Publications by Year: 2012

2012
Azagury DE, Ryou M, Shaikh SN, San José Estépar R, Lengyel BI, Jagadeesan J, Vosburgh KG, Thompson CC. Real-time Computed Tomography-based Augmented Reality for Natural Orifice Transluminal Endoscopic Surgery Navigation. Br J Surg. 2012;99 (9) :1246-53.Abstract

BACKGROUND: Natural orifice transluminal endoscopic surgery (NOTES) is technically challenging owing to endoscopic short-sighted visualization, excessive scope flexibility and lack of adequate instrumentation. Augmented reality may overcome these difficulties. This study tested whether an image registration system for NOTES procedures (IR-NOTES) can facilitate navigation. METHODS: In three human cadavers 15 intra-abdominal organs were targeted endoscopically with and without IR-NOTES via both transgastric and transcolonic routes, by three endoscopists with different levels of expertise. Ease of navigation was evaluated objectively by kinematic analysis, and navigation complexity was determined by creating an organ access complexity score based on the same data. RESULTS: Without IR-NOTES, 21 (11·7 per cent) of 180 targets were not reached (expert endoscopist 3, advanced 7, intermediate 11), compared with one (1 per cent) of 90 with IR-NOTES (intermediate endoscopist) (P = 0·002). Endoscope movements were significantly less complex in eight of the 15 listed organs when using IR-NOTES. The most complex areas to access were the pelvis and left upper quadrant, independently of the access route. The most difficult organs to access were the spleen (5 failed attempts; 3 of 7 kinematic variables significantly improved) and rectum (4 failed attempts; 5 of 7 kinematic variables significantly improved). The time needed to access the rectum through a transgastric approach was 206·3 s without and 54·9 s with IR-NOTES (P = 0·027). CONCLUSION: The IR-NOTES system enhanced both navigation efficacy and ease of intra-abdominal NOTES exploration for operators of all levels. The system rendered some organs accessible to non-expert operators, thereby reducing one impediment to NOTES procedures.

Risholm P, Janoos F, Pursley J, Fedorov A, Tempany CM, Cormack RA, Wells III WM. Selection of optimal hyper-parameters for estimation of uncertainty in MRI-TRUS registration of the prostate. Med Image Comput Comput Assist Interv. 2012;15 (Pt 3) :107-14.Abstract

Transrectal ultrasound (TRUS) facilitates intra-treatment delineation of the prostate gland (PG) to guide insertion of brachytherapy seeds, but the prostate substructure and apex are not always visible which may make the seed placement sub-optimal. Based on an elastic model of the prostate created from MRI, where the prostate substructure and apex are clearly visible, we use a Bayesian approach to estimate the posterior distribution on deformations that aligns the pre-treatment MRI with intra-treatment TRUS. Without apex information in TRUS, the posterior prediction of the location of the prostate boundary, and the prostate apex boundary in particular, is mainly determined by the pseudo stiffness hyper-parameter of the prior distribution. We estimate the optimal value of the stiffness through likelihood maximization that is sensitive to the accuracy as well as the precision of the posterior prediction at the apex boundary. From a data-set of 10 pre- and intra-treatment prostate images with ground truth delineation of the total PG, 4 cases were used to establish an optimal stiffness hyper-parameter when 15% of the prostate delineation was removed to simulate lack of apex information in TRUS, while the remaining 6 cases were used to cross-validate the registration accuracy and uncertainty over the PG and in the apex.

Moradi M, Janoos F, Fedorov A, Risholm P, Kapur T, Wolfsberger LD, Nguyen PL, Tempany CM, Wells III WM. Two solutions for registration of ultrasound to MRI for image-guided prostate interventions. Conf Proc IEEE Eng Med Biol Soc. 2012;2012 :1129-32.Abstract

Ultrasound-guided prostate interventions could benefit from incorporating the radiologic localization of the tumor which can be acquired from multiparametric MRI. To enable this integration, we propose and compare two solutions for registration of T2 weighted MR images with transrectal ultrasound. Firstly, we propose an innovative and practical approach based on deformable registration of binary label maps obtained from manual segmentation of the gland in the two modalities. This resulted in a target registration error of 3.6±1.7 mm. Secondly, we report a novel surface-based registration method that uses a biomechanical model of the tissue and results in registration error of 3.2±1.3 mm. We compare the two methods in terms of accuracy, clinical use and technical limitations.

O'Donnell LJ, Wells III WM, Golby AJ, Westin C-F. Unbiased groupwise registration of white matter tractography. Med Image Comput Comput Assist Interv. 2012;15 (Pt 3) :123-30.Abstract

We present what we believe to be the first investigation into unbiased multi-subject registration of whole brain diffusion tractography of the white matter. To our knowledge, this is also the first entropy-based objective function applied to fiber tract registration. To define the probability of fiber trajectories for the computation of entropy, we take advantage of a pairwise fiber distance used as the basis for a Gaussian-like kernel. By employing several values of the kernel's scale parameter, the method is inherently multi-scale. Results of experiments using synthetic and real datasets demonstrate the potential of the method for simultaneous joint registration of tractography.

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