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Abstract: The problem of respiratory motion has proved a serious obstacle in developing techniques to acquire images or guide interventions in abdominal and thoracic organs. Motion models offer a possible solution to these problems, and as a result the field of respiratory motion modelling has become an active one over the past 15years. A motion model can be defined as a process that takes some surrogate data as input and produces a motion estimate as output. Many techniques have been proposed in the literature, differing in the data used to form the models, the type of model employed, how this model is computed, the type of surrogate data used as input to the model in order to make motion estimates and what form this output should take. In addition, a wide range of different application areas have been proposed. In this paper we summarise the state of the art in this important field and in the process highlight the key papers that have driven its advance. The intention is that this will serve as a timely review and comparison of the different techniques proposed to date and as a basis to inform future research in this area. [Copyright &y& Elsevier]

Abstract: This paper promotes the concept of active models in image-guided interventions. We outline the limitations of the rigid body assumption in image-guided interventions and describe how intraoperative imaging provides a rich source of information on spatial location of anatomical structures and therapy devices, allowing a preoperative plan to be updated during an intervention. Soft tissue deformation and variation from an atlas to a particular individual can both be determined using non-rigid registration. Established methods using free-form deformations have a very large number of degrees of freedom. Three examples of deformable models – motion models, biomechanical models and statistical shape models – are used to illustrate how prior information can be used to restrict the number of degrees of freedom of the registration algorithm and thus provide active models for image-guided interventions. We provide preliminary results from applications for each type of model. [Copyright &y& Elsevier]

Abstract: We describe a system for respiratory motion correction of MRI-derived roadmaps for use in X-ray guided cardiac catheterisation procedures. The technique uses a subject-specific affine motion model that is quickly constructed from a short pre-procedure MRI scan. We test a dynamic MRI sequence that acquires a small number of high resolution slices, rather than a single low resolution volume. Additionally, we use prior knowledge of the nature of cardiac respiratory motion by constraining the model to use only the dominant modes of motion. During the procedure the motion of the diaphragm is tracked in X-ray fluoroscopy images, allowing the roadmap to be updated using the motion model. X-ray image acquisition is cardiac gated. Validation is performed on four volunteer datasets and three patient datasets. The accuracy of the model in 3D was within 5mm in 97.6% of volunteer validations. For the patients, 2D accuracy was improved from 5 to 13mm before applying the model to 2–4mm afterwards. For the dynamic MRI sequence comparison, the highest errors were found when using the low resolution volume sequence with an unconstrained model. [Copyright &y& Elsevier]

Abstract: Efficient and accurate techniques for simulation of soft tissue deformation are an increasingly valuable tool in many areas of medical image computing, such as biomechanically-driven image registration and interactive surgical simulation. For reasons of efficiency most analyses are based on simplified linear formulations, and previously almost all have ignored well established features of tissue mechanical response such as anisotropy and time-dependence. We address these latter issues by firstly presenting a generalised anisotropic viscoelastic constitutive framework for soft tissues, particular cases of which have previously been used to model a wide range of tissues. We then develop an efficient solution procedure for the accompanying viscoelastic hereditary integrals which allows use of such models in explicit dynamic finite element algorithms. We show that the procedure allows incorporation of both anisotropy and viscoelasticity for as little as 5.1% additional cost compared with the usual isotropic elastic models. Finally we describe the implementation of a new GPU-based finite element scheme for soft tissue simulation using the CUDA API. Even with the inclusion of more elaborate constitutive models as described the new implementation affords speed improvements compared with our recent graphics API-based implementation, and compared with CPU execution a speed up of 56.3× is achieved. The validity of the viscoelastic solution procedure and performance of the GPU implementation are demonstrated with a series of numerical examples. [Copyright &y& Elsevier]

Abstract: A method is presented for the rigid registration of tracked B-mode ultrasound images to a CT volume of a femur and pelvis. This registration can allow tracked surgical instruments to be aligned with the CT image or an associated preoperative plan. Our method is fully automatic and requires no manual segmentation of either the ultrasound images or the CT volume. The parameter which is directly related to the speed of sound through tissue has also been included in the registration optimisation process. Experiments have been carried out on six cadaveric femurs and three cadaveric pelves. Registration results were compared with a “gold standard” registration acquired using bone implanted fiducial markers. Results show the registration method to be accurate, on average, to 1.6mm root-mean-square target registration error. [Copyright &y& Elsevier]

We present a method to register a preoperative MR volume to a sparse set of intraoperative ultrasound slices. Our aim is to allow the transfer of information from preoperative modalities to intraoperative ultrasound images to aid needle placement during thermal ablation of liver metastases. The spatial relationship between ultrasound slices is obtained by tracking the probe using a Polaris optical tracking system. Images are acquired at maximum exhalation and we assume the validity of the rigid body transformation. An initial registration is carried out by picking a single corresponding point in both modalities. Our strategy is to interpret both sets of images in an automated pre-processing step to produce evidence or probabilities of corresponding structure as a pixel or voxel map. The registration algorithm converts the intensity values of the MR and ultrasound images into vessel probability values. The registration is then carried out between the vessel probability images. Results are compared to a “bronze standard” registration which is calculated using a manual point/line picking algorithm and verified using visual inspection. Results show that our starting estimate is within a root mean square target registration error (calculated over the whole liver) of 15.4 mm to the “bronze standard” and this is improved to 3.6 mm after running the intensity-based algorithm. [Copyright &y& Elsevier]

Nonrigid registration (NRR) is routinely used in the study of neuroanatomy and function and is a standard component of analysis packages such as SPM. There remain many unresolved correspondence problems that arise from attempts to associate functional areas with specific neuroanatomy and to compare both function and anatomy across patient groups. Problems can result from ignorance of the underlying neurology which is then compounded by unjustified inferences drawn from the results of NRR. Usually the magnitude, distribution, and significance of errors in NRR are unknown so the errors in correspondences determined by NRR are also unknown and their effect on experimental results cannot easily be quantified. In this paper we review the principles by which the presumed correspondence and homology of structures is used to drive registration and identify the conceptual and algorithmic areas where current techniques are lacking. We suggest that for applications using NRR to be robust and achieve their potential, context-specific definitions of correspondence must be developed which properly characterise error. Prior knowledge of image content must be utilised to monitor and guide registration and gauge the degree of success. The use of NRR in voxel-based morphometry is examined from this context and found wanting. We conclude that a move away from increasingly sophisticated but context-free registration technology is required and that the veracity of studies that rely on NRR should be keenly questioned when the error distribution is unknown and the results are unsupported by other contextual information. [Copyright &y& Elsevier]

Recent studies have shown that the surface of the brain is deformed by up to 20 mm after the skull is opened during neurosurgery, which could lead to substantial error in commercial image-guided surgery systems. We quantitatively analyze the intraoperative brain deformation of 24 subjects to investigate whether simple rules can describe or predict the deformation. Interventional magnetic resonance images acquired at the start and end of the procedure are registered nonrigidly to obtain deformation values throughout the brain. Deformation patterns are investigated quantitatively with respect to the location and magnitude of deformation, and to the distribution and principal direction of the displacements. We also measure the volume change of the lateral ventricles by manual segmentation. Our study indicates that brain shift occurs predominantly in the hemisphere ipsi-lateral to the craniotomy, and that there is more brain deformation during resection procedures than during biopsy or functional procedures. However, the brain deformation patterns are extremely complex in this group of subjects. This paper quantitatively demonstrates that brain deformation occurs not only at the surface, but also in deeper brain structure, and that the principal direction of displacement does not always correspond with the direction of gravity. Therefore, simple computational algorithms that utilize limited intraoperative information (e.g., brain surface shift) will not always accurately predict brain deformation at the lesion. [ABSTRACT FROM AUTHOR]

Previous work has suggested the existence of differences between the cerebral cortex of normal individuals, and those of patients with diseases such as epilepsy and schizophrenia. These shape abnormalities may be of developmental origin. Improved shape measures could provide useful tools for neuroscience research and patient diagnosis. We consider the theoretically desirable properties of measures of brain shape. We have implemented seven measures, three from the neuroscience literature, and four new to this field. Three of the measures are zero-order and four are second-order with respect to the surface. We validate the measures using simple geometrical shapes, and a collection of magnetic resonance scans of ten histologically normal ex vivo fetal brains with gestational ages from 19-42 weeks. We then apply the measures to MR scans from two histologically abnormal ex vivo brains. We demonstrate that our implementation of the measures is sensitive to anatomical variability rather than to the discreteness of the image data. All the measures were sensitive to changes in shape during fetal development. Several of the measures could distinguish between the normal and abnormal fetal brains. We propose a multivariate approach to studying the shape of the cerebral cortex, in which both zero-order and second-order measures are used to quantify folding. [ABSTRACT FROM AUTHOR]

B Background: b Use of augmented reality (AR) based image guidance systems (IGS) has been proposed as a method to improve anatomical orientation during laparoscopic liver surgery (LLS) with potential benefits for patients. In addition enhanced visualisation methods with the potential to improve mental integration between surgeons and AR environment will be presented. During surgery a 3D liver model was manually overlayed onto the laparoscopic screen (registration) to create an AR environment. [Extracted from the article]

B Background: b Use of augmented reality (AR) based image guidance systems (IGS) has been proposed as a method to improve anatomical orientation during laparoscopic liver surgery (LLS) with potential benefits for patients. In addition enhanced visualisation methods with the potential to improve mental integration between surgeons and AR environment will be presented. During surgery a 3D liver model was manually overlayed onto the laparoscopic screen (registration) to create an AR environment. [Extracted from the article]