUS images resulted in a mean TRE of 1.28 ± 0.10 mm. Whole-breast 3DUS imaging and multi-planar visualization in axial, sagittal, and coronal views were demonstrated with the tissue-mimicking breast phantom. The feasibility of the whole-breast 3DUS approach was demonstrated in healthy male and female volunteers. In the male volunteer, the high-resolution whole-breast 3DUS acquisition protocol was optimized without the added complexities of curvature and tissue deformations. With small post-acquisition corrections for motion, whole-breast 3DUS imaging was performed on the healthy female volunteer showing relevant anatomical structures and details.

CONCLUSIONS

Our spatially tracked 3DUS system shows potential utility as an alternative, accurate, and feasible whole-breast approach with the capability for bedside POC imaging. Future work is focused on reducing misregistration errors due to motion and tissue deformations, to develop a robust spatially tracked whole-breast 3DUS acquisition protocol, then exploring its clinical utility for screening high-risk women with dense breasts.

Technical Note: Commissioning of an ultrasound-compatible surrogate vaginal cylinder for transvaginal ultrasound-based gynecologic high-dose-rate brachytherapy

PURPOSE

To provide a comprehensive set of commissioning tests for clinical implementation of three-dimensional transvaginal ultrasound (3D TVUS) as a replacement of computed tomography (CT) for applicator reconstruction in gynecologic intracavitary high-dose-rate brachytherapy with a multi-channel vaginal cylinder.

METHODS

We introduce an ultrasound-compatible "surrogate" vaginal cylinder (SVC) for reconstruction of Elekta's CT-MR Multi Channel Applicator (MCVC) in 3D TVUS. The MCVC is digitized over the SVC in 3DUS using digital library model overlay. Consulting guidelines from various sources (CPQR, GEC-ESTRO, AAPM), we identify and describe three tests specific to commissioning the SVC: 1) verification of SVC outer dimensions, 2) source position accuracy of MCVC digitization over the SVC in 3D TVUS, and 3) MRI/US registration error.

RESULTS

The SVC outer dimensions (diameter and A-D marker locations) were well matched to the MCVC, however a 0.6 mm discrepancy in length between cylinder tips was observed. Source position accuracy was within 1 mm (tolerance recommended by CPQR) when reconstructing the MCVC in 3D TVUS. Dice similarity coefficients and target registration error for MRI/3D TVUS registration was similar to MRI/CT registration, which is the clinical standard.

CONCLUSIONS

These commissioning tests are performed using institutional equipment but provide the framework for any practitioners to repeat in their own setup, to demonstrate safe adoption of the 3D TVUS system for patient treatments. We demonstrate that MRI/US-based workflow achieves similar source position accuracy and image registration error as standard MRI/CT, which is consistent with standard tolerances. This is a critical step towards replacement of CT with US in gynecologic high-dose-rate brachytherapy treatments with the MCVC. This article is protected by copyright. All rights reserved.

Improving Infant Hydrocephalus Outcomes in Uganda: A Longitudinal Prospective Study Protocol for Predicting Developmental Outcomes and Identifying Patients at Risk for Early Treatment Failure after ETV/CPC

Infant hydrocephalus poses a severe global health burden; 80% of cases occur in the developing world where patients have limited access to neurosurgical care. Surgical treatment combining endoscopic third ventriculostomy and choroid plexus cauterization (ETV/CPC), first practiced at CURE Children's Hospital of Uganda (CCHU), is as effective as standard ventriculoperitoneal shunt (VPS) placement while requiring fewer resources and less post-operative care. Although treatment focuses on controlling ventricle size, this has little association with treatment failure or long-term outcome. This study aims to monitor the progression of hydrocephalus and treatment response, and investigate the association between cerebral physiology, brain growth, and neurodevelopmental outcomes following surgery. We will enroll 300 infants admitted to CCHU for treatment. All patients will receive pre/post-operative measurements of cerebral tissue oxygenation (SO2), cerebral blood flow (CBF), and cerebral metabolic rate of oxygen consumption (CMRO2) using frequency-domain near-infrared combined with diffuse correlation spectroscopies (FDNIRS-DCS). Infants will also receive brain imaging, to monitor tissue/ventricle volume, and neurodevelopmental assessments until two years of age. This study will provide a foundation for implementing cerebral physiological monitoring to establish evidence-based guidelines for hydrocephalus treatment. This paper outlines the protocol, clinical workflow, data management, and analysis plan of this international, multi-center trial.

Deep Learning-Based Carotid Plaque Segmentation from B-Mode Ultrasound Images

Carotid ultrasound measurement of total plaque area (TPA) provides a method for quantifying carotid plaque burden and monitoring changes in carotid atherosclerosis in response to medical treatment. Plaque boundary segmentation is required to generate the TPA measurement; however, training of observers and manual delineation are time consuming. Thus, our objective was to develop an automated plaque segmentation method to generate TPA from longitudinal carotid ultrasound images. In this study, a deep learning-based method, modified U-Net, was used to train the segmentation model and generate TPA measurement. A total of 510 plaques from 144 patients were used in our study, where the Monte Carlo cross-validation was used by randomly splitting the data set into 2/3 and 1/3 for training and testing. Two observers were trained to manually delineate the 510 plaques separately, which were used as the ground-truth references. Two U-Net models (M1 and M2) were trained using the two different ground-truth data sets from the two observers to evaluate the accuracy, variability and sensitivity on the ground-truth data sets used for training our method. The results of the algorithm segmentations of the two models yielded strong agreement with the two manual segmentations with the Pearson correlation coefficient r = 0.989 (p < 0.0001) and r = 0.987 (p < 0.0001). Comparison of the U-Net and manual segmentations resulted in mean TPA differences of 0.05 ± 7.13 mm² (95% confidence interval: 14.02-13.02 mm²) and 0.8 ± 8.7 mm² (17.85-16.25 mm²) for the two models, which are small compared with the TPA range in our data set from 4.7 to 312.8 mm². Furthermore, the mean time to segment a plaque was only 8.3 ± 3.1 ms. The presented deep learning-based method described has sufficient accuracy with a short computation time and exhibits high agreement between the algorithm and manual TPA measurements, suggesting that the method could be used to measure TPA and to monitor the progression and regression of carotid atherosclerosis.

Feasibility of fusing three-dimensional transabdominal and transrectal ultrasound images for comprehensive intraoperative visualization of gynecologic brachytherapy applicators

PURPOSE

In this study, we propose combining three-dimensional (3D) transrectal ultrasound (TRUS) and 3D transabdominal ultrasound (TAUS) images of gynecologic brachytherapy applicators to leverage the advantages of each imaging perspective, providing a broader field-of-view and allowing previously obscured features to be recovered. The aim of this study was to evaluate the feasibility of fusing these 3D ultrasound (US) perspectives based on the applicator geometry in a phantom prior to clinical implementation.

METHODS

In proof-of-concept experiments, 3D US images of application-specific multimodality pelvic phantoms were acquired with tandem-and-ring and tandem-and-ovoids applicators using previously validated imaging systems. Two TRUS images were acquired at different insertion depths and manually fused based on the position of the ring/ovoids to broaden the TRUS field-of-view. The phantom design allowed "abdominal thickness" to be modified to represent different body habitus and TAUS images were acquired at three thicknesses for each applicator. The merged TRUS images were then combined with TAUS images by rigidly aligning applicator components and manually refining the registration using the positions of source channels and known tandem length, as well as the ring diameter for the tandem-and-ring applicator. Combined 3D US images were manually, rigidly registered to images from a second modality (magnetic resonance (MR) imaging for the tandem-and-ring applicator and X-ray computed tomography (CT) for the tandem-and-ovoids applicator (based on applicator compatibility)) to assess alignment. Four spherical fiducials were used to calculate target registration errors (TREs), providing a metric for validating registrations, where TREs were computed using root-mean-square distances to describe the alignment of manually identified corresponding fiducials. An analysis of variance (ANOVA) was used to identify statistically significant differences (p < 0.05) between the TREs for the three abdominal thicknesses for each applicator type. As an additional indicator of geometric accuracy, the bladder was segmented in the 3D US and corresponding MR/CT images, and volumetric differences and Dice similarity coefficients (DSCs) were calculated.

RESULTS

For both applicator types, the combination of 3D TRUS with 3D TAUS images allowed image information obscured by the shadowing artifacts under single imaging perspectives to be recovered. For the tandem-and-ring applicator, the mean ± one standard deviation (SD) TREs from the images with increasing thicknesses were 1.37 ± 1.35 mm, 1.84 ± 1.22 mm, and 1.60 ± 1.00 mm. Similarly, for the tandem-and-ovoids applicator, the mean ± SD TREs from the images with increasing thicknesses were 1.37 ± 0.35 mm, 1.95 ± 0.90 mm, and 1.61 ± 0.76 mm. No statistically significant difference was detected in the TREs for the three thicknesses for either applicator type. The mean volume differences for the bladder segmentations were 3.14% and 2.33% and mean DSCs were 87.8% and 87.7% for the tandem-and-ring and tandem-and-ovoids applicators, respectively.

CONCLUSIONS

In this proof-of-concept study, we demonstrated the feasibility of fusing 3D TRUS and 3D TAUS images based on the geometry of tandem-and-ring and tandem-and-ovoids applicators. This represents a step toward an accessible and low-cost 3D imaging method for gynecologic brachytherapy, with the potential to extend this approach to other intracavitary configurations and hybrid applicators.

Design of an Ultrasound-Navigated Prostate Cancer Biopsy System for Nationwide Implementation in Senegal

This paper presents the design of NaviPBx, an ultrasound-navigated prostate cancer biopsy system. NaviPBx is designed to support an affordable and sustainable national healthcare program in Senegal. It uses spatiotemporal navigation and multiparametric transrectal ultrasound to guide biopsies. NaviPBx integrates concepts and methods that have been independently validated previously in clinical feasibility studies and deploys them together in a practical prostate cancer biopsy system. NaviPBx is based entirely on free open-source software and will be shared as a free open-source program with no restriction on its use. NaviPBx is set to be deployed and sustained nationwide through the Senegalese Military Health Service. This paper reports on the results of the design process of NaviPBx. Our approach concentrates on "frugal technology", intended to be affordable for low-middle income (LMIC) countries. Our project promises the wide-scale application of prostate biopsy and will foster time-efficient development and programmatic implementation of ultrasound-guided diagnostic and therapeutic interventions in Senegal and beyond.

Deep Learning-Based Measurement of Total Plaque Area in B-Mode Ultrasound Images

Measurement of total-plaque-area (TPA) is important for determining long term risk for stroke and monitoring carotid plaque progression. Since delineation of carotid plaques is required, a deep learning method can provide automatic plaque segmentations and TPA measurements; however, it requires large datasets and manual annotations for training with unknown performance on new datasets. A UNet++ ensemble algorithm was proposed to segment plaques from 2D carotid ultrasound images, trained on three small datasets (n = 33, 33, 34 subjects) and tested on 44 subjects from the SPARC dataset (n = 144, London, Canada). The ensemble was also trained on the entire SPARC dataset and tested with a different dataset (n = 497, Zhongnan Hospital, China). Algorithm and manual segmentations were compared using Dice-similarity-coefficient (DSC), and TPAs were compared using the difference ( ∆TPA), Pearson correlation coefficient (r) and Bland-Altman analyses. Segmentation variability was determined using the intra-class correlation coefficient (ICC) and coefficient-of-variation (CoV). For 44 SPARC subjects, algorithm DSC was 83.3-85.7%, and algorithm TPAs were strongly correlated (r = 0.985-0.988; p < 0.001) with manual results with marginal biases (0.73-6.75) mm ² using the three training datasets. Algorithm ICC for TPAs (ICC = 0.996) was similar to intra- and inter-observer manual results (ICC = 0.977, 0.995). Algorithm CoV = 6.98% for plaque areas was smaller than the inter-observer manual CoV (7.54%). For the Zhongnan dataset, DSC was 88.6% algorithm and manual TPAs were strongly correlated (r = 0.972, p < 0.001) with ∆TPA = -0.44 ±4.05 mm ² and ICC = 0.985. The proposed algorithm trained on small datasets and segmented a different dataset without retraining with accuracy and precision that may be useful clinically and for research.

Design and validation of an MRI-compatible mechatronic system for needle delivery to localized prostate cancer

PURPOSE

Prostate cancer is the most common non-cutaneous cancer among men in the United States and is the second leading cause of cancer death in American men. (Siegel et al. [2019] CA: A Cancer J Clin.69(1):7-34.) Focal laser ablation (FLA) has the potential to control small tumors while preserving urinary and erectile function by leaving the neurovascular bundles and urethral sphincters intact. Accurate needle guidance is critical to the success of FLA. Multiparametric magnetic resonance images (mpMRI) can be used to identify targets, guide needles, and assess treatment outcomes. The purpose of this work was to design and evaluate the accuracy of an MR-compatible mechatronic system for in-bore transperineal guidance of FLA ablation needles to localized lesions in the prostate.

METHODS

The mechatronic system was constructed entirely of non-ferromagnetic materials, with actuation controlled by piezoelectric motors and optical encoders. The needle guide hangs between independent front and rear two-link arms, which allows for horizontal and vertical translation as well as pitch and yaw rotation of the guide with a 6.0 cm range of motion in each direction. Needles are inserted manually through a chosen hole in the guide, which has been aligned with the target in the prostate. Open-air positioning error was evaluated using an optical tracking system (0.25 mm RMS accuracy) to measure 125 trajectories in free space. Correction of systematic bias in the system was performed using 85 of the trajectories, and the remaining 40 were used to estimate the residual error. The error was calculated as the horizontal and vertical displacement between the axis of the desired and measured trajectories at a typical needle insertion depth of 10 cm. MR-compatibility was evaluated using a grid phantom to assess image degradation due to the presence of the system, and induced force, heating, and electrical interference in the system were assessed qualitatively. In-bore positioning error was evaluated on 25 trajectories.

RESULTS

Open-air mean positioning error at the needle tip was 0.80 ± 0.36 mm with a one-sided 95% confidence interval of 1.40 mm. The mean deviation of needle trajectories from the planned direction was 0.14 ± 0.06^∘ . In the MR bore, the mean positioning error at the needle tip was 2.11 ± 1.05 mm with a one-sided 95% prediction interval of 3.84 mm. The mean angular error was 0.49 ± 0.26^∘ . The system was found to be compatible with the MR environment under the specified gradient-echo sequence parameters used in this study.

CONCLUSION

A complete system for delivering needles to localized prostate tumors was developed and described in this work, and its compatibility with the MR environment was demonstrated. In-bore MRI positioning error was sufficiently small for targeting small localized prostate tumors.

Thanka Mural Inpainting Based on Multi-Scale Adaptive Partial Convolution and Stroke-Like Mask

Thanka murals are important cultural heritages of Tibet, but many precious murals were damaged during history. Thanka mural restoration is very important for the protection of Tibetan cultural heritage. Partial convolution has great potential for Thanka mural restoration due to its outstanding performance for inpainting irregular holes. However, three challenges prevent the existing partial convolution-based methods from solving Thanka restoration problems: 1) the features of multi-scale objects in Thanka murals cannot be extracted correctly because of single-scale partial convolution; 2) the stroke-like Thanka inpainting mode cannot be effectively simulated and learned by existing rectangular or arbitrary masks; and 3) the original content of damaged Thanka murals cannot be restored. To resolve these problems, we propose a Thanka mural inpainting method based on multi-scale adaptive partial convolution and stroke-like masks. The proposed method consists of three parts: 1) a kernel-level multi-scale adaptive partial convolution (MAPConv) to accurately discriminate valid pixels from invalid pixels, and to extract the features of multi-scale objects; 2) a parameter-configurable stroke-like mask generation method to simulate and learn the stroke-like Thanka inpainting mode; and 3) a 2-phase learning framework based on MAPConv Unet and different loss functions to restore the original content of Thanka murals. Experiments on both simulated and real damages of Thanka murals demonstrated that our approach works well on a small dataset (N=2780), generates realistic mural content, and restores the damaged Thanka murals with high speed (600 ms for multiple holes in 512×512 images). The proposed end-to-end method can be applied to other small datasets-based inpainting tasks.

Development of a mechatronic guidance system for targeted ultrasound-guided biopsy under high-resolution positron emission mammography localization

PURPOSE

Image-guided needle biopsy of small, detectable lesions is crucial for early-stage diagnosis, treatment planning, and management of breast cancer. High-resolution positron emission mammography (PEM) is a dedicated functional imaging modality that can detect breast cancer independent of breast tissue density, but anatomical context and real-time needle visualization are not yet available to guide biopsy. We propose a mechatronic guidance system integrating an ultrasound (US)-guided core-needle biopsy (CNB) with high-resolution PEM localization to improve the spatial sampling of breast lesions. This paper presents the benchtop testing and phantom studies to evaluate the accuracy of the system and its constituent components for targeted PEM-US-guided biopsy under simulated high-resolution PEM localization.

METHODS

A mechatronic guidance system was developed to operate with the Radialis PEM system and a conventional US system. The system includes a user-operated guidance arm and end-effector biopsy device, integrating a US transducer and CNB gun, with its needle focused on a remote center of motion (RCM). Custom software modules were developed to track, display, and guide the end-effector biopsy device. Registration of the mechatronic guidance system to a simulated PEM detector plate was performed using a landmark-based method. Testing was performed with fiducials positioned in the peripheral and central regions of the simulated detector plate and registration error was quantified. Breast phantom experiments were performed under ideal detection and localization to evaluate for bias in the end-effector biopsy device. The accuracy of the complete mechatronic guidance system to perform targeted breast biopsy was assessed using breast phantoms with simulated lesions. Three-dimensional positioning error was quantified, and principal component analysis assessed for directional trends in 3D space within 95% prediction intervals. Targeted breast biopsies with test phantoms were performed and an overall in-plane needle targeting error was quantified.

RESULTS

The mean registration errors were 0.63 mm (N = 44) and 0.73 mm (N = 72) in the peripheral and central regions of the simulated PEM detector plate, respectively. A 3D 95% prediction ellipsoid shows an error volume <2.0 mm in diameter, centered on the mean registration error. Under ideal detection and localization, targets <1.0 mm in diameter can be sampled with 95% confidence. The complete mechatronic guidance system was able to successfully spatially sample simulated breast lesions, 4 mm and 6 mm in diameter and height (N = 20) in known 3D positions in the PEM image coordinate space. The 3D positioning error was 0.85 mm (N = 20) with 0.64 mm in-plane and 0.44 mm cross-plane component errors. Targeted breast biopsies resulted in a mean in-plane needle targeting error of 1.08 mm (N = 15) allowing for targets 1.32 mm in radius to be sampled with 95% confidence.

CONCLUSIONS

We demonstrated the utility of our mechatronic guidance system for targeted breast biopsy under high-resolution PEM localization. Breast phantom studies showed the ability to accurately guide, position, and target breast lesions with the accuracy to spatially sample targets <3.0 mm in diameter with 95% confidence. Future work will integrate the developed system with the Radialis PEM system toward combined PEM-US-guided breast biopsy.

Characterization and registration of 3D ultrasound for use in permanent breast seed implant brachytherapy treatment planning

PURPOSE

Permanent breast seed implant (PBSI) brachytherapy is a novel technique for early-stage breast cancer. Computed tomography (CT) images are used for treatment planning and freehand 2D ultrasound for implant guidance. The multimodality imaging approach leads to discrepancies in target identification. To address this, a prototype 3D ultrasound (3DUS) system was recently developed for PBSI. In this study, we characterize the 3DUS system performance, establish QA baselines, and develop and test a method to register 3DUS images to CT images for PBSI planning.

METHODS AND MATERIALS

3DUS system performance was characterized by testing distance and volume measurement accuracy, and needle template alignment accuracy. 3DUS-CT registration was achieved through point-based registration using a 3D-printed model designed and constructed to provide visible landmarks on both images and tested on an in-house made gel breast phantom.

RESULTS

The 3DUS system mean distance measurement accuracy was within 1% in axial, lateral, and elevational directions. A volumetric error of 3% was observed. The mean needle template alignment error was 1.0° ± 0.3 ° and 1.3 ± 0.5 mm. The mean 3DUS-CT registration error was within 3 mm when imaging at the breast centre or across all breast quadrants.

CONCLUSIONS

This study provided baseline data to characterize the performance of a prototype 3DUS system for PBSI planning and developed and tested a method to obtain accurate 3DUS-CT image registration for PBSI planning. Future work will focus on system validation and characterization in a clinical context as well as the assessment of impact on treatment plans.

Multiple objective planning for thermal ablation of liver tumors

PURPOSE

Preoperative treatment planning is key to ensure successful thermal ablation of liver tumors. The planning aims to minimize the number of electrodes required for complete ablation and the damage to the surrounding tissues while satisfying multiple clinical constraints. This is a challenging multiple objective planning problem, in which the trade-off between different objectives must be considered.

METHODS

We propose a novel method to solve the multiple objective planning problem, which combines the set cover-based model and Pareto optimization. The set cover-based model considers multiple clinical constraints and generates several clinically feasible treatment plans, among which the Pareto optimization is performed to find the trade-off between different objectives.

RESULTS

We evaluated the proposed method on 20 tumors of 11 patients in two different situations used in common thermal ablation approaches: with and without the pull-back technique. Pareto optimal plans were found and verified to be clinically acceptable in all cases, which can find the trade-off between the number of electrodes and the damage to the surrounding tissues.

CONCLUSION

The proposed method performs well in the two different situations we considered: with or without the pull-back technique. It can generate Pareto optimal plans satisfying multiple clinical constraints. These plans consider the trade-off between different planning objectives.

A Voxel-Based Fully Convolution Network and Continuous Max-Flow for Carotid Vessel-Wall-Volume Segmentation From 3D Ultrasound Images

Vessel-wall-volume (VWV) is an important three-dimensional ultrasound (3DUS) metric used in the assessment of carotid plaque burden and monitoring changes in carotid atherosclerosis in response to medical treatment. To generate the VWV measurement, we proposed an approach that combined a voxel-based fully convolution network (Voxel-FCN) and a continuous max-flow module to automatically segment the carotid media-adventitia (MAB) and lumen-intima boundaries (LIB) from 3DUS images. Voxel-FCN includes an encoder consisting of a general 3D CNN and a 3D pyramid pooling module to extract spatial and contextual information, and a decoder using a concatenating module with an attention mechanism to fuse multi-level features extracted by the encoder. A continuous max-flow algorithm is used to improve the coarse segmentation provided by the Voxel-FCN. Using 1007 3DUS images, our approach yielded a Dice-similarity-coefficient (DSC) of 93.2±3.0% for the MAB in the common carotid artery (CCA), and 91.9±5.0% in the bifurcation by comparing algorithm and expert manual segmentations. We achieved a DSC of 89.5±6.7% and 89.3±6.8% for the LIB in the CCA and the bifurcation respectively. The mean errors between the algorithm-and manually-generated VWVs were 0.2±51.2 mm³ for the CCA and -4.0±98.2 mm³ for the bifurcation. The algorithm segmentation accuracy was comparable to intra-observer manual segmentation but our approach required less than 1s, which will not alter the clinical work-flow as 10s is required to image one side of the neck. Therefore, we believe that the proposed method could be used clinically for generating VWV to monitor progression and regression of carotid plaques.

Geometrically variable three-dimensional ultrasound for mechanically assisted image-guided therapy of focal liver cancer tumors

PURPOSE

Image-guided focal ablation procedures are first-line therapy options in the treatment of liver cancer tumors that provide advantageous reductions in patient recovery times and complication rates relative to open surgery. However, extensive physician training is required and image guidance variabilities during freehand therapy applicator placement limit the sufficiency of ablation volumes and the overall potential of these procedures. We propose the use of three-dimensional ultrasound (3D US) to provide guidance and localization of therapy applicators, augmenting current ablation therapies without the need for specialized procedure suites. We have developed a novel scanning mechanism for geometrically variable 3D US images, a mechanical tracking system, and a needle applicator insertion workflow using a custom needle applicator guide for targeted image-guided procedures.

METHODS

A three-motor scanner was designed to use any commercially available US probe to generate accurate, consistent, and geometrically variable 3D US images. The designed scanner was mounted on a counterbalanced stabilizing and mechanical tracking system for determining the US probe orientation, which was assessed using optical tracking. Further exploiting the utility of the motorized scanner, an image-guidance workflow was developed that moved the probe to any identified target within an acquired 3D US image. The complete 3D US guidance system was used to perform mock targeted interventional procedures on a phantom by selecting a target in a 3D US image, navigating to the target, and performing needle insertion using a custom 3D-printed needle applicator guide. Registered postinsertion 3D US images and cone-beam computed tomography (CBCT) images were used to evaluate tip targeting errors when using the motors, tracking system, or mixed navigation approaches. Two 3D US image geometries were investigated to assess the accuracy of a small-footprint tilt approach and a large field-of-view hybrid approach for a total of 48 targeted needle insertions. 3D US image quality was evaluated in a healthy volunteer and compared to a commercially available matrix array US probe.

RESULTS

A mean positioning error of 1.85 ± 1.33 mm was observed when performing compound joint manipulations with the mechanical tracking system. A combined approach for navigation that incorporated the motorized movement and the in-plane tracking system corrections performed the best with a mean tip error of 3.77 ± 2.27 mm and 4.27 ± 2.47 mm based on 3D US and CBCT images, respectively. No significant differences were observed between hybrid and tilt image acquisition geometries with all mean registration errors ≤1.2 mm. 3D US volunteer images resulted in clear reconstruction of clinically relevant anatomy.

CONCLUSIONS

A mechanically tracked system with geometrically variable 3D US provides a utility that enables enhanced applicator guidance, placement verification, and improved clinical workflow during focal liver tumor ablation procedures. Evaluations of the tracking accuracy, targeting capabilities, and clinical imaging feasibility of the proposed 3D US system, provided evidence for clinical translation. This system could provide a workflow for improving applicator placement and reducing local cancer recurrence during interventional procedures treating liver cancer and has the potential to be expanded to other abdominal interventions and procedures.

A semiautomatic segmentation method for interstitial needles in intraoperative 3D transvaginal ultrasound images for high-dose-rate gynecologic brachytherapy of vaginal tumors

PURPOSE

The purpose of this study was to evaluate the use of a semiautomatic algorithm to simultaneously segment multiple high-dose-rate (HDR) gynecologic interstitial brachytherapy (ISBT) needles in three-dimensional (3D) transvaginal ultrasound (TVUS) images, with the aim of providing a clinically useful tool for intraoperative implant assessment.

METHODS AND MATERIALS

A needle segmentation algorithm previously developed for HDR prostate brachytherapy was adapted and extended to 3D TVUS images from gynecologic ISBT patients with vaginal tumors. Two patients were used for refining/validating the modified algorithm and five patients (8-12 needles/patient) were reserved as an unseen test data set. The images were filtered to enhance needle edges, using intensity peaks to generate feature points, and leveraged the randomized 3D Hough transform to identify candidate needle trajectories. Algorithmic segmentations were compared against manual segmentations and calculated dwell positions were evaluated.

RESULTS

All 50 test data set needles were successfully segmented with 96% of algorithmically segmented needles having angular differences <3° compared with manually segmented needles and the maximum Euclidean distance was <2.1 mm. The median distance between corresponding dwell positions was 0.77 mm with 86% of needles having maximum differences <3 mm. The mean segmentation time using the algorithm was <30 s/patient.

CONCLUSIONS

We successfully segmented multiple needles simultaneously in intraoperative 3D TVUS images from gynecologic HDR-ISBT patients with vaginal tumors and demonstrated the robustness of the algorithmic approach to image artifacts. This method provided accurate segmentations within a clinically efficient timeframe, providing the potential to be translated into intraoperative clinical use for implant assessment.

Automatic Radiofrequency Ablation Planning for Liver Tumors With Multiple Constraints Based on Set Covering

Radiofrequency ablation (RFA) is now a widely used minimally invasive treatment method for hepatic tumors. Preoperative planning plays a vital role in RFA therapy. With increasing tumor size, multiple overlapping ablations are needed, which are challenging to optimize while considering clinical constraints. In this paper, we present a new automatic RFA planning method. First, a 2-steps set cover-based model is formulated, which can integrate multiple clinical constraints for optimization of overlapping ablations. To ensure that the planning model can be solved in a reasonable time, a search space reducing strategy is then proposed. We also developed an algorithm for automatic RFA electrode selection, which provides a proper electrode ablation zone for the planning model. The proposed method was evaluated with 20 tumors of varying sizes (0.92 cm³ to 28.4 cm³). Results showed that the proposed method can generate clinical feasible RFA plans with a minimum number of RFA electrodes and ablations, complete tumor coverage and minimized ablation of normal tissue.

Chronic Obstructive Pulmonary Disease: Thoracic CT Texture Analysis and Machine Learning to Predict Pulmonary Ventilation

Background Fixed airflow limitation and ventilation heterogeneity are common in chronic obstructive pulmonary disease (COPD). Conventional noncontrast CT provides airway and parenchymal measurements but cannot be used to directly determine lung function. Purpose To develop, train, and test a CT texture analysis and machine-learning algorithm to predict lung ventilation heterogeneity in participants with COPD. Materials and Methods In this prospective study (ClinicalTrials.gov: NCT02723474; conducted from January 2010 to February 2017), participants were randomized to optimization (n = 1), training (n = 67), and testing (n = 27) data sets. Hyperpolarized (HP) helium 3 (³He) MRI ventilation maps were co-registered with thoracic CT to provide ground truth labels, and 87 quantitative imaging features were extracted and normalized to lung averages to generate 174 features. The volume-of-interest dimension and the training data sampling method were optimized to maximize the area under the receiver operating characteristic curve (AUC). Forward feature selection was performed to reduce the number of features; logistic regression, linear support vector machine, and quadratic support vector machine classifiers were trained through fivefold cross validation. The highest-performing classification model was applied to the test data set. Pearson coefficients were used to determine the relationships between the model, MRI, and pulmonary function measurements. Results The quadratic support vector machine performed best in training and was applied to the test data set. Model-predicted ventilation maps had an accuracy of 88% (95% confidence interval [CI]: 88%, 88%) and an AUC of 0.82 (95% CI: 0.82, 0.83) when the HP ³He MRI ventilation maps were used as the reference standard. Model-predicted ventilation defect percentage (VDP) was correlated with VDP at HP ³He MRI (r = 0.90, P < .001). Both model-predicted and HP ³He MRI VDP were correlated with forced expiratory volume in 1 second (FEV₁) (model: r = -0.65, P < .001; MRI: r = -0.70, P < .001), ratio of FEV₁ to forced vital capacity (model: r = -0.73, P < .001; MRI: r = -0.75, P < .001), diffusing capacity (model: r = -0.69, P < .001; MRI: r = -0.65, P < .001), and quality-of-life score (model: r = 0.59, P = .001; MRI: r = 0.65, P < .001). Conclusion Model-predicted ventilation maps generated by using CT textures and machine learning were correlated with MRI ventilation maps (r = 0.90, P < .001). © RSNA, 2019 Online supplemental material is available for this article. See also the editorial by Fain in this issue.

Deep learning-based carotid media-adventitia and lumen-intima boundary segmentation from three-dimensional ultrasound images

Purpose

Quantification of carotid plaques has been shown to be important for assessing as well as monitoring the progression and regression of carotid atherosclerosis. Various metrics have been proposed and methods of measurements ranging from manual tracing to automated segmentations have also been investigated. Of those metrics, quantification of carotid plaques by measuring vessel‐wall‐volume (VWV) using the segmented media‐adventitia (MAB) and lumen‐intima (LIB) boundaries has been shown to be sensitive to temporal changes in carotid plaque burden. Thus, semi‐automatic MAB and LIB segmentation methods are required to help generate VWV measurements with high accuracy and less user interaction.

Methods

In this paper, we propose a semiautomatic segmentation method based on deep learning to segment the MAB and LIB from carotid three‐dimensional ultrasound (3DUS) images. For the MAB segmentation, we convert the segmentation problem to a pixel‐by‐pixel classification problem. A dynamic convolutional neural network (Dynamic CNN) is proposed to classify the patches generated by sliding a window along the norm line of the initial contour where the CNN model is fine‐tuned dynamically in each test task. The LIB is segmented by applying a region‐of‐interest of carotid images to a U‐Net model, which allows the network to be trained end‐to‐end for pixel‐wise classification.

Results

A total of 144 3DUS images were used in this development, and a threefold cross‐validation technique was used for evaluation of the proposed algorithm. The proposed algorithm‐generated accuracy was significantly higher than the previous methods but with less user interactions. Comparing the algorithm segmentation results with manual segmentations by an expert showed that the average Dice similarity coefficients (DSC) were 96.46 ± 2.22% and 92.84 ± 4.46% for the MAB and LIB, respectively, while only an average of 34 s (vs 1.13, 2.8 and 4.4 min in previous methods) was required to segment a 3DUS image. The interobserver experiment indicated that the DSC was 96.14 ± 1.87% between algorithm‐generated MAB contours of two observers' initialization.

Conclusions

Our results showed that the proposed carotid plaque segmentation method obtains high accuracy and repeatability with less user interactions, suggesting that the method could be used in clinical practice to measure VWV and monitor the progression and regression of carotid plaques.

Three-dimensional therapy needle applicator segmentation for ultrasound-guided focal liver ablation

PURPOSE

Minimally invasive procedures, such as microwave ablation, are becoming first-line treatment options for early-stage liver cancer due to lower complication rates and shorter recovery times than conventional surgical techniques. Although these procedures are promising, one reason preventing widespread adoption is inadequate local tumor ablation leading to observations of higher local cancer recurrence compared to conventional procedures. Poor ablation coverage has been associated with two-dimensional (2D) ultrasound (US) guidance of the therapy needle applicators and has stimulated investigation into the use of three-dimensional (3D) US imaging for these procedures. We have developed a supervised 3D US needle applicator segmentation algorithm using a single user input to augment the addition of 3D US to the current focal liver tumor ablation workflow with the goals of identifying and improving needle applicator localization efficiency.

METHODS

The algorithm is initialized by creating a spherical search space of line segments around a manually chosen seed point that is selected by a user on the needle applicator visualized in a 3D US image. The most probable trajectory is chosen by maximizing the count and intensity of threshold voxels along a line segment and is filtered using the Otsu method to determine the tip location. Homogeneous tissue mimicking phantom images containing needle applicators were used to optimize the parameters of the algorithm prior to a four-user investigation on retrospective 3D US images of patients who underwent microwave ablation for liver cancer. Trajectory, axis localization, and tip errors were computed based on comparisons to manual segmentations in 3D US images.

RESULTS

Segmentation of needle applicators in ten phantom 3D US images was optimized to median (Q1, Q3) trajectory, axis, and tip errors of 2.1 (1.1, 3.6)°, 1.3 (0.8, 2.1) mm, and 1.3 (0.7, 2.5) mm, respectively, with a mean ± SD segmentation computation time of 0.246 ± 0.007 s. Use of the segmentation method with a 16 in vivo 3D US patient dataset resulted in median (Q1, Q3) trajectory, axis, and tip errors of 4.5 (2.4, 5.2)°, 1.9 (1.7, 2.1) mm, and 5.1 (2.2, 5.9) mm based on all users.

CONCLUSIONS

Segmentation of needle applicators in 3D US images during minimally invasive liver cancer therapeutic procedures could provide a utility that enables enhanced needle applicator guidance, placement verification, and improved clinical workflow. A semi-automated 3D US needle applicator segmentation algorithm used in vivo demonstrated localization of the visualized trajectory and tip with less than 5° and 5.2 mm errors, respectively, in less than 0.31 s. This offers the ability to assess and adjust needle applicator placements intraoperatively to potentially decrease the observed liver cancer recurrence rates associated with current ablation procedures. Although optimized for deep and oblique angle needle applicator insertions, this proposed workflow has the potential to be altered for a variety of image-guided minimally invasive procedures to improve localization and verification of therapy needle applicators intraoperatively.

Intraoperative 360-deg three-dimensional transvaginal ultrasound during needle insertions for high-dose-rate transperineal interstitial gynecologic brachytherapy of vaginal tumors

Brachytherapy, a type of radiotherapy, may be used to place radioactive sources into or in close proximity to tumors, providing a method for conformally escalating dose in the tumor and the local area surrounding the malignancy. High-dose-rate interstitial brachytherapy of vaginal tumors requires precise placement of multiple needles through holes in a plastic perineal template to deliver treatment while optimizing dose and avoiding overexposure of nearby organs at risk (OARs). Despite the importance of needle placement, image guidance for adaptive, intraoperative needle visualization, allowing misdirected needles to be identified and corrected during insertion, is not standard practice. We have developed a 360-deg three-dimensional (3-D) transvaginal ultrasound (TVUS) system using a conventional probe with a template-compatible custom sonolucent vaginal cylinder and propose its use for intraoperative needle guidance during interstitial gynecologic brachytherapy. We describe the 3-D TVUS mechanism and geometric validation, present mock phantom procedure results, and report on needle localization accuracy in patients. For the six patients imaged, landmark anatomical features and all needles were clearly visible. The implementation of 360-deg 3-D TVUS through a sonolucent vaginal cylinder provides a technique for visualizing needles and OARs intraoperatively during interstitial gynecologic brachytherapy, enabling implants to be assessed and providing the potential for image guidance.

Layer-based visualization and biomedical information exploration of multi-channel large histological data

BACKGROUND AND OBJECTIVE

Modern microscopes can acquire multi-channel large histological data from tissues of human beings or animals, which contain rich biomedical information for disease diagnosis and biological feature analysis. However, due to the large size, fuzzy tissue structure, and complicated multiple elements integrated in the image color space, it is still a challenge for current software systems to effectively calculate histological data, show the inner tissue structures and unveil hidden biomedical information. Therefore, we developed new algorithms and a software platform to address this issue.

METHODS

This paper presents a multi-channel biomedical data computing and visualization system that can efficiently process large 3D histological images acquired from high-resolution microscopes. A novelty of our system is that it can dynamically display a volume of interest and extract tissue information using a layer-based data navigation scheme. During the data exploring process, the actual resolution of the loaded data can be dynamically determined and updated, and data rendering is synchronized in four display windows at each data layer, where 2D textures are extracted from the imaging volume and mapped onto the displayed clipping planes in 3D space.

RESULTS

To test the efficiency and scalability of this system, we performed extensive evaluations using several different hardware systems and large histological color datasets acquired from a CryoViz 3D digital system. The experimental results demonstrated that our system can deliver interactive data navigation speed and display detailed imaging information in real time, which is beyond the capability of commonly available biomedical data exploration software platforms.

CONCLUSION

Taking advantage of both CPU (central processing unit) main memory and GPU (graphics processing unit) graphics memory, the presented software platform can efficiently compute, process and visualize very large biomedical data and enhance data information. The performance of this system can satisfactorily address the challenges of navigating and interrogating volumetric multi-spectral large histological image at multiple resolution levels.

Evaluation of tumor coverage after MR-guided prostate focal laser ablation therapy

PURPOSE

Prostate cancer is the most common noncutaneous cancer among men in the USA. Focal laser thermal ablation (FLA) has the potential to control small tumors while preserving urinary and erectile function by leaving the neurovascular bundles and urethral sphincters intact. Accurate needle guidance is critical to the success of FLA. Multiparametric magnetic resonance images (mpMRI) can be used to identify targets, guide needles, and assess treatment outcomes. In this study, we evaluated the location of ablation zones relative to targeted lesions in 23 patients who underwent FLA therapy in a phase II trial. The ablation zone margins and unablated tumor volume were measured to determine whether complete coverage of each tumor was achieved, which would be considered a clinically successful ablation.

METHODS

Preoperative mpMRI was acquired for each patient 2-3 months preceding the procedure and the prostate and lesion(s) were manually contoured on 3 T T2-weighted axial images. The prostate and ablation zone(s) were also manually contoured on postablation 1.5 T T1-weighted contrast-enhanced axial images acquired immediately after the procedure intraoperatively. The lesion surface was nonrigidly registered to the postablation image using an initial affine registration followed by nonrigid thin-plate spline registration of the prostate surfaces. The margins between the registered lesion and ablation zone were calculated using a uniform spherical distribution of rays, and the volume of intersection was also calculated. Each prostate was contoured five times to determine the segmentation variability and its effect on intersection of the lesion and ablation zone.

RESULTS

Our study showed that the boundaries of the segmented tumor and ablation zone were close. Of the 23 lesions that were analyzed, 11 were completely covered by the ablation zone and 12 were partially covered. A shift of 1.0, 2.0, and 2.6 mm would result in 19, 21, and all tumors completely covered by the ablation zone, respectively. The median unablated tumor volume across all tumors was 0.1  mm 3 with an IQR of 3.7  mm 3 , which was 0.2% of the median tumor volume (46.5  mm 3 with an IQR of 46.3  mm 3 ). The median extension of the tumors beyond the ablation zone, in cases which were partially ablated, was 0.9 mm (IQR of 1.3 mm), with the furthest tumor extending 2.6 mm.

CONCLUSION

In all cases, the boundary of the tumor was close to the boundary of the ablation zone, and in some cases, the boundary of the ablation zone did not completely enclose the tumor. Our results suggest that some of the ablations were not clinically successful and that there is a need for more accurate needle tracking and guidance methods. Limitations of the study include errors in the registration and segmentation methods used as well as different voxel sizes and contrast between the registered T2 and T1 MRI sequences and asymmetric swelling of the prostate postprocedurally.

Real-Time Mechanical-Encoding of Needle Shape for Image-Guided Medical and Surgical Interventions

Error and uncertainty in needle placement can drastically impact the clinical outcome of both diagnostic and therapeutic needle-based procedures. In this work, we aim to estimate the shape of a bent needle during insertion and provide a prototype design of a needle whose deflection is tracked in real time. We calculate slope along a needle by measuring the movement of fixed wires running along its length with a compact image-based sensor. Through the use of the Euler–Bernoulli beam theory, we calculate shape and trajectory of a needle. We constructed a prototype needle with two wires fixed along its length and measured wire-movement using a vertical-cavity surface-emitting laser (VCSEL) mouse sensor. This method was able to estimate needle tip deflection within 1 mm in a variety of deflection scenarios in real time. We then provide a design of a needle with real-time deflection tracking in 3D, providing the user with a simple display to convey needle deflection in tissue. This method could be applied to needle-based biopsy or therapy procedures to improve the diagnostic accuracy or treatment delivery quality.

A framework for Fourier-decomposition free-breathing pulmonary 1 H MRI ventilation measurements

PURPOSE

To develop a rapid Fourier decomposition (FD) free-breathing pulmonary ¹ H MRI (FDMRI) image processing and biomarker pipeline for research use.

METHODS

We acquired MRI in 20 asthmatic subjects using a balanced steady-state free precession (bSSFP) sequence optimized for ventilation imaging. 2D ¹ H MRI series were segmented by enforcing the spatial similarity between adjacent images and the right-to-left lung volume-ratio. The segmented lung series were co-registered using a coarse-to-fine deformable registration framework that used dual optimization techniques. All pairwise registrations were implemented in parallel and FD was performed to generate 2D ventilation-weighted maps and ventilation-defect-percent (VDP). Lung segmentation and registration accuracy were evaluated by comparing algorithm and manual lung-masks, deformed manual lung-masks, and fiducials in the moving and fixed images using Dice-similarity-coefficient (DSC), mean-absolute-distance (MAD), and target-registration-error (TRE). The relationship of FD-VDP and ³ He-VDP was evaluated using the Pearson-correlation-coefficient (r) and Bland Altman analysis. Algorithm reproducibility was evaluated using the coefficient-of-variation (CoV) and intra-class-correlation-coefficient (ICC) for segmentation, registration, and FD-VDP components.

RESULTS

For lung segmentation, there was a DSC of 95 ± 1.5% and MAD of 2.3 ± 0.5 mm, and for registration there was a DSC of 97 ± 0.8%, MAD of 1.6 ± 0.4 mm and TRE of 3.6 ± 1.2 mm. Reproducibility for segmentation DSC (CoV/ICC = 0.5%/0.92), registration TRE (CoV/ICC = 0.4%/0.98), and FD-VDP (Cov/ICC = 3.9%/0.97) was high. The pipeline required 10 min/subject. FD-VDP was correlated with ³ He-VDP (r = 0.69, P < 0.001) although there was a bias toward lower FD-VDP (bias = -4.9%).

CONCLUSIONS

We developed and evaluated a pipeline that provides a rapid and precise method for FDMRI ventilation maps.

Fractal dimension based carotid plaque characterization from three-dimensional ultrasound images

Irregularity of the plaque surface associated with previous plaque rupture plays an important role in the risk estimation of stroke caused by carotid atherosclerotic lesions. Thus, the aim of this study is to develop and validate novel vulnerability biomarkers from three-dimensional ultrasound (3DUS) images by analyzing the surface morphological characteristics of carotid plaque using fractal geometry features. In the experiments, a total of 38 3DUS plaque images were obtained from two groups of patients treated with 80 mg of atorvastatin or placebo daily for 3 months respectively. Two types of 3D fractal dimensions (FDs) were used to describe the smoothness of plaque surface morphology and the roughness from intensity of 3DUS images. Student's t test showed that the two fractal features were effective for detecting the statin-related changes in carotid atherosclerosis with p < 0.00023 and p < 0.0113 respectively. It was concluded that the 3D FD measurements were effective for analyzing carotid plaque characteristics and especially effective for evaluating the impact of atorvastatin treatment. Graphical abstract ᅟ.

Accuracy Validation of an Automated Method for Prostate Segmentation in Magnetic Resonance Imaging

Three dimensional (3D) manual segmentation of the prostate on magnetic resonance imaging (MRI) is a laborious and time-consuming task that is subject to inter-observer variability. In this study, we developed a fully automatic segmentation algorithm for T2-weighted endorectal prostate MRI and evaluated its accuracy within different regions of interest using a set of complementary error metrics. Our dataset contained 42 T2-weighted endorectal MRI from prostate cancer patients. The prostate was manually segmented by one observer on all of the images and by two other observers on a subset of 10 images. The algorithm first coarsely localizes the prostate in the image using a template matching technique. Then, it defines the prostate surface using learned shape and appearance information from a set of training images. To evaluate the algorithm, we assessed the error metric values in the context of measured inter-observer variability and compared performance to that of our previously published semi-automatic approach. The automatic algorithm needed an average execution time of ∼60 s to segment the prostate in 3D. When compared to a single-observer reference standard, the automatic algorithm has an average mean absolute distance of 2.8 mm, Dice similarity coefficient of 82%, recall of 82%, precision of 84%, and volume difference of 0.5 cm³ in the mid-gland. Concordant with other studies, accuracy was highest in the mid-gland and lower in the apex and base. Loss of accuracy with respect to the semi-automatic algorithm was less than the measured inter-observer variability in manual segmentation for the same task.

Quantitative 3-D head ultrasound measurements of ventricle volume to determine thresholds for preterm neonates requiring interventional therapies following posthemorrhagic ventricle dilatation

Dilatation of the cerebral ventricles is a common condition in preterm neonates with intraventricular hemorrhage. This posthemorrhagic ventricle dilatation (PHVD) can lead to lifelong neurological impairment through ischemic injury due to increased intracranial pressure, and without treatment can lead to death. Two-dimensional ultrasound (US) through the fontanelles of the patients is serially acquired to monitor the progression of PHVD. These images are used in conjunction with clinical experience and physical exams to determine when interventional therapies such as needle aspiration of the built up cerebrospinal fluid (ventricle tap, VT) might be indicated for a patient; however, quantitative measurements of the ventricles size are often not performed. We describe the potential utility of the quantitative three-dimensional (3-D) US measurements of ventricle volumes (VVs) in 38 preterm neonates to monitor and manage PHVD. Specifically, we determined 3-D US VV thresholds for patients who received VT in comparison to patients with PHVD who resolve without intervention. In addition, since many patients who have an initial VT will receive subsequent interventions, we determined which PHVD patients will receive additional VT after the initial one has been performed.