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Abstract In this work, the design and development of a 128‐channel transceiver hardware for medical ultrasound imaging systems and research is presented. The proposed hardware solution integrates the analog front‐end (AFE) sections, high voltage transmit pulser sections, field programmable gate array (FPGA)‐based transmit beamforming and control logic, time gain compensation (TGC) and continuous (CW) Doppler functional circuits, and the necessary power supplies (high voltage (HV) and low voltage (LV)) into a single board. In addition, it integrates pervasive segments like power, clock tree sections, and power management and debugger logic. The developed transceiver solution helps to advance the research in medical ultrasound imaging techniques and technologies. To prototype an ultrasound imaging system, the developed hardware can be interfaced with a 128‐channel ultrasound transducer array and an FPGA‐based signal processing module. As the transceiver hardware is designed with commercially available chipsets, it provides the flexibility to programme the ultrasound AFE signal chain, transmit beamforming and the arbitrary transmit wave pattern. Besides, compared to the commercial open ultrasound research scanners, the flexibility to interface FPGA‐based signal processing module helps to investigate the performance of hardware realisation of various ultrasound signal processing algorithms. Moreover, the work realises a single‐board transceiver solution for multichannel ultrasound system fulfilment.

Traditional cardiovascular ultrasound detection using focused ultrasound can cause a decrease in frame rate, which affects the results of the diagnosis. In order to improve the effect of cardiovascular ultrasound detection, this study used ultrasound vector blood flow imaging technology to improve the image frame rate and introduce planar high frame rate imaging technology. Simultaneously, this work studies the parameters of the image through parameter analysis and combines the advantages of various methods to improve the analysis. In addition, this work proposes a high frame rate blood flow imaging method, and designs simulation experiments to analyse the effectiveness of the method. The results show that the proposed algorithm has a certain effect in two‐dimensional vector blood flow imaging, which can be applied to clinical practice, and can provide theoretical reference for subsequent related research. [ABSTRACT FROM AUTHOR]

Echography imaging is an important technique frequently used in medical diagnostics due to low-cost, non-ionising characteristics, and pragmatic convenience. Due to the shortage of skilful technicians and injuries of physicians sustained from diagnosing several patients, robot-assisted echography (RAE) system is gaining great attention in recent decades. A thorough study of the recent research advances in the field of perception, control and cognition techniques used in RAE systems is presented in this study. This survey introduces the representative system structure, applications and projects, and products. Challenges and key technological issues faced by the traditional RAE system and how the current artificial intelligence and cobots attempt to overcome these issues are summarised. Furthermore, significant future research directions in this field have been identified by this study as cognitive computing, operational skills transfer, and commercially feasible system design.

The proposed 1D elastic metamaterial rod finds application in non-destructive evaluation, as a filter in the transduction side, where only the torsional and flexural modes need to be generated by isolating longitudinal modes. In this Letter, this is achieved by obtaining a wide bandgap in low-frequency ultrasound regime. The novelty of the proposed design arises from the use of a high impedance mismatch between the materials selected for the rod. The proposed concept is demonstrated and verified with numerical simulations. The effectiveness of the proposed technique is confirmed by comparing the results obtained from the rod made of a single material. [ABSTRACT FROM AUTHOR]

Conventional ultrasonic imaging systems suffer from poor resolution imposed by the diffraction limit. The authors have recently demonstrated the use of holey-structured metamaterials (HSMs) to enable resolution beyond the diffraction limit in the ultrasonic regime. However, imaging with HSM requires acquisition of data at fine spatial intervals. Although the use of laser Doppler vibrometers (LDV) as a receiver can be a solution for this as reported in earlier experimental studies, they are highly sensitive to ambient disturbances, suffer from low signal-to-noise ratio and are also expensive, hampering a wider practical implementation. This Letter presents experimental results using hollow cone attachments coupled with conventional ultrasonic transducers for achieving subwavelength resolution imaging at a relatively higher speed and minimal cost. The proposed methodology can be implemented easily for practical inspections and has great potential for commercialisation. [ABSTRACT FROM AUTHOR]

Echography imaging is an important technique frequently used in medical diagnostics due to low‐cost, non‐ionising characteristics, and pragmatic convenience. Due to the shortage of skilful technicians and injuries of physicians sustained from diagnosing several patients, robot‐assisted echography (RAE) system is gaining great attention in recent decades. A thorough study of the recent research advances in the field of perception, control and cognition techniques used in RAE systems is presented in this study. This survey introduces the representative system structure, applications and projects, and products. Challenges and key technological issues faced by the traditional RAE system and how the current artificial intelligence and cobots attempt to overcome these issues are summarised. Furthermore, significant future research directions in this field have been identified by this study as cognitive computing, operational skills transfer, and commercially feasible system design. [ABSTRACT FROM AUTHOR]

Ultrasound (US) imaging is the leading diagnostic method for assessing the early‐stage thyroid nodule. However, the visual evaluation of nodules can be influenced by the subjectivity of radiologists' interpretations. Computer‐aided Diagnostic (CAD) systems can be useful in classifying these nodules according to their benign or malignant nature. The extraction of the characteristics, which relate in the author's case to the US of thyroid nodules, is essential in the differentiation of these nodules. The complex nature of images, however, generates a significant number of features, many of which are either redundant or irrelevant. This study presents a new CAD system that has been developed to categorise thyroid nodules. In this survey, 447 US images of thyroid nodules were retained. These images were used to extract features using statistical features extraction methods. A feature selection method based on the multi objective particle swarm optimisation algorithm was used to choose the most relevant and non‐redundant ones. Then, support vector machine (SVM) and random forests (RFs) were applied to classify these nodules. 10‐fold cross‐validation was used to assess the classification performance metrics. Their proposed CAD has reached a maximum accuracy of 94.28% for SVM; and 96.13% for RF using the contour‐based ROI. [ABSTRACT FROM AUTHOR]

Speckle noise is an undesirable phenomenon that exhibits granular pattern which reduces the diagnostic capability of clinical ultrasound (US) images. In this study, a new speckle denoising method based on modelling of detail band shearlet coefficients of log‐transformed US images is presented. In each detail shearlet subband, coefficients corresponding to signal and speckle noise are modelled as normal inverse Gaussian and Gaussian priors, respectively. These coefficients, based on image local statistics are segmented into different regions of heterogeneity viz. homogeneous, heterogeneous and strongly heterogeneous regions, respectively, so as to control over smoothing of denoised images. Then, using the prior distributions maximum a posteriori (MAP) estimation is performed over all regions of detail bands except those regions that represent strongly heterogeneous coefficients. For better performance, an adaptive weight function is also used in the MAP expression which reduces the loss of feature information. Experimentation is done on noise‐free synthetic kidney and foetus US images and a set of 60 real US images. The results are presented for objective and subjective quality assessment of the proposed method and five other methods for speckle denoising. The potential of the proposed method in comparison to other methods can easily be ascertained from the obtained denoising results. [ABSTRACT FROM AUTHOR]

The overall prevalence of chronic kidney disease in the general population is ∼14% with more than 661,000 Americans having a kidney failure. Ultrasound (US)-guided renal biopsy is a critically important tool in the evaluation and management of renal pathologies. This Letter presents KBVTrainer, a virtual simulator that the authors developed to train clinicians to improve procedural skill competence in US-guided renal biopsy. The simulator was built using low-cost hardware components and open source software libraries. They conducted a face validation study with five experts who were either adult/pediatric nephrologists or interventional/diagnostic radiologists. The trainer was rated very highly (>4.4) for the usefulness of the real US images (highest at 4.8), potential usefulness of the trainer in training for needle visualization, tracking, steadiness and hand-eye coordination, and overall promise of the trainer to be useful for training US-guided needle biopsies. The lowest score of 2.4 was received for the look and feel of the US probe and needle compared to clinical practice. The force feedback received a moderate score of 3.0. The clinical experts provided abundant verbal and written subjective feedback and were highly enthusiastic about using the trainer as a valuable tool for future trainees.

Neurovascular surgery aims to repair diseased or damaged blood vessels in the brain or spine. There are numerous procedures that fall under this category, and in all of them, the direction of blood flow through these vessels is crucial information. Current methods to determine this information intraoperatively include static pre-operative images combined with augmented reality, Doppler ultrasound, and injectable fluorescent dyes. Each of these systems has inherent limitations. This study includes the proposal and preliminary validation of a technique to identify the direction of blood flow through vessels using only video segments of a few seconds acquired from routinely used surgical microscopes. The video is enhanced to reveal subtle colour fluctuations related to blood pulsation, and these rhythmic signals are further analysed in Fourier space to reveal the direction of blood flow. The proposed method was validated using a novel physical phantom and retrospective analysis of surgical videos and demonstrated high accuracy in identifying the direction of blood flow.

High-intensity focused ultrasound (HIFU) therapy represents an image-guided and non-invasive surgical approach to treat uterine fibroid. During the HIFU operation, it is challenging to obtain the real-time and accurate lesion contour automatically in ultrasound (US) video. The current intraoperative image processing is completed manually or semi-automatic. In this Letter, the authors propose a morphological active contour without an edge-based model to obtain accurate real-time and non-rigid US lesion contour. Firstly, a targeted image pre-processing procedure is applied to reduce the influence of inadequate image quality. Then, an improved morphological contour detection method with a customised morphological kernel is harnessed to solve the low signal-to-noise ratio of HIFU US images and obtain an accurate non-rigid lesion contour. A more reasonable lesion tracking procedure is proposed to improve tracking accuracy especially in the case of large displacement and incomplete lesion area. The entire framework is accelerated by the GPU to achieve a high frame rate. Finally, a non-rigid, real-time and accurate lesion contouring for intraoperative US video is provided to the doctor. The proposed procedure could reach a speed of more than 30 frames per second in general computer and a Dice similarity coefficient of 90.67% and Intersection over Union of 90.14%.

The possibility of axillary lymph node metastasis differs in different breast cancer patients and is the strongest prognostic indicator in breast cancer. The existing studies mainly explored the relationship of axillary ultrasound imaging and axillary lymph node metastasis, without exploring whether ultrasound imaging of breast tumour can affect and perform axillary lymph node prediction. Therefore, this Letter proposes a novel particle space-time distribution model to find the correlation between contrast-enhanced ultrasonography of breast tumour and axillary lymphatic metastasis. Starting from the imaging principle of dynamic contrast-enhanced ultrasonography, the particle space-time distribution model not only comprises space-time features of contrast-enhanced ultrasonography with an encoder–decoder network, but also the flow field information of microbubble particles is integrated into the space-time features that better serves the metastasis prediction by enhancing the particle distribution information. Extensive experiments on real patients have demonstrated that dynamic contrast-enhanced ultrasonography of breast tumour can be used to predict the probability of lymphatic metastasis. This conclusion can be interpretable from the clinical and pathological perspectives.

The authors present a deep learning algorithm for the automatic centroid localisation of out-of-plane US needle reflections to produce a semi-automatic ultrasound (US) probe calibration algorithm. A convolutional neural network was trained on a dataset of 3825 images at a 6 cm imaging depth to predict the position of the centroid of a needle reflection. Applying the automatic centroid localisation algorithm to a test set of 614 annotated images produced a root mean squared error of 0.62 and 0.74 mm (6.08 and 7.62 pixels) in the axial and lateral directions, respectively. The mean absolute errors associated with the test set were 0.50 ± 0.40 mm and 0.51 ± 0.54 mm (4.9 ± 3.96 pixels and 5.24 ± 5.52 pixels) for the axial and lateral directions, respectively. The trained model was able to produce visually validated US probe calibrations at imaging depths on the range of 4–8 cm, despite being solely trained at 6 cm. This work has automated the pixel localisation required for the guided-US calibration algorithm producing a semi-automatic implementation available open-source through 3D Slicer. The automatic needle centroid localisation improves the usability of the algorithm and has the potential to decrease the fiducial localisation and target registration errors associated with the guided-US calibration method.

Oxygen loaded microbubbles are being investigated as a means of reducing tumour hypoxia in order to improve response to cancer therapy. To optimise this approach, it is desirable to be able to measure changes in tissue oxygenation in real-time during treatment. In this study, the feasibility of using magnetic resonance imaging (MRI) for this purpose was investigated. Longitudinal relaxation time (T1) measurements were made in simple hydrogel phantoms containing two different concentrations of oxygen microbubbles. T1 was found to be unaffected by the presence of oxygen microbubbles at either concentration. Upon application of ultrasound to destroy the microbubbles, however, a statistically significant reduction in T1 was seen for the higher microbubble concentration. Further work is needed to assess the influence of physiological conditions upon the measurements, but these preliminary results suggest that MRI could provide a method for quantifying the changes in tissue oxygenation produced by microbubbles during therapy.

Ultrasound (US) image segmentation plays a very important role in diagnostic imaging. In order to extract special tissues from images, this study proposes a new method for segmentation of US images. The proposed method uses multilevel threshold segmentation which is based on Otsu and differential search algorithm. Testing in simulation US images shows that the proposed algorithm has a better result of segmentation than the three existing methods, including region growing, the active contour model and k‐means technique. The proposed method gets the highest Fm values and the smallest area errors in experiments. Vivo US images are also tested by the proposed method and it achieves a good segmentation result. [ABSTRACT FROM AUTHOR]

Two‐dimensional transforms are extensively used for speckle noise reduction (despeckling) in ultrasound images. This work proposes a double filter bank structure consisting of a discrete wavelet packet transform (DWPT) and directional filter bank (DFB) along with a fuzzy‐based clustering technique to despeckle ultrasound images. Wavelet packet transform can efficiently reject noises based on grey scale relational thresholding and DFB can efficiently preserve edge information. In this study, instead of conventional thresholding methods, fuzzy‐based clustering techniques are applied for noise rejection. The algorithm provides a consistent improvement over the competing state‐of‐the‐art speckle reduction algorithms due to the improved ability to preserve geometric features while rejecting speckle noise adaptively. The authors claim is validated by applying a number of clinical images with performance indices such as peak signal to noise ratio, mean structural similarity, signal to mean square error, speckle signal to noise ratio, speckle suppression index and edge preservation index. [ABSTRACT FROM AUTHOR]

This study introduces an image denoising method in the presence of combined speckle and Gaussian noise. The dual‐tree complex wavelet transform is applied to the image in order to obtain specific coefficients characterising these types of noise. Then, these extracted coefficients are removed by thresholding and an inverse wavelet transform is applied in order to obtain the reconstructed image. A comparison between the dual‐tree and standard wavelet‐based denoising filters is provided on the basis of different structural metrics. Finally, in order to remove any remaining noise, a spatial denoising filter is applied to the image. The results obtained on medical ultrasound images corrupted by this noise combination support the authors' assertion on the method's resilience to the combined effects of speckle and Gaussian noise, and are compared to well‐known and most effective speckle–Gaussian denoising filters. [ABSTRACT FROM AUTHOR]

This study presents a novel approach for ultrasound (US) images denoising. It concerns a class of generalised method of moments estimators with interesting asymptotic properties for wavelet coefficients 2D generalised autoregressive conditional heteroscedasticity modelling. Afterwards, these estimators can be used for removing noise from US images. Indeed, a minimum mean ‐square error method is applied for estimating the clean wavelet image coefficients. To judge the quality of the denoising procedure, a link between the denoising efficiency procedure and a proposed asymmetry measure is established. Several tests have been carried out to prove the performance of the proposed approach. The obtained results are compared with those of contemporary image denoising methods using usual image quality assessment metrics and two proposed no‐reference quality metrics. [ABSTRACT FROM AUTHOR]

Cerebrovascular surgery treats vessel abnormalities in the brain and spinal cord, including arteriovenous malformations (AVMs) and aneurysms. These procedures often involve clipping the vessels feeding blood to these abnormalities, making accurate classification of blood vessel types (feeding versus draining) important during surgery. Previous work to guide the intraoperative identification of the vessels included augmented reality (AR) using pre-operative images, injected dyes, and Doppler ultrasound, but each with their drawbacks. The authors propose and demonstrate a novel technique to help differentiate vessels by enhancing short videos of a few seconds from the surgical microscope using motion magnification and spectral analysis, and constructing AR views that fuse the analysis results as intuitive colourmaps and the surgical microscopic view. They demonstrated the proposed technique retrospectively with two real cerebrovascular surgical cases: one AVM and one aneurysm. The results showed that the proposed technique can help characterise different vessel types (feeding and draining the abnormality), which agree with those identified by the operating surgeon.

Augmented reality (AR) has proven to be a useful, exciting technology in several areas of healthcare. AR may especially enhance the operator's experience in minimally invasive surgical applications by providing more intuitive and naturally immersive visualisation in those procedures which heavily rely on three-dimensional (3D) imaging data. Benefits include improved operator ergonomics, reduced fatigue, and simplified hand–eye coordination. Head-mounted AR displays may hold great potential for enhancing surgical navigation given their compactness and intuitiveness of use. In this work, the authors propose a method that can intra-operatively locate bone structures using tracked ultrasound (US), registers to the corresponding pre-operative computed tomography (CT) data and generates 3D AR visualisation of the operated surgical scene through a head-mounted display. The proposed method deploys optically-tracked US, bone surface segmentation from the US and CT image volumes, and multimodal volume registration to align pre-operative to the corresponding intra-operative data. The enhanced surgical scene is then visualised in an AR framework using a HoloLens. They demonstrate the method's utility using a foam pelvis phantom and quantitatively assess accuracy by comparing the locations of fiducial markers in the real and virtual spaces, yielding root mean square errors of 3.22, 22.46, and 28.30 mm in the x, y, and z directions, respectively.

A non-destructive testing system requires multiple system configuration parameters during the operation process. For a given transducer, scanning frequency and number of measurements for averaging are just among those parameters. This work tests the central limit theorem to optimally set these parameters. The authors have designed a compact ultrasound computer tomography scanner from scratch just to test this criterion. It is shown that optimal frequency value changes with respect to the scanning angle for an object with a heterogeneous inner profile. The proposed criterion helps to estimate the multi-spectral combination before the recovery stage minimum error. Possible industrial applications of such a system are 2D/3D multiphase flow profile recovery or crack detection in the composite matter, non-invasively. [ABSTRACT FROM AUTHOR]

This study presents a geometric deformable model‐based segmentation approach to segmentation of the intima and media‐adventitial (MA) borders in sequential intravascular ultrasound (IVUS) images. The initial estimation of the vessel borders was done manually only for the first frame of each sequence. After the border initialisation, pre‐processing including edge preservation, noise reduction, and dead zone preservation was successively performed on each IVUS frame. To improve segmentation performance, the image masks were determined preliminarily by local binary pattern‐based mask initialisation. Then, the inner and outer borders were approximated using a modified distance regularised level set evolution model. The results showed superior performance of the suggested approach for estimating intima and MA layers from the IVUS images. The corresponding correlation coefficients of area, vessel perimeter, maximum vessel diameter, and maximum lumen diameter were r = 0.782, r = 0.716, r = 0.956, and r = 0.874 for the 20 MHz images, respectively, and r = 0.990, r = 0.995, r = 0.989, and r = 0.996 for the 45 MHz images, respectively. In addition, linear regression analysis indicated that the manual segmentation had significantly high similarity at r > 0.967 and r > 0.993 for 20 and 45 MHz images, respectively. [ABSTRACT FROM AUTHOR]

Speckle noise is one of the major artefacts in ultrasound images. The denoising faces the trade‐off between noise suppression and structural preservation. In this study, multiscale adaptive regularisation Savitzky–Golay (MARSG) method, the new filter for removing speckle noise, is proposed. The proposed method combines the benefit of the multiscale analysis and the outstanding noise removing capability of Savitzky–Golay (SG) filter. The Laplacian pyramid is employed to separate an image into the noise, texture and object layers. Adaptive regularisation Savitzky–Golay (ARSG) filter is developed as the denoising filter in the noise and the texture layers. The denoising of the ARSG filter is adaptively adjusted in order to preserve the edges of objects in the image. The experiments on the synthetic and ultrasound images demonstrated that MARSG method offered better balance between noise removal and structural preservation than non‐linear multiscale wavelet diffusion, feature‐enhanced speckle reduction and regularised SG filter. [ABSTRACT FROM AUTHOR]

As a particular case of the finite mixture model, Rayleigh mixture model (RMM) is considered as a useful tool for medical ultrasound (US) image segmentation. However, conventional RMM relies on intensity distribution only and does not take any spatial information into account that leads to misclassification on boundaries and inhomogeneous regions. The authors proposed an improved RMM with neighbour (RMMN) information to solve this problem by introducing neighbourhood information through a mean template. The incorporation of the spatial information made RMMN more robust to noise on the boundaries. The size of the window which incorporates neighbour information was resized adaptively according to the local gradient distribution. They evaluated their model on experiments on synthetic data and real US images used by high‐intensity focused ultrasound therapy. On this data, they demonstrated that the proposed model outperforms several state‐of‐the‐art methods in terms of both segmentation accuracy and computation time. [ABSTRACT FROM AUTHOR]

In laparoscopic surgery, the surgeon must operate with a limited field of view and reduced depth perception. This makes spatial understanding of critical structures difficult, such as an endophytic tumour in a partial nephrectomy. Such tumours yield a high complication rate of 47%, and excising them increases the risk of cutting into the kidney's collecting system. To overcome these challenges, an augmented reality guidance system is proposed. Using intra-operative ultrasound, a single navigation aid, and surgical instrument tracking, four augmentations of guidance information are provided during tumour excision. Qualitative and quantitative system benefits are measured in simulated robot-assisted partial nephrectomies. Robot-to-camera calibration achieved a total registration error of 1.0 ± 0.4 mm while the total system error is 2.5 ± 0.5 mm. The system significantly reduced healthy tissue excised from an average (±standard deviation) of 30.6 ± 5.5 to 17.5 ± 2.4 cm^3 (p < 0.05) and reduced the depth from the tumor underside to cut from an average (±standard deviation) of 10.2 ± 4.1 to 3.3 ± 2.3 mm (p < 0.05). Further evaluation is required in vivo, but the system has promising potential to reduce the amount of healthy parenchymal tissue excised.

Purpose: Prostate brachytherapy is an important treatment technique for patients with localized prostate cancer. An inflatable rectal ultrasound probe cover is frequently utilized during the procedure to adjust for unfavorable prostate position relative to the implant grid. However, the inflated cover causes prostate deformation, which is not accounted for during dosimetric planning. Most of the therapeutic dose is delivered after the procedure when the prostate and surrounding organs-at-risk are less deformed. The aim of this study is to quantify the potential dosimetry changes between the initial plan (prostate deformed) and the more realistic dosimetry when the prostate is less deformed without the cover. Methods: The authors prospectively collected the ultrasound images of the prostate immediately preceding and just after inflation of the rectal probe cover from thirty-four consecutive patients undergoing real-time planning of I-125 permanent seed implant. Manual segmentations of the deformed and undeformed images from each case were used as the input for model training to generate the initial transformation of a testing patient. During registration, the pixel-to-pixel transformation was further optimized to maximize the mutual information between the transferred deformed image and the undeformed images. The accuracy of image registration was evaluated by comparing the displacement of the urethra and calcification landmarks and by determining the Dice index between the registered and manual prostate contours. After registration, using the optimized transformation, the implanted seeds were mapped from the deformed prostate onto the undeformed prostate. The dose distribution of the undeformed anatomy, calculated using the VariSeed treatment planning system, was then analyzed and compared with that of the deformed prostate. Results: The accuracy of image registration was 1.5±1.0 mm when evaluated by the displacement of calcification landmarks, 1.9±1.1 mm when characterized by the displacement of the centroid of the urethra, and 0.86±0.05 from the determination of the Dice index of prostate contours. The magnitude of dosimetric changes was associated with the degree of prostate deformation. The prostate coverage V100% dropped from 96.6±1.7% on prostate-deformed plans to 92.6±3.8% (p < 0.01) on undeformed plans, and the rectum V100% decreased from 0.48±0.39 to 0.06±0.14 cm3 (p < 0.01). The dose to the urethra increased, with the V150% increasing from 0.02±0.06 to 0.11±0.10 cm³ (p < 0.01) and D1% changing from 203.5±22.7 to 239.5±25.6 Gy (p < 0.01). Conclusions: Prostate deformation from the inflation of an ultrasound rectal probe cover can significantly alter brachytherapy dosimetry. The authors have developed a deformable image registration method that allows for the characterization of dose with the undeformed anatomy. This may be used to more accurately reflect the dosimetry when the prostate is not deformed by the probe cover. [ABSTRACT FROM AUTHOR]

Purpose: The previously described 2D standardized vessel-wall-plus-plaque thickness (VWT) maps constructed from 3D ultrasound vessel wall measurements using an arc-length (AL) scaling approach adjusted the geometric variability of carotid arteries and has allowed for the comparisons of VWT distributions in longitudinal and cross-sectional studies. However, this mapping technique did not optimize point correspondence of the carotid arteries investigated. The potential misalignment may lead to errors in point-wise VWT comparisons. In this paper, we developed and validated an algorithm based on steepest description length (DL) descent to optimize the point correspondence implied by the 2D VWT maps. Methods: The previously described AL approach was applied to obtain initial 2D maps for a group of carotid arteries. The 2D maps were reparameterized based on an iterative steepest DL descent approach, which consists of the following two steps. First, landmarks established by resampling the 2D maps were aligned using the Procrustes algorithm. Then, the gradient of the DL with respect to horizontal and vertical reparameterizations of each landmark on the 2D maps was computed, and the 2D maps were subsequently deformed in the direction of the steepest descent of DL. These two steps were repeated until convergence. The quality of the correspondence was evaluated in a phantom study and an in vivo study involving ten carotid arteries enrolled in a 3D ultrasound interscan variability study. The correspondence quality was evaluated in terms of the compactness and generalization ability of the statistical shape model built based on the established point correspondence in both studies. In the in vivo study, the effect of the proposed algorithm on interscan variability of VWT measurements was evaluated by comparing the percentage of landmarks with statistically significant VWT-change before and after point correspondence optimization. Results: The statistical shape model constructed with optimized correspondence was more compact and had a better generalization ability than that constructed using the AL approach in both the phantom and in vivo studies. A statistical test on the group-average VWT-Change at each point of the 2D carotid template showed that the group-average VWT-change was significantly different from 0 in 18% of landmarks when the AL approach was used, and this percentage was reduced to 11% after correspondence optimization. Conclusions: The optimized correspondence resulted in a more compact and generalizable statistical shape model, and the algorithm was shown to reduce interscan variability of point-wise VWT measurements obtained using the previously described arc-length scaling parameterization approach. [ABSTRACT FROM AUTHOR]

Purpose: At present, a one-size-fits-all approach is typically used for cancer therapy in patients. This is mainly because there is no current imaging-based clinical standard for the early assessment and monitoring of cancer treatment response. Here, the authors have developed, for the first time, a complete computer-aided-prognosis (CAP) system based on multiparametric quantitative ultrasound (QUS) spectroscopy methods in association with texture descriptors and advanced machine learning techniques. This system was used to noninvasively categorize and predict cell death levels in fibrosarcoma mouse tumors treated using ultrasound-stimulated microbubbles as novel endothelial-cell radiosensitizers. Methods: Sarcoma xenograft tumor-bearing mice were treated using ultrasound-stimulated microbubbles, alone or in combination with x-ray radiation therapy, as a new antivascular treatment. Therapy effects were assessed at 2-3, 24, and 72 h after treatment using a high-frequency ultrasound. Two-dimensional spectral parametric maps were generated using the power spectra of the raw radiofrequency echo signal. Subsequently, the distances between "pretreatment" and "post-treatment" scans were computed as an indication of treatment efficacy, using a kernel-based metric on textural features extracted from 2D parametric maps. A supervised learning paradigm was used to either categorize cell death levels as low, medium, or high using a classifier, or to "continuously" predict the levels of cell death using a regressor. Results: The developed CAP system performed at a high level for the classification of cell death levels. The area under curve of the receiver operating characteristic was 0.87 for the classification of cell death levels to both low/medium and medium/high levels. Moreover, the prediction of cell death levels using the proposed CAP system achieved a good correlation (r = 0.68, p < 0.001) with histological cell death levels as the ground truth. A statistical test of significance between individual treatment groups with the corresponding control group demonstrated that the predicted levels indicated the same significant changes in cell death as those indicated by the ground-truth levels. Conclusions: The technology developed in this study addresses a gap in the current standard of care by introducing a quality control step that generates potentially actionable metrics needed to enhance treatment decision-making. The study establishes a noninvasive framework for quantifying levels of cancer treatment response developed preclinically in tumors using QUS imaging in conjunction with machine learning techniques. The framework can potentially facilitate the detection of refractory responses in patients to a certain cancer treatment early on in the course of therapy to enable switching to more efficacious treatments. [ABSTRACT FROM AUTHOR]

Purpose: Knee joint is one of the largest and most complex joints of the body. Knee joint diseases are common, and current clinical imaging technologies such as x-ray computed tomography, magnetic resonance imaging, and ultrasound imaging have limitations in the diagnosis of knee joint diseases. Emerging imaging technologies such as diffuse optical tomography and photoacoustic imaging (PAI) have been applied to the detection of osteoarthritis (OA). However, they are limited to small joints such as the finger and difficult to be used for large joints such as the knee. Thermoacoustic imaging (TAI), also an emerging modality, provides high contrast and deep tissue penetration. Here, the authors apply TAI to the knee joint and demonstrate the potential of TAI for imaging large joints. Methods: Adult New Zealand male rabbits (average weight = 2 kg) were chosen for this study. In a TAI experiment, a rabbit was placed in a holder to keep in a genuflex position after being injected with pentobarbital through its ear margin intravenous (30 mg/kg). The holder and the rabbit were then positioned under the horn antenna of the TAI system for signal acquisition and image reconstruction. After the experiment, the imaged knee joint was dissected and photographed. Identical procedures were performed for several rabbits (n = 4). Finally, detailed comparative analyses between TAI images and anatomical pictures of the knee joint were conducted. Results: There were high similarities between the reconstructed TAI images and anatomical pictures of the knee joint, in terms of the shape and size of various knee joint tissues. TAI could clearly image ligament, fat pad, and other joint tissues. The differences in appearance of TAI images due to motion effect of the knee joint were also discussed. Conclusions: TAI could reveal details of rabbit knee joint in high resolution. As the recovered TAI images represent the dielectric property distributions of joint tissues, TAI may offer a new tool for noninvasive detection of joint diseases such as OA. [ABSTRACT FROM AUTHOR]

Purpose: Bone quantity, as determined by the current gold standard, dual energy X-ray absorptiometry (DXA), through measured areal bone mineral density (aBMD), is subject to positive biases if bone strontium levels are high. This is of particular concern for populations administered strontium-based compounds for the treatment of osteoporosis. This study investigated the dependence of bone mineral density (BMD) determinations, and associated ultrasound-determined indices, obtained by quantitative ultrasound (QUS), on bone strontium content using a new generation of trabecular bone-mimicking phantoms. Purpose: Bone quantity, as determined by the current gold standard, dual energy X-ray absorptiometry (DXA), through measured areal bone mineral density (aBMD), is subject to positive biases if bone strontium levels are high. This is of particular concern for populations administered strontium-based compounds for the treatment of osteoporosis. This study investigated the dependence of bone mineral density (BMD) determinations, and associated ultrasound-determined indices, obtained by quantitative ultrasound (QUS), on bone strontium content using a new generation of trabecular bone-mimicking phantoms. Results: Both the clinical system and the research QUS systems showed a strong dependency between BMD and BUA, indicating a potential for QUS to be used as a means of estimating BMD (p = 0.001). SOS was found to have no correlation to BMD (p = 0.546). There was no correlation observed between BUA and increasing bone strontium concentrations for the research (p = 0.749) and clinical (p = 0.609) QUS systems. Similarly, no dependency was observed between the SOS and bone strontium levels up to 2.5 mol/mol [Sr/(Sr+Ca)]% for the research (p = 0.862) and clinical (p = 0.481) QUS systems. No effect on the QUI values was observed with changing strontium levels with either research (p = 0.939) or clinical QUS systems (p = 0.931). A Bland-Altman analysis showed that there was a clear offset in determined QUI values for both systems but they are in agreement with one another. Results: Both the clinical system and the research QUS systems showed a strong dependency between BMD and BUA, indicating a potential for QUS to be used as a means of estimating BMD (p = 0.001). SOS was found to have no correlation to BMD (p = 0.546). There was no correlation observed between BUA and increasing bone strontium concentrations for the research (p = 0.749) and clinical (p = 0.609) QUS systems. Similarly, no dependency was observed between the SOS and bone strontium levels up to 2.5 mol/mol [Sr/(Sr+Ca)]% for the research (p = 0.862) and clinical (p = 0.481) QUS systems. No effect on the QUI values was observed with changing strontium levels with either research (p = 0.939) or clinical QUS systems (p = 0.931). A Bland-Altman analysis showed that there was a clear offset in determined QUI values for both systems but they are in agreement with one another. [ABSTRACT FROM AUTHOR]

Purpose: To present a system for robotic 4D ultrasound (US) imaging concurrent with radiotherapy beam delivery and estimate the proportion of liver stereotactic ablative body radiotherapy (SABR) cases in which robotic US image guidance can be deployed without interfering with clinically used VMAT beam configurations. Methods: The image guidance hardware comprises a 4D US machine, an optical tracking system for measuring US probe pose, and a custom-designed robot for acquiring hands-free US volumes. In software, a simulation environment incorporating the LINAC, couch, planning CT, and robotic US guidance hardware was developed. Placement of the robotic US hardware was guided by a target visibility map rendered on the CT surface by using the planning CT to simulate US propagation. The visibility map was validated in a prostate phantom and evaluated in patients by capturing live US from imaging positions suggested by the visibility map. In 20 liver SABR patients treated with VMAT, the simulation environment was used to virtually place the robotic hardware and US probe. Imaging targets were either planning target volumes (PTVs, range 5.9-679.5 ml) or gross tumor volumes (GTVs, range 0.9-343.4 ml). Presence or absence of mechanical interference with LINAC, couch, and patient body as well as interferences with treated beams was recorded. Results: For PTV targets, robotic US guidance without mechanical interference was possible in 80% of the cases and guidance without beam interference was possible in 60% of the cases. For the smaller GTV targets, these proportions were 95% and 85%, respectively. GTV size (1/20), elongated shape (1/20), and depth (1/20) were the main factors limiting the availability of noninterfering imaging positions. The robotic US imaging system was deployed in two liver SABR patients during CT simulation with successful acquisition of 4D US sequences in different imaging positions. Conclusions: This study indicates that for VMAT liver SABR, robotic US imaging of a relevant internal target may be possible in 85% of the cases while using treatment plans currently deployed in the clinic. With beam replanning to account for the presence of robotic US guidance, intrafractional US may be an option for 95% of the liver SABR cases. [ABSTRACT FROM AUTHOR]

Purpose: An intraluminal coronary stent is a metal mesh tube deployed in a stenotic artery during percutaneous coronary intervention (PCI), in order to prevent acute vessel occlusion. The identification of struts location and the definition of the stent shape is relevant for PCI planning and for patient follow-up. The authors present a fully automatic framework for computer-aided detection (CAD) of intracoronary stents in intravascular ultrasound (IVUS) image sequences. The CAD system is able to detect stent struts and estimate the stent shape. Methods: The proposed CAD uses machine learning to provide a comprehensive interpretation of the local structure of the vessel by means of semantic classification. The output of the classification stage is then used to detect struts and to estimate the stent shape. The proposed approach is validated using a multicentric data-set of 1,015 images from 107 IVUS sequences containing both metallic and bioabsorbable stents. Results: The method was able to detect struts in both metallic stents with an overall F-measure of 77.7% and a mean distance of 0.15 mm from manually annotated struts, and in bioabsorbable stents with an overall F-measure of 77.4% and a mean distance of 0.09 mm from manually annotated struts. Conclusions: The results are close to the interobserver variability and suggest that the system has the potential of being used as a method for aiding percutaneous interventions. [ABSTRACT FROM AUTHOR]

Purpose: Ultrasound neuromodulation is a promising noninvasive technique for controlling neural activity. Previous small animal studies suffered from low targeting specificity because of the low ultrasound frequencies (<690 kHz) used. In this study, the authors demonstrated the capability of focused ultrasound (FUS) neuromodulation in the megahertz-range to achieve superior targeting specificity in the murine brain as well as demonstrate modulation of both motor and sensory responses. Methods: FUS sonications were carried out at 1.9 MHz with 50% duty cycle, pulse repetition frequency of 1 kHz, and duration of 1 s. The robustness of the FUS neuromodulation was assessed first in sensorimotor cortex, where elicited motor activities were observed and recorded on videos and electromyography. Deeper brain regions were then targeted where pupillary dilation served as an indicative of successful modulation of subcortical brain structures. Results: Contralateral and ipsilateral movements of the hind limbs were repeatedly observed when the FUS was targeted at the sensorimotor cortex. Induced trunk and tail movements were also observed at different coordinates inside the sensorimotor cortex. At deeper targeted-structures, FUS induced eyeball movements (superior colliculus) and pupillary dilation (pretectal nucleus, locus coeruleus, and hippocampus). Histological analysis revealed no tissue damage associated with the FUS sonications. Conclusions: The motor movements and pupillary dilation observed in this study demonstrate the capability of FUS to modulate cortical and subcortical brain structures without inducing any damage. The variety of responses observed here demonstrates the capability of FUS to perform functional brain mapping. [ABSTRACT FROM AUTHOR]

Purpose: With the trend in radiotherapy moving toward dose escalation and hypofractionation, the need for highly accurate targeting increases. While MLC tracking is already being successfully used for motion compensation of moving targets in the prostate, current real-time target localization methods rely on repeated x-ray imaging and implanted fiducial markers or electromagnetic transponders rather than direct target visualization. In contrast, ultrasound imaging can yield volumetric data in real-time (3D + time = 4D) without ionizing radiation. The authors report the first results of combining these promising techniques--online 4D ultrasound guidance and MLC tracking--in a phantom. Methods: A software framework for real-time target localization was installed directly on a 4D ultrasound station and used to detect a 2 mm spherical lead marker inside a water tank. The lead marker was rigidly attached to a motion stage programmed to reproduce nine characteristic tumor trajectories chosen from large databases (five prostate, four lung). The 3D marker position detected by ultrasound was transferred to a computer program for MLC tracking at a rate of 21.3 Hz and used for real-time MLC aperture adaption on a conventional linear accelerator. The tracking system latency was measured using sinusoidal trajectories and compensated for by applying a kernel density prediction algorithm for the lung traces. To measure geometric accuracy, static anterior and lateral conformal fields as well as a 358? arc with a 10 cm circular aperture were delivered for each trajectory. The two-dimensional (2D) geometric tracking error was measured as the difference between marker position and MLC aperture center in continuously acquired portal images. For dosimetric evaluation, VMAT treatment plans with high and low modulation were delivered to a biplanar diode array dosimeter using the same trajectories. Dose measurements with and without MLC tracking were compared to a static reference dose using 3%/3 mm and 2%/2 mm γ-tests. Results: The overall tracking system latency was 172 ms. The mean 2D root-mean-square tracking error was 1.03 mm (0.80 mm prostate, 1.31 mm lung). MLC tracking improved the dose delivery in all cases with an overall reduction in the γ-failure rate of 91.2% (3%/3 mm) and 89.9% (2%/2 mm) compared to no motion compensation. Low modulation VMAT plans had no (3%/3 mm) or minimal (2%/2 mm) residual γ-failures while tracking reduced the γ-failure rate from 17.4% to 2.8% (3%/3 mm) and from 33.9% to 6.5% (2%/2 mm) for plans with high modulation. Conclusions: Real-time 4D ultrasound tracking was successfully integrated with online MLC tracking for the first time. The developed framework showed an accuracy and latency comparable with other MLC tracking methods while holding the potential to measure and adapt to target motion, including rotation and deformation, noninvasively. [ABSTRACT FROM AUTHOR]

Purpose: The mechanical and imaging properties of polyvinyl chloride (PVC) can be adjusted to meet the needs of researchers as a tissue-mimicking material. For instance, the hardness can be adjusted by changing the ratio of softener to PVC polymer, mineral oil can be added for lubrication in needle insertion, and glass beads can be added to scatter acoustic energy similar to biological tissue. Through this research, the authors sought to develop a regression model to design formulations of PVC with targeted mechanical and multimodal medical imaging properties. Methods: The design of experiment was conducted by varying three factors--(1) the ratio of softener to PVC polymer, (2) the mass fraction of mineral oil, and (3) the mass fraction of glass beads--and measuring the mechanical properties (elastic modulus, hardness, viscoelastic relaxation time constant, and needle insertion friction force) and the medical imaging properties [speed of sound, acoustic attenuation coefficient, magnetic resonance imaging time constants T1 and T2, and the transmittance of the visible light at wavelengths of 695 nm (Tλ695) and 532 nm (Tλ532)] on twelve soft PVC samples. A regression model was built to describe the relationship between the mechanical and medical imaging properties and the values of the three composition factors of PVC. The model was validated by testing the properties of a PVC sample with a formulation distinct from the twelve samples. Results: The tested soft PVC had elastic moduli from 6 to 45 kPa, hardnesses from 5 to 50 Shore OOO-S, viscoelastic stress relaxation time constants from 114.1 to 191.9 s, friction forces of 18 gauge needle insertion from 0.005 to 0.086 N/mm, speeds of sound from 1393 to 1407 m/s, acoustic attenuation coefficients from 0.38 to 0.61 (dB/cm)/MHz, T1 relaxation times from 426.3 to 450.2 ms, T2 relaxation times from 21.5 to 28.4 ms, Tλ695 from 46.8% to 92.6%, and Tλ532 from 41.1% to 86.3%. Statistically significant factors of each property were identified. The regression model relating the mechanical and medical imaging properties and their corresponding significant factors had a good fit. The validation tests showed a small discrepancy between the model predicted values and experimental data (all less than 5% except the needle insertion friction force). Conclusions: The regression model developed in this paper can be used to design soft PVC with targeted mechanical and medical imaging properties. [ABSTRACT FROM AUTHOR]

Purpose: Statistical modeling of an ultrasound backscattered echo envelope is used for tissue characterization. However, in the presence of complex structures within the analyzed area, estimation of parameters is disturbed and unreliable, e.g., in the case of breast tumor classification. In order to improve the differentiation of breast lesions, the authors proposed a method based on the segmentation of homodyned K distribution parameter maps. Regions within lesions of different scattering properties were extracted and analyzed. In order to improve the classification, the best-performing features were selected from various regions and then combined. Methods: A radio-frequency data set consisting of 103 breast lesions was used in the authors' analysis. Maps of homodyned K distribution parameters were created using an algorithm based on signal-to-noise ratio, kurtosis, and skewness of fractional-order envelope moments. A Markov random field model was used to segment parametric maps. Features of different segments were extracted and evaluated based on bootstrapping and the receiver operating characteristic curve. To determine the best-performing feature subset, the authors applied the joint mutual information criterion. Results: It was found that there were individual features which performed better than the ones commonly used for lesion characterization, like the parameter obtained through averaging of values over the whole lesion. The authors selected and discussed the best-performing features. Properties of different extracted regions were important and improved the distinction between benign and malignant tumors. The best performance was obtained by combining four features with the area under the receiver operating curve of 0.84. Conclusions: The study showed that the analysis of internal changes in lesion parametric maps leads to a better classification of breast tumors. The authors recommend combining multiple features for characterization, instead of using only one parameter, especially in the case of heterogeneous lesions. [ABSTRACT FROM AUTHOR]

Purpose: Substantial intrafraction organ motion during radiation therapy (RT) for pancreatic cancer is well recognized as a major limiting factor for accurate delivery of RT. The aim of this work is to determine the feasibility of monitoring the intrafractional motion of the pancreas or surrounding structures using ultrasound for RT delivery. Methods: Transabdominal ultrasound (TAUS) and 4DCT data were acquired on ten pancreatic cancer patients during radiation therapy process in a prospective study. In addition, TAUS and MRI were collected for five healthy volunteers. The portal vein (PV) and the head of the pancreas (HP) along with other structures were contoured on these images. Volume changes, distance between the HP and PV, and motion difference between the HP and PV were measured to examine whether PV can be used as a motion surrogate for HP. TAUS images were acquired and processed using a research version of the Clarity autoscan ultrasound system (CAUS). Motion monitoring was performed with the ultrasound probe mounted on an arm fixed to the couch. Video segments of the monitoring sessions were captured. Results: On TAUS, PV is better visualized than HP. The measured mean volume deviation for all patients for the HP and PV was 1.4 and 0.6 ml, respectively. The distance between the HP and PV was close to a constant with 0.22 mm mean deviation throughout the ten breathing phases. The mean of the absolute motion difference for all patients was 1.7±0.8 mm in LR, 1.5±0.5 mm in AP, and 2.3±0.7 mm in SI, suggesting that the PV is a good surrogate for HP motion estimation. By using this surrogate, the HP motion tracking using TAUS was demonstrated. Conclusions: Large intrafractional organ motion due to respiratory and/or bowel motion is a limiting factor in administering curative radiation doses to pancreatic tumors. The authors investigate the use of real-time ultrasound to track pancreas motion. Due to the poor visibility of the pancreas head on an ultrasound image, the portal vein is identified as a surrogate. The authors have demonstrated the feasibility of tracking HP motion through the localization of the PV using TAUS. This will potentially allow real-time tracking of intrafractional motion to justify small PTV-margins and to account for unusual motions, thus, improving normal tissue sparing. [ABSTRACT FROM AUTHOR]

Purpose: In transcranial magnetic resonance-guided focused ultrasound (tcMRgFUS) treatments, the acoustic and spatial heterogeneity of the skull cause reflection, absorption, and scattering of the acoustic beams. These effects depend on skull-specific parameters and can lead to patient-specific thermal responses to the same transducer power. In this work, the authors develop a simulation tool to help predict these different experimental responses using 3D heterogeneous tissue models based on the subject CT images. The authors then validate and compare the predicted skull efficiencies to an experimental metric based on the subject thermal responses during tcMRgFUS treatments in a dataset of seventeen human subjects. Methods: Seventeen human head CT scans were used to create tissue acoustic models, simulating the effects of reflection, absorption, and scattering of the acoustic beam as it propagates through a heterogeneous skull. The hybrid angular spectrum technique was used to model the acoustic beam propagation of the InSightec ExAblate 4000 head transducer for each subject, yielding maps of the specific absorption rate (SAR). The simulation assumed the transducer was geometrically focused to the thalamus of each subject, and the focal SAR at the target was used as a measure of the simulated skull efficiency. Experimental skull efficiency for each subject was calculated using the thermal temperature maps from the tcMRgFUS treatments. Axial temperature images (with no artifacts) were reconstructed with a single baseline, corrected using a referenceless algorithm. The experimental skull efficiency was calculated by dividing the reconstructed temperature rise 8.8 s after sonication by the applied acoustic power. Results: The simulated skull efficiency using individual-specific heterogeneous models predicts well (R2 = 0.84) the experimental energy efficiency. Conclusions: This paper presents a simulation model to predict the variation in thermal responses measured in clinical ctMRGFYS treatments while being computationally feasible. [ABSTRACT FROM AUTHOR]

Purpose: Transcranial focused ultrasound (FUS) shows great promise for a range of therapeutic applications in the brain. Current clinical investigations rely on the use of magnetic resonance imaging (MRI) to monitor treatments and for the registration of preoperative computed tomography (CT)-data to the MR images at the time of treatment to correct the sound aberrations caused by the skull. For some applications, MRI is not an appropriate choice for therapy monitoring and its cost may limit the accessibility of these treatments. An alternative approach, using high frequency ultrasound measurements to localize the skull surface and register CT data to the ultrasound treatment space, for the purposes of skull-related phase aberration correction and treatment targeting, has been developed. Methods: A prototype high frequency, hemispherical sparse array was fabricated. Pulse-echo measurements of the surface of five ex vivo human skulls were made, and the CT datasets of each skull were obtained. The acoustic data were used to rigidly register the CT-derived skull surface to the treatment space. The ultrasound-based registrations of the CT datasets were compared to the gold-standard landmark-based registrations. Results: The results show on an average sub-millimeter (0.9±0.2 mm) displacement and subdegree (0.8°±0.4°) rotation registration errors. Numerical simulations predict that registration errors on this scale will result in a mean targeting error of 1.0±0.2 mm and reduction in focal pressure of 1.0%±0.6% when targeting a midbrain structure (e.g., hippocampus) using a commercially available low-frequency brain prototype device (InSightec, 230 kHz brain system). Conclusions: If combined with ultrasound-based treatment monitoring techniques, this registration method could allow for the development of a low-cost transcranial FUS treatment platform to make this technology more widely available. [ABSTRACT FROM AUTHOR]

Purpose: Current treatment of intraventricular hemorrhage (IVH) involves cerebral shunt placement or an invasive brain surgery. Magnetic resonance-guided focused ultrasound (MRgFUS) applied to the brains of pediatric patients presents an opportunity to treat IVH in a noninvasive manner, termed "incision-less surgery." Current clinical and research focused ultrasound systems lack the capability to perform neonatal transcranial surgeries due to either range of motion or dexterity requirements. A novel robotic system is proposed to position a focused ultrasound transducer accurately above the head of a neonatal patient inside an MRI machine to deliver the therapy. Methods: A clinical Philips Sonalleve MRgFUS system was expanded to perform transcranial treatment. A five degree-of-freedom MR-conditional robot was designed and manufactured using MR compatible materials. The robot electronics and control were integrated into existing Philips electronics and software interfaces. The user commands the position of the robot with a graphical user interface, and is presented with real-time MR imaging of the patient throughout the surgery. The robot is validated through a series of experiments that characterize accuracy, signal-to-noise ratio degeneration of an MR image as a result of the robot, MR imaging artifacts generated by the robot, and the robot's ability to operate in a representative surgical environment inside an MR machine. Results: Experimental results show the robot responds reliably within an MR environment, has achieved 0.59±0.25 mm accuracy, does not produce severe MR-imaging artifacts, has a workspace providing sufficient coverage of a neonatal brain, and can manipulate a 5 kg payload. A full system demonstration shows these characteristics apply in an application environment. Conclusions: This paper presents a comprehensive look at the process of designing and validating a new robot from concept to implementation for use in an MR environment. An MR conditional robot has been designed and manufactured to design specifications. The system has demonstrated its feasibility as a platform for MRgFUS interventions for neonatal patients. The success of the system in experimental trials suggests that it is ready to be used for validation of the transcranial intervention in animal studies. [ABSTRACT FROM AUTHOR]

Purpose: To quantify the performance of the Clarity ultrasound (US) imaging system (Elekta AB, Stockholm, Sweden) for real-time dynamic multileaf collimator (MLC) tracking. Methods: The Clarity calibration and quality assurance phantom was mounted on a motion platform moving with a periodic sine wave trajectory. The detected position of a 30 mm hypoechogenic sphere within the phantom was continuously reported via Clarity's real-time streaming interface to an in-house tracking and delivery software and subsequently used to adapt the MLC aperture. A portal imager measured MV treatment field/MLC apertures and motion platform positions throughout each experiment to independently quantify system latency and geometric error. Based on the measured range of latency values, a prostate stereotactic body radiation therapy (SBRT) delivery was performed with three realistic motion trajectories. The dosimetric impact of system latency on MLC tracking was directly measured using a 3D dosimeter mounted on the motion platform. Results: For 2D US imaging, the overall system latency, including all delay times from the imaging and delivery chain, ranged from 392 to 424 ms depending on the lateral sector size. For 3D US imaging, the latency ranged from 566 to 1031 ms depending on the elevational sweep. The latencycorrected geometric root-mean squared error was below 0.75 mm (2D US) and below 1.75 mm (3D US). For the prostate SBRT delivery, the impact of a range of system latencies (400-1000 ms) on the MLC tracking performance was minimal in terms of gamma failure rate. Conclusions: Real-time MLC tracking based on a noninvasive US input is technologically feasible. Current system latencies are higher than those for x-ray imaging systems, but US can provide full volumetric image data and the impact of system latency was measured to be small for a prostate SBRT case when using a US-like motion input. [ABSTRACT FROM AUTHOR]

Shear waves propagating through interfaces where there is a change in stiffness cause reflected waves that can lead to artifacts in shear wave speed (SWS) reconstructions. Two-dimensional (2-D) directional filters are commonly used to reduce in-plane reflected waves; however, SWS artifacts arise from both in- and out-of-imaging-plane reflected waves. Herein, we introduce 3-D shear wave reconstruction methods as an extension of the previous 2-D estimation methods and quantify the reduction in image artifacts through the use of volumetric SWS monitoring and 4-D-directional filters. A Gaussian acoustic radiation force impulse excitation was simulated in phantoms with Young’s modulus ( $E$ ) of 3 kPa and a 5-mm spherical lesion with $E = 6$ , 12, or 18.75 kPa. The 2-D-, 3-D-, and 4-D-directional filters were applied to the displacement profiles to reduce in-and out-of-plane reflected wave artifacts. Contrast-to-noise ratio and SWS bias within the lesion were calculated for each reconstructed SWS image to evaluate the image quality. For 2-D SWS image reconstructions, the 3-D-directional filters showed greater improvements in image quality than the 2-D filters, and the 4-D-directional filters showed marginal improvement over the 3-D filters. Although 4-D-directional filters can further reduce the impact of large magnitude out-of-plane reflection artifacts in SWS images, computational overhead and transducer costs to acquire 3-D data may outweigh the modest improvements in image quality. The 4-D-directional filters have the largest impact in reducing reflection artifacts in 3-D SWS volumes. [ABSTRACT FROM PUBLISHER]

Purpose: Accurate and efficient guidance of medical devices to procedural targets lies at the heart of interventional procedures. Ultrasound imaging is commonly used for device guidance, but determining the location of the device tip can be challenging. Various methods have been proposed to track medical devices during ultrasound-guided procedures, but widespread clinical adoption has remained elusive. With ultrasonic tracking, the location of a medical device is determined by ultrasonic communication between the ultrasound imaging probe and a transducer integrated into the medical device. The signal-to-noise ratio (SNR) of the transducer data is an important determinant of the depth in tissue at which tracking can be performed. In this paper, the authors present a new generation of ultrasonic tracking in which coded excitation is used to improve the SNR without spatial averaging. Methods: A fiber optic hydrophone was integrated into the cannula of a 20 gauge insertion needle. This transducer received transmissions from the ultrasound imaging probe, and the data were processed to obtain a tracking image of the needle tip. Excitation using Barker or Golay codes was performed to improve the SNR, and conventional bipolar excitation was performed for comparison. The performance of the coded excitation ultrasonic tracking system was evaluated in an in vivo ovine model with insertions to the brachial plexus and the uterine cavity. Results: Coded excitation significantly increased the SNRs of the tracking images, as compared with bipolar excitation. During an insertion to the brachial plexus, the SNR was increased by factors of 3.5 for Barker coding and 7.1 for Golay coding. During insertions into the uterine cavity, these factors ranged from 2.9 to 4.2 for Barker coding and 5.4 to 8.5 for Golay coding. The maximum SNR was 670, which was obtained with Golay coding during needle withdrawal from the brachial plexus. Range sidelobe artifacts were observed in tracking images obtained with Barker coded excitation, and they were visually absent with Golay coded excitation. The spatial tracking accuracy was unaffected by coded excitation. Conclusions: Coded excitation is a viable method for improving the SNR in ultrasonic tracking without compromising spatial accuracy. This method provided SNR increases that are consistent with theoretical expectations, even in the presence of physiological motion. With the ultrasonic tracking system in this study, the SNR increases will have direct clinical implications in a broad range of interventional procedures by improving visibility of medical devices at large depths. [ABSTRACT FROM AUTHOR]

Purpose: The objective of this project is to demonstrate the principle and operation for a simple, inexpensive, and highly portable Doppler ultrasound quality assurance (QA) phantom intended for routine QA testing. A prototype phantom has been designed, fabricated, and evaluated. The phantom described here is powered by gravity alone, requires no external equipment for operation, and produces a stable fluid velocity useful for quality assurance. Many commercially available Doppler ultrasound testing systems can suffer from issues such as a lengthy setup, prohibitive cost, nonportable size, or difficulty in use. This new phantom design aims to address some of these problems and create a phantom appropriate for assessing Doppler ultrasound stability. Methods: The phantom was fabricated using a 3D printer. The basic design of the phantom is to provide gravity-powered flow of a Doppler fluid between two reservoirs. The printed components were connected with latex tubing and then seated in a tissue mimicking gel. Spectral Doppler waveforms were sampled to evaluate variations in the data, and the phantom was evaluated using high frame rate video to find an alternate measure of mean fluid velocity flowing in the phantom. Results: The current system design maintains stable flow from one reservoir to the other for approximately 7 s. Color Doppler imaging of the phantom was found to be qualitatively consistent with laminar flow. Using pulsed spectral Doppler, the average fluid velocity from a sample volume approximately centered in the synthetic vessel was measured to be 56 cm/s with a standard deviation of 3.2 cm/s across 118 measurements. An independent measure of the average fluid velocity was measured to be 51.9 cm/s with a standard deviation of 0.7 cm/s over 4 measurements. Conclusions: The developed phantom provides stable fluid flow useful for frequent clinical Doppler ultrasound testing and attempts to address several obstacles facing Doppler phantom testing. Such an ultrasound phantom can make routine testing more approachable for institutions that wish to initiate a Doppler QA program or complement a previously existing QA program. [ABSTRACT FROM AUTHOR]

Purpose: A constant bladder volume (BV) is essential to direct the radiotherapy (RT) of pelvic tumors with precision. The purpose of this study was to investigate changes in BV and their impact on cervical cancer RT and to assess the clinical significance of a portable bladder scanner (BS) in achieving a constant BV. Methods: A standard bladder phantom (133 ml) and measurements of actual urine volume were both used as benchmarks to evaluate the accuracy of the BS. Comparisons of BS with computed tomography (CT), cone-beam CT (CBCT), and an ultrasound diagnostic device (iU22) were made. Twenty-two consecutive patients with cervical cancer treated with external beam radical RT were divided into an experimental group (13 patients) and a control group (9 patients). In the experimental group, the BV was measured multiple times by BS pre-RT until it was consistent with that found by planning CT. Then a CBCT was performed. The BV was measured again immediately post-RT, after which the patient's urine was collected and recorded. In the control group, CBCT only was performed pre-RT. Interfractional changes in BV and their impact on cervical cancer RT were investigated in both groups. The time of bladder filling was also recorded and analyzed. Results: In measuring the volume of the standard bladder phantom, the BS deviated by 1.4% in accuracy. The difference between the measurements of the BS and the iU22 had no statistical significance (linear correlation coefficient 0.96, P < 0.05). The BV measured by the BS was strongly correlated with the actual urine volume (R = 0.95, P < 0.05), planning CT (R = 0.95, P < 0.05), or CBCT (R = 0.91, P < 0.05). Compared with the BV at the time of CT, its value changed by -36.1% [1 SD (standard deviation) 42.3%; range, -79.1%-29.4%] in the control group, and 5.2% (1 SD 21.5%; range, -13.3%-22.1%) in the experimental group during treatment. The change in BV affected the target position in the superior-inferior (SI) direction but had little or no effect in the anterior-posterior and right-left directions. Based on the collected data, the target displacement in the SI direction was reduced from 2.0 to 0.4 mm, while the CTV-to-PTV (CTV: clinical target volume; PTV: planning target volume) margin in the SI direction was reduced from 11.1 to 6.4 mm. The BV increased by 3.7±1.0 ml/min (range, 1.7-4.7 ml/min), which depended on the amount of water ingested by the patient (R = 0.96, P < 0.05). No correlation was found between the rate of urinary inflow and the patient's body mass. The authors were able to reduce the workload of measuring by using individual patient information including the patient's age, the water-drinking amount, time at which water-drinking began, and patient's diet. Conclusions: Changes in the BV have an influence on the RT of cervical cancer. A consistent and reproducible BV is acquired by using a portable BS, whereby the target displacement and CTV-to-PTV margin can be both reduced in the SI direction. [ABSTRACT FROM AUTHOR]

Purpose: Endoluminal ultrasound may serve as a minimally invasive option for delivering thermal ablation to pancreatic tumors adjacent to the stomach or duodenum. The objective of this study was to explore the basic feasibility of this treatment strategy through the design, characterization, and evaluation of proof-of-concept endoluminal ultrasound applicators capable of placement in the gastrointestinal (GI) lumen for volumetric pancreas ablation under MR guidance. Methods: Two variants of the endoluminal applicator, each containing a distinct array of two independently powered transducers (10 × 10 mm 3.2 MHz planar; or 8 × 10 × 20 mm radius of curvature 3.3 MHz curvilinear geometries) at the distal end of a meter long flexible catheter assembly, were designed and fabricated. Transducers and circulatory water flow for acoustic coupling and luminal cooling were contained by a low-profile polyester balloon covering the transducer assembly fixture. Each applicator incorporated miniature spiral MR coils and mechanical features (guiding tips and hinges) to facilitate tracking and insertion through the GI tract under MRI guidance. Acoustic characterization of each device was performed using radiation force balance and hydrophone measurements. Device delivery into the upper GI tract, adjacent to the pancreas, and heating characteristics for treatment of pancreatic tissue were evaluated in MR-guided ex vivo and in vivo porcine experiments. MR guidance was utilized for anatomical target identification, tracking/positioning of the applicator, and MR temperature imaging (MRTI) for PRF-based multislice thermometry, implemented in the real-time RTHawk software environment. Results: Force balance and hydrophone measurements indicated efficiencies of 48.8% and 47.8% and −3 dB intensity beam-widths of 3.2 and 1.2 mm for the planar and curvilinear transducers, respectively. Ex vivo studies on whole-porcine carcasses revealed capabilities of producing ablative temperature rise (ΔT > 15 °C) contours in pancreatic tissue 4-40 mm long and 4-28 mm wide for the planar transducer applicator (1-13 min sonication duration, ~4 W/cm² applied acoustic intensity). Curvilinear transducers produced more selective heating, with a narrower ΔT > 15 °C contour length and width of up to 1-24 mm and 2-7 mm, respectively (1-7 min sonication duration, ~4 W/cm² applied acoustic intensity). Active tracking of the miniature spiral coils was achieved using a Hadamard encoding tracking sequence, enabling real-time determination of each coil's coordinates and automated prescription of imaging planes for thermometry. In vivo MRTI-guided heating trials in three pigs demonstrated capability of ~20 °C temperature elevation in pancreatic tissue at 2 cm depths from the applicator, with 5-7 W/cm² applied intensity and 6-16 min sonication duration. Dimensions of thermal lesions in the pancreas ranged from 12 to 28 mm, 3 to 10 mm, and 5 to 10 mm in length, width, and depth, respectively, as verified through histological analysis of tissue sections. Multiple-baseline reconstruction and respiratory-gated acquisition were demonstrated to be effective strategies in suppressing motion artifacts for clear evolution of temperature profiles during MRTI in the in vivo studies. Conclusions: This study demonstrates the technical feasibility of generating volumetric ablation in pancreatic tissue using endoluminal ultrasound applicators positioned in the stomach lumen. MR guidance facilitates target identification, device tracking/positioning, and treatment monitoring through real-time multislice PRF-based thermometry. [ABSTRACT FROM AUTHOR]

Purpose: Automated 3D breast ultrasound (ABUS) has been proposed as a complementary screening modality to mammography for early detection of breast cancers. To facilitate the interpretation of ABUS images, automated diagnosis and detection techniques are being developed, in which malignant lesion segmentation plays an important role. However, automated segmentation of cancer in ABUS is challenging since lesion edges might not be well defined. In this study, the authors aim at developing an automated segmentation method for malignant lesions in ABUS that is robust to ill defined cancer edges and posterior shadowing. Methods: A segmentation method using depth guided dynamic programming based on spiral scanning is proposed. The method automatically adjusts aggressiveness of the segmentation according to the position of the voxels relative to the lesion center. Segmentation is more aggressive in the upper part of the lesion (close to the transducer) than at the bottom (far away from the transducer), where posterior shadowing is usually visible. The authors used Dice similarity coefficient (Dice) for evaluation. The proposed method is compared to existing state of the art approaches such as graph cut, level set, and smart opening and an existing dynamic programming method without depth dependence. Results: In a dataset of 78 cancers, our proposed segmentation method achieved a mean Dice of 0.73 ± 0.14. The method outperforms an existing dynamic programming method (0.70 ± 0.16) on this task (p = 0.03) and it is also significantly (p < 0.001) better than graph cut (0.66 ± 0.18), level set based approach (0.63 ± 0.20) and smart opening (0.65 ± 0.12). Conclusions: The proposed depth guided dynamic programming method achieves accurate breast malignant lesion segmentation results in automated breast ultrasound. [ABSTRACT FROM AUTHOR]

Purpose: In this paper, the authors propose a novel efficient method to segment ultrasound images of the prostate with weak boundaries. Segmentation of the prostate from ultrasound images with weak boundaries widely exists in clinical applications. One of the most typical examples is the diagnosis and treatment of prostate cancer. Accurate segmentation of the prostate boundaries from ultrasound images plays an important role in many prostate-related applications such as the accurate placement of the biopsy needles, the assignment of the appropriate therapy in cancer treatment, and the measurement of the prostate volume. Methods: Ultrasound images of the prostate are usually corrupted with intensity inhomogeneities, weak boundaries, and unwanted edges, which make the segmentation of the prostate an inherently difficult task. Regarding to these difficulties, the authors introduce an active band term and an edge descriptor term in the modified level set energy functional. The active band term is to deal with intensity inhomogeneities and the edge descriptor term is to capture the weak boundaries or to rule out unwanted boundaries. The level set function of the proposed model is updated in a band region around the zero level set which the authors call it an active band. The active band restricts the authors' method to utilize the local image information in a banded region around the prostate contour. Compared to traditional level set methods, the average intensities inside\outside the zero level set are only computed in this banded region. Thus, only pixels in the active band have influence on the evolution of the level set. For weak boundaries, they are hard to be distinguished by human eyes, but in local patches in the band region around prostate boundaries, they are easier to be detected. The authors incorporate an edge descriptor to calculate the total intensity variation in a local patch paralleled to the normal direction of the zero level set, which can detect weak boundaries and avoid unwanted edges in the ultrasound images. Results: The efficiency of the proposed model is demonstrated by experiments on real 3D volume images and 2D ultrasound images and comparisons with other approaches. Validation results on real 3D TRUS prostate images show that the authors' model can obtain a Dice similarity coefficient (DSC) of 94.03%±1.50% and a sensitivity of 93.16%±2.30%. Experiments on 100 typical 2D ultrasound images show that the authors' method can obtain a sensitivity of 94.87%±1.85% and a DSC of 95.82%±2.23%. A reproducibility experiment is done to evaluate the robustness of the proposed model. Conclusions: As far as the authors know, prostate segmentation from ultrasound images with weak boundaries and unwanted edges is a difficult task. A novel method using level sets with active band and the intensity variation across edges is proposed in this paper. Extensive experimental results demonstrate that the proposed method is more efficient and accurate. [ABSTRACT FROM AUTHOR]