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1. Towards Safe and Collaborative Robotic Ultrasound Tissue Scanning in Neurosurgery

Author

Dyck, Michael, Weld, Alistair, Klodmann, Julian, Kirst, Alexander, Dixon, Luke, Anichini, Giulio, Camp, Sophie, Albu-Schäffer, Alin, and Giannarou, Stamatia

Subjects
Computer Science - Robotics, Electrical Engineering and Systems Science - Systems and Control
Abstract

Intraoperative ultrasound imaging is used to facilitate safe brain tumour resection. However, due to challenges with image interpretation and the physical scanning, this tool has yet to achieve widespread adoption in neurosurgery. In this paper, we introduce the components and workflow of a novel, versatile robotic platform for intraoperative ultrasound tissue scanning in neurosurgery. An RGB-D camera attached to the robotic arm allows for automatic object localisation with ArUco markers, and 3D surface reconstruction as a triangular mesh using the ImFusion Suite software solution. Impedance controlled guidance of the US probe along arbitrary surfaces, represented as a mesh, enables collaborative US scanning, i.e., autonomous, teleoperated and hands-on guided data acquisition. A preliminary experiment evaluates the suitability of the conceptual workflow and system components for probe landing on a custom-made soft-tissue phantom. Further assessment in future experiments will be necessary to prove the effectiveness of the presented platform., Comment: 4 pages, 7 figures, accepted (05 December 2023) for publication in IEEE Transaction on Medical Robotics and Bionics

Published
2023
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2. Identifying Visible Tissue in Intraoperative Ultrasound Images during Brain Surgery: A Method and Application

Author

Weld, Alistair, Dixon, Luke, Anichini, Giulio, Dyck, Michael, Ranne, Alex, Camp, Sophie, and Giannarou, Stamatia

Subjects
Electrical Engineering and Systems Science - Image and Video Processing, Computer Science - Computer Vision and Pattern Recognition
Abstract

Intraoperative ultrasound scanning is a demanding visuotactile task. It requires operators to simultaneously localise the ultrasound perspective and manually perform slight adjustments to the pose of the probe, making sure not to apply excessive force or breaking contact with the tissue, whilst also characterising the visible tissue. In this paper, we propose a method for the identification of the visible tissue, which enables the analysis of ultrasound probe and tissue contact via the detection of acoustic shadow and construction of confidence maps of the perceptual salience. Detailed validation with both in vivo and phantom data is performed. First, we show that our technique is capable of achieving state of the art acoustic shadow scan line classification - with an average binary classification accuracy on unseen data of 0.87. Second, we show that our framework for constructing confidence maps is able to produce an ideal response to a probe's pose that is being oriented in and out of optimality - achieving an average RMSE across five scans of 0.174. The performance evaluation justifies the potential clinical value of the method which can be used both to assist clinical training and optimise robot-assisted ultrasound tissue scanning.

Published
2023

4. Outcomes of mechanical thrombectomy in acute stroke patients with atrial fibrillation detected after stroke versus known atrial fibrillation

Author

D’Anna, Lucio, Ornello, Raffaele, Foschi, Matteo, Romoli, Michele, Abu-Rumeileh, Samir, Dolkar, Tsering, Vittay, Orsolya, Dixon, Luke, Bentley, Paul, Brown, Zoe, Hall, Charles, Jamil, Sohaa, Jenkins, Harri, Kwan, Joseph, Patel, Maneesh, Rane, Neil, Roi, Dylan, Singh, Abhinav, Venter, Marius, Kalladka, Dheeraj, Malik, Abid, Halse, Omid, Sacco, Simona, Banerjee, Soma, and Lobotesis, Kyriakos

Published
2024
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5. Safety and outcomes of different endovascular treatment techniques for anterior circulation ischaemic stroke in the elderly: data from the Imperial College Thrombectomy Registry

Author

D’Anna, Lucio, Barba, Lorenzo, Foschi, Matteo, Romoli, Michele, Abu-Rumeileh, Samir, Dolkar, Tsering, Vittay, Orsolya, Dixon, Luke, Bentley, Paul, Brown, Zoe, Hall, Charles, Halse, Omid, Jamil, Sohaa, Jenkins, Harri, Kalladka, Dheeraj, Kwan, Joseph, Malik, Abid, Patel, Maneesh, Rane, Neil, Roi, Dylan, Singh, Abhinav, Venter, Marius, Banerjee, Soma, and Lobotesis, Kyriakos

Published
2024
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6. Automated robotic intraoperative ultrasound for brain surgery

Author

Dyck, Michael, Weld, Alistair, Klodmann, Julian, Kirst, Alexander, Anichini, Giulio, Dixon, Luke, Camp, Sophie, Giannarou, Stamatia, and Albu-Schäffer, Alin

Subjects
Computer Science - Robotics
Abstract

During brain tumour resection, localising cancerous tissue and delineating healthy and pathological borders is challenging, even for experienced neurosurgeons and neuroradiologists. Intraoperative imaging is commonly employed for determining and updating surgical plans in the operating room. Ultrasound (US) has presented itself a suitable tool for this task, owing to its ease of integration into the operating room and surgical procedure. However, widespread establishment of this tool has been limited because of the difficulty of anatomy localisation and data interpretation. In this work, we present a robotic framework designed and tested on a soft-tissue-mimicking brain phantom, simulating intraoperative US (iUS) scanning during brain tumour surgery.

Published
2023

7. Collaborative Robotic Ultrasound Tissue Scanning for Surgical Resection Guidance in Neurosurgery

Author

Weld, Alistair, Dyck, Michael, Klodmann, Julian, Anichini, Giulio, Dixon, Luke, Camp, Sophie, Albu-Schäffer, Alin, and Giannarou, Stamatia

Subjects
Computer Science - Robotics, Computer Science - Computer Vision and Pattern Recognition
Abstract

The aim of this paper is to introduce a robotic platform for autonomous iUS tissue scanning to optimise intraoperative diagnosis and improve surgical resection during robot-assisted operations. To guide anatomy specific robotic scanning and generate a representation of the robot task space, fast and accurate techniques for the recovery of 3D morphological structures of the surgical cavity are developed. The prototypic DLR MIRO surgical robotic arm is used to control the applied force and the in-plane motion of the US transducer. A key application of the proposed platform is the scanning of brain tissue to guide tumour resection.

Published
2023

8. Outcomes of mechanical thrombectomy in orally anticoagulated patients with anterior circulation large vessel occlusion: a propensity-matched analysis of the Imperial College Thrombectomy Registry

Author

D’Anna, Lucio, Romoli, Michele, Foschi, Matteo, Abu-Rumeileh, Samir, Dolkar, Tsering, Vittay, Orsolya, Dixon, Luke, Bentley, Paul, Brown, Zoe, Hall, Charles, Jamil, Sohaa, Jenkins, Harri, Kwan, Joseph, La Cava, Roberta, Patel, Maneesh, Rane, Neil, Roi, Dylan, Singh, Abhinav, Venter, Marius, Halse, Omid, Malik, Abid, Kalladka, Dheeraj, Banerjee, Soma, and Lobotesis, Kyriakos

Published
2023
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9. Federated Learning Enables Big Data for Rare Cancer Boundary Detection

Author

Pati, Sarthak, Baid, Ujjwal, Edwards, Brandon, Sheller, Micah, Wang, Shih-Han, Reina, G Anthony, Foley, Patrick, Gruzdev, Alexey, Karkada, Deepthi, Davatzikos, Christos, Sako, Chiharu, Ghodasara, Satyam, Bilello, Michel, Mohan, Suyash, Vollmuth, Philipp, Brugnara, Gianluca, Preetha, Chandrakanth J, Sahm, Felix, Maier-Hein, Klaus, Zenk, Maximilian, Bendszus, Martin, Wick, Wolfgang, Calabrese, Evan, Rudie, Jeffrey, Villanueva-Meyer, Javier, Cha, Soonmee, Ingalhalikar, Madhura, Jadhav, Manali, Pandey, Umang, Saini, Jitender, Garrett, John, Larson, Matthew, Jeraj, Robert, Currie, Stuart, Frood, Russell, Fatania, Kavi, Huang, Raymond Y, Chang, Ken, Balana, Carmen, Capellades, Jaume, Puig, Josep, Trenkler, Johannes, Pichler, Josef, Necker, Georg, Haunschmidt, Andreas, Meckel, Stephan, Shukla, Gaurav, Liem, Spencer, Alexander, Gregory S, Lombardo, Joseph, Palmer, Joshua D, Flanders, Adam E, Dicker, Adam P, Sair, Haris I, Jones, Craig K, Venkataraman, Archana, Jiang, Meirui, So, Tiffany Y, Chen, Cheng, Heng, Pheng Ann, Dou, Qi, Kozubek, Michal, Lux, Filip, Michálek, Jan, Matula, Petr, Keřkovský, Miloš, Kopřivová, Tereza, Dostál, Marek, Vybíhal, Václav, Vogelbaum, Michael A, Mitchell, J Ross, Farinhas, Joaquim, Maldjian, Joseph A, Yogananda, Chandan Ganesh Bangalore, Pinho, Marco C, Reddy, Divya, Holcomb, James, Wagner, Benjamin C, Ellingson, Benjamin M, Cloughesy, Timothy F, Raymond, Catalina, Oughourlian, Talia, Hagiwara, Akifumi, Wang, Chencai, To, Minh-Son, Bhardwaj, Sargam, Chong, Chee, Agzarian, Marc, Falcão, Alexandre Xavier, Martins, Samuel B, Teixeira, Bernardo C A, Sprenger, Flávia, Menotti, David, Lucio, Diego R, LaMontagne, Pamela, Marcus, Daniel, Wiestler, Benedikt, Kofler, Florian, Ezhov, Ivan, Metz, Marie, Jain, Rajan, Lee, Matthew, Lui, Yvonne W, McKinley, Richard, Slotboom, Johannes, Radojewski, Piotr, Meier, Raphael, Wiest, Roland, Murcia, Derrick, Fu, Eric, Haas, Rourke, Thompson, John, Ormond, David Ryan, Badve, Chaitra, Sloan, Andrew E, Vadmal, Vachan, Waite, Kristin, Colen, Rivka R, Pei, Linmin, Ak, Murat, Srinivasan, Ashok, Bapuraj, J Rajiv, Rao, Arvind, Wang, Nicholas, Yoshiaki, Ota, Moritani, Toshio, Turk, Sevcan, Lee, Joonsang, Prabhudesai, Snehal, Morón, Fanny, Mandel, Jacob, Kamnitsas, Konstantinos, Glocker, Ben, Dixon, Luke V M, Williams, Matthew, Zampakis, Peter, Panagiotopoulos, Vasileios, Tsiganos, Panagiotis, Alexiou, Sotiris, Haliassos, Ilias, Zacharaki, Evangelia I, Moustakas, Konstantinos, Kalogeropoulou, Christina, Kardamakis, Dimitrios M, Choi, Yoon Seong, Lee, Seung-Koo, Chang, Jong Hee, Ahn, Sung Soo, Luo, Bing, Poisson, Laila, Wen, Ning, Tiwari, Pallavi, Verma, Ruchika, Bareja, Rohan, Yadav, Ipsa, Chen, Jonathan, Kumar, Neeraj, Smits, Marion, van der Voort, Sebastian R, Alafandi, Ahmed, Incekara, Fatih, Wijnenga, Maarten MJ, Kapsas, Georgios, Gahrmann, Renske, Schouten, Joost W, Dubbink, Hendrikus J, Vincent, Arnaud JPE, Bent, Martin J van den, French, Pim J, Klein, Stefan, Yuan, Yading, Sharma, Sonam, Tseng, Tzu-Chi, Adabi, Saba, Niclou, Simone P, Keunen, Olivier, Hau, Ann-Christin, Vallières, Martin, Fortin, David, Lepage, Martin, Landman, Bennett, Ramadass, Karthik, Xu, Kaiwen, Chotai, Silky, Chambless, Lola B, Mistry, Akshitkumar, Thompson, Reid C, Gusev, Yuriy, Bhuvaneshwar, Krithika, Sayah, Anousheh, Bencheqroun, Camelia, Belouali, Anas, Madhavan, Subha, Booth, Thomas C, Chelliah, Alysha, Modat, Marc, Shuaib, Haris, Dragos, Carmen, Abayazeed, Aly, Kolodziej, Kenneth, Hill, Michael, Abbassy, Ahmed, Gamal, Shady, Mekhaimar, Mahmoud, Qayati, Mohamed, Reyes, Mauricio, Park, Ji Eun, Yun, Jihye, Kim, Ho Sung, Mahajan, Abhishek, Muzi, Mark, Benson, Sean, Beets-Tan, Regina G H, Teuwen, Jonas, Herrera-Trujillo, Alejandro, Trujillo, Maria, Escobar, William, Abello, Ana, Bernal, Jose, Gómez, Jhon, Choi, Joseph, Baek, Stephen, Kim, Yusung, Ismael, Heba, Allen, Bryan, Buatti, John M, Kotrotsou, Aikaterini, Li, Hongwei, Weiss, Tobias, Weller, Michael, Bink, Andrea, Pouymayou, Bertrand, Shaykh, Hassan F, Saltz, Joel, Prasanna, Prateek, Shrestha, Sampurna, Mani, Kartik M, Payne, David, Kurc, Tahsin, Pelaez, Enrique, Franco-Maldonado, Heydy, Loayza, Francis, Quevedo, Sebastian, Guevara, Pamela, Torche, Esteban, Mendoza, Cristobal, Vera, Franco, Ríos, Elvis, López, Eduardo, Velastin, Sergio A, Ogbole, Godwin, Oyekunle, Dotun, Odafe-Oyibotha, Olubunmi, Osobu, Babatunde, Shu'aibu, Mustapha, Dorcas, Adeleye, Soneye, Mayowa, Dako, Farouk, Simpson, Amber L, Hamghalam, Mohammad, Peoples, Jacob J, Hu, Ricky, Tran, Anh, Cutler, Danielle, Moraes, Fabio Y, Boss, Michael A, Gimpel, James, Veettil, Deepak Kattil, Schmidt, Kendall, Bialecki, Brian, Marella, Sailaja, Price, Cynthia, Cimino, Lisa, Apgar, Charles, Shah, Prashant, Menze, Bjoern, Barnholtz-Sloan, Jill S, Martin, Jason, and Bakas, Spyridon

Subjects
Computer Science - Machine Learning, Electrical Engineering and Systems Science - Image and Video Processing
Abstract

Although machine learning (ML) has shown promise in numerous domains, there are concerns about generalizability to out-of-sample data. This is currently addressed by centrally sharing ample, and importantly diverse, data from multiple sites. However, such centralization is challenging to scale (or even not feasible) due to various limitations. Federated ML (FL) provides an alternative to train accurate and generalizable ML models, by only sharing numerical model updates. Here we present findings from the largest FL study to-date, involving data from 71 healthcare institutions across 6 continents, to generate an automatic tumor boundary detector for the rare disease of glioblastoma, utilizing the largest dataset of such patients ever used in the literature (25,256 MRI scans from 6,314 patients). We demonstrate a 33% improvement over a publicly trained model to delineate the surgically targetable tumor, and 23% improvement over the tumor's entire extent. We anticipate our study to: 1) enable more studies in healthcare informed by large and diverse data, ensuring meaningful results for rare diseases and underrepresented populations, 2) facilitate further quantitative analyses for glioblastoma via performance optimization of our consensus model for eventual public release, and 3) demonstrate the effectiveness of FL at such scale and task complexity as a paradigm shift for multi-site collaborations, alleviating the need for data sharing., Comment: federated learning, deep learning, convolutional neural network, segmentation, brain tumor, glioma, glioblastoma, FeTS, BraTS

Published
2022
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11. Author Correction: Federated learning enables big data for rare cancer boundary detection

Author

Pati, Sarthak, Baid, Ujjwal, Edwards, Brandon, Sheller, Micah, Wang, Shih-Han, Reina, G. Anthony, Foley, Patrick, Gruzdev, Alexey, Karkada, Deepthi, Davatzikos, Christos, Sako, Chiharu, Ghodasara, Satyam, Bilello, Michel, Mohan, Suyash, Vollmuth, Philipp, Brugnara, Gianluca, Preetha, Chandrakanth J., Sahm, Felix, Maier-Hein, Klaus, Zenk, Maximilian, Bendszus, Martin, Wick, Wolfgang, Calabrese, Evan, Rudie, Jeffrey, Villanueva-Meyer, Javier, Cha, Soonmee, Ingalhalikar, Madhura, Jadhav, Manali, Pandey, Umang, Saini, Jitender, Garrett, John, Larson, Matthew, Jeraj, Robert, Currie, Stuart, Frood, Russell, Fatania, Kavi, Huang, Raymond Y., Chang, Ken, Balaña, Carmen, Capellades, Jaume, Puig, Josep, Trenkler, Johannes, Pichler, Josef, Necker, Georg, Haunschmidt, Andreas, Meckel, Stephan, Shukla, Gaurav, Liem, Spencer, Alexander, Gregory S., Lombardo, Joseph, Palmer, Joshua D., Flanders, Adam E., Dicker, Adam P., Sair, Haris I., Jones, Craig K., Venkataraman, Archana, Jiang, Meirui, So, Tiffany Y., Chen, Cheng, Heng, Pheng Ann, Dou, Qi, Kozubek, Michal, Lux, Filip, Michálek, Jan, Matula, Petr, Keřkovský, Miloš, Kopřivová, Tereza, Dostál, Marek, Vybíhal, Václav, Vogelbaum, Michael A., Mitchell, J. Ross, Farinhas, Joaquim, Maldjian, Joseph A., Yogananda, Chandan Ganesh Bangalore, Pinho, Marco C., Reddy, Divya, Holcomb, James, Wagner, Benjamin C., Ellingson, Benjamin M., Cloughesy, Timothy F., Raymond, Catalina, Oughourlian, Talia, Hagiwara, Akifumi, Wang, Chencai, To, Minh-Son, Bhardwaj, Sargam, Chong, Chee, Agzarian, Marc, Falcão, Alexandre Xavier, Martins, Samuel B., Teixeira, Bernardo C. A., Sprenger, Flávia, Menotti, David, Lucio, Diego R., LaMontagne, Pamela, Marcus, Daniel, Wiestler, Benedikt, Kofler, Florian, Ezhov, Ivan, Metz, Marie, Jain, Rajan, Lee, Matthew, Lui, Yvonne W., McKinley, Richard, Slotboom, Johannes, Radojewski, Piotr, Meier, Raphael, Wiest, Roland, Murcia, Derrick, Fu, Eric, Haas, Rourke, Thompson, John, Ormond, David Ryan, Badve, Chaitra, Sloan, Andrew E., Vadmal, Vachan, Waite, Kristin, Colen, Rivka R., Pei, Linmin, Ak, Murat, Srinivasan, Ashok, Bapuraj, J. Rajiv, Rao, Arvind, Wang, Nicholas, Yoshiaki, Ota, Moritani, Toshio, Turk, Sevcan, Lee, Joonsang, Prabhudesai, Snehal, Morón, Fanny, Mandel, Jacob, Kamnitsas, Konstantinos, Glocker, Ben, Dixon, Luke V. M., Williams, Matthew, Zampakis, Peter, Panagiotopoulos, Vasileios, Tsiganos, Panagiotis, Alexiou, Sotiris, Haliassos, Ilias, Zacharaki, Evangelia I., Moustakas, Konstantinos, Kalogeropoulou, Christina, Kardamakis, Dimitrios M., Choi, Yoon Seong, Lee, Seung-Koo, Chang, Jong Hee, Ahn, Sung Soo, Luo, Bing, Poisson, Laila, Wen, Ning, Tiwari, Pallavi, Verma, Ruchika, Bareja, Rohan, Yadav, Ipsa, Chen, Jonathan, Kumar, Neeraj, Smits, Marion, van der Voort, Sebastian R., Alafandi, Ahmed, Incekara, Fatih, Wijnenga, Maarten M. J., Kapsas, Georgios, Gahrmann, Renske, Schouten, Joost W., Dubbink, Hendrikus J., Vincent, Arnaud J. P. E., van den Bent, Martin J., French, Pim J., Klein, Stefan, Yuan, Yading, Sharma, Sonam, Tseng, Tzu-Chi, Adabi, Saba, Niclou, Simone P., Keunen, Olivier, Hau, Ann-Christin, Vallières, Martin, Fortin, David, Lepage, Martin, Landman, Bennett, Ramadass, Karthik, Xu, Kaiwen, Chotai, Silky, Chambless, Lola B., Mistry, Akshitkumar, Thompson, Reid C., Gusev, Yuriy, Bhuvaneshwar, Krithika, Sayah, Anousheh, Bencheqroun, Camelia, Belouali, Anas, Madhavan, Subha, Booth, Thomas C., Chelliah, Alysha, Modat, Marc, Shuaib, Haris, Dragos, Carmen, Abayazeed, Aly, Kolodziej, Kenneth, Hill, Michael, Abbassy, Ahmed, Gamal, Shady, Mekhaimar, Mahmoud, Qayati, Mohamed, Reyes, Mauricio, Park, Ji Eun, Yun, Jihye, Kim, Ho Sung, Mahajan, Abhishek, Muzi, Mark, Benson, Sean, Beets-Tan, Regina G. H., Teuwen, Jonas, Herrera-Trujillo, Alejandro, Trujillo, Maria, Escobar, William, Abello, Ana, Bernal, Jose, Gómez, Jhon, Choi, Joseph, Baek, Stephen, Kim, Yusung, Ismael, Heba, Allen, Bryan, Buatti, John M., Kotrotsou, Aikaterini, Li, Hongwei, Weiss, Tobias, Weller, Michael, Bink, Andrea, Pouymayou, Bertrand, Shaykh, Hassan F., Saltz, Joel, Prasanna, Prateek, Shrestha, Sampurna, Mani, Kartik M., Payne, David, Kurc, Tahsin, Pelaez, Enrique, Franco-Maldonado, Heydy, Loayza, Francis, Quevedo, Sebastian, Guevara, Pamela, Torche, Esteban, Mendoza, Cristobal, Vera, Franco, Ríos, Elvis, López, Eduardo, Velastin, Sergio A., Ogbole, Godwin, Soneye, Mayowa, Oyekunle, Dotun, Odafe-Oyibotha, Olubunmi, Osobu, Babatunde, Shu’aibu, Mustapha, Dorcas, Adeleye, Dako, Farouk, Simpson, Amber L., Hamghalam, Mohammad, Peoples, Jacob J., Hu, Ricky, Tran, Anh, Cutler, Danielle, Moraes, Fabio Y., Boss, Michael A., Gimpel, James, Veettil, Deepak Kattil, Schmidt, Kendall, Bialecki, Brian, Marella, Sailaja, Price, Cynthia, Cimino, Lisa, Apgar, Charles, Shah, Prashant, Menze, Bjoern, Barnholtz-Sloan, Jill S., Martin, Jason, and Bakas, Spyridon

Published
2023
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22. Outcomes of mechanical thrombectomy in acute stroke patients with atrial fibrillation detected after stroke versus known atrial fibrillation

Author

D’Anna, Lucio, primary, Ornello, Raffaele, additional, Foschi, Matteo, additional, Romoli, Michele, additional, Abu-Rumeileh, Samir, additional, Dolkar, Tsering, additional, Vittay, Orsolya, additional, Dixon, Luke, additional, Bentley, Paul, additional, Brown, Zoe, additional, Hall, Charles, additional, Jamil, Sohaa, additional, Jenkins, Harri, additional, Kwan, Joseph, additional, Patel, Maneesh, additional, Rane, Neil, additional, Roi, Dylan, additional, Singh, Abhinav, additional, Venter, Marius, additional, Kalladka, Dheeraj, additional, Malik, Abid, additional, Halse, Omid, additional, Sacco, Simona, additional, Banerjee, Soma, additional, and Lobotesis, Kyriakos, additional

Published
2023
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25. The diagnostic role of diffusional kurtosis imaging in glioma grading and differentiation of gliomas from other intra-axial brain tumours: a systematic review with critical appraisal and meta-analysis

Author

Abdalla, Gehad, Dixon, Luke, Sanverdi, Eser, Machado, Pedro M., Kwong, Joey S. W., Panovska-Griffiths, Jasmina, Rojas-Garcia, Antonio, Yoneoka, Daisuke, Veraart, Jelle, Van Cauter, Sofie, Abdel-Khalek, Ahmed M., Settein, Magdy, Yousry, Tarek, and Bisdas, Sotirios

Published
2020
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27. Safety and outcomes of different endovascular treatment techniques for anterior circulation ischaemic stroke in the elderly: data from the Imperial College Thrombectomy Registry.

Author

D'Anna, Lucio, Barba, Lorenzo, Foschi, Matteo, Romoli, Michele, Abu-Rumeileh, Samir, Dolkar, Tsering, Vittay, Orsolya, Dixon, Luke, Bentley, Paul, Brown, Zoe, Hall, Charles, Halse, Omid, Jamil, Sohaa, Jenkins, Harri, Kalladka, Dheeraj, Kwan, Joseph, Malik, Abid, Patel, Maneesh, Rane, Neil, and Roi, Dylan

Subjects
ISCHEMIC stroke, ENDOVASCULAR surgery, OLDER people, THROMBECTOMY, OLDER patients
Abstract

Background: Although previous studies investigated the main predictors of outcomes after endovascular thrombectomy (EVT) in patients aged 80 years and older, less is known about the impact of the procedural features on outcomes in elderly patients. The aim of this study was to investigate the influence of EVT technical procedures on the main 3-month outcomes in a population of patients aged 80 years and older. Methods: This observational, prospective, single-centre study included consecutive patients with acute LVO ischaemic stroke of the anterior circulation. The study outcomes were functional independence at 3 months after EVT (defined as a mRS score of 0–2), successful reperfusion (mTICI ≥ 2b), incidence of haeamorrhagic transformation, and 90-day all cause of mortality. Results: Our cohort included 497 patients with acute ischaemic stroke due to LVO treated with EVT. Among them, 105 (21.1%) patients were aged ≥ 80 years. In the elderly group, multivariable regression analysis showed that thromboaspiration technique vs stent-retriever was the single independent predictor of favourable post-procedural TICI score (OR = 7.65, 95%CI = 2.22–26.32, p = 0.001). Conclusions: Our study suggests that EVT for LVO stroke in the elderly could be safe. The use of thromboaspiration was associated with positive reperfusion outcome in this population. Further studies in larger series are warranted to confirm the present results and to evaluate the safety and efficacy of EVT in the elderly and oldest adults. [ABSTRACT FROM AUTHOR]

Published
2024
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28. Outcomes of mechanical thrombectomy in acute stroke patients with atrial fibrillation detected after stroke versus known atrial fibrillation.

Author

D'Anna, Lucio, Ornello, Raffaele, Foschi, Matteo, Romoli, Michele, Abu-Rumeileh, Samir, Dolkar, Tsering, Vittay, Orsolya, Dixon, Luke, Bentley, Paul, Brown, Zoe, Hall, Charles, Jamil, Sohaa, Jenkins, Harri, Kwan, Joseph, Patel, Maneesh, Rane, Neil, Roi, Dylan, Singh, Abhinav, Venter, Marius, and Kalladka, Dheeraj

Abstract

We aim to compare the outcomes in patients with atrial fibrillation detected after stroke (AFDAS) and their counterparts with known AF (KAF) presenting with large vessel occlusion (LVO) treated with mechanical thrombectomy (MT). This observational, prospective study included consecutive patients with acute LVO ischemic stroke of the anterior circulation with AFDAS, KAF and without AF. The primary study outcome was functional independence at 90 days after stroke. The secondary study outcomes were variation of the NIHSS score at 24 h, rate of successful reperfusion, death at 90 days and rate of immediate complications post-procedure. Overall, our cohort included 518 patients with acute ischemic stroke and LVO treated with MT, with 289 (56.8%) without a diagnosis of AF; 107 (21%) with AFDAS; 122 (22.2%) with KAF. There was no significant difference in terms of functional independence at 90 days after stroke between the three groups. Regarding the secondary study outcome, the rate of symptomatic intracranial haemorrhage (sICH) and/or parenchymal hematoma (PH) were significantly higher in the group of patients without AF (respectively, P = 0.030 and < 0.010). Logistic regression analysis showed that the subtypes of AF were not statistically significantly associated with functional independence at 90 days after stroke and with the likelihood of any ICH. Our results suggest that the subtypes of AF are not associated with clinical and safety outcomes of MT in patients with acute stroke and LVO. Further studies are needed to confirm our findings. [ABSTRACT FROM AUTHOR]

Published
2024
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29. Safety and outcomes of different endovascular treatment techniques for anterior circulation ischaemic stroke in the elderly: data from the Imperial College Thrombectomy Registry

Author

D’Anna, Lucio, primary, Barba, Lorenzo, additional, Foschi, Matteo, additional, Romoli, Michele, additional, Abu-Rumeileh, Samir, additional, Dolkar, Tsering, additional, Vittay, Orsolya, additional, Dixon, Luke, additional, Bentley, Paul, additional, Brown, Zoe, additional, Hall, Charles, additional, Halse, Omid, additional, Jamil, Sohaa, additional, Jenkins, Harri, additional, Kalladka, Dheeraj, additional, Kwan, Joseph, additional, Malik, Abid, additional, Patel, Maneesh, additional, Rane, Neil, additional, Roi, Dylan, additional, Singh, Abhinav, additional, Venter, Marius, additional, Banerjee, Soma, additional, and Lobotesis, Kyriakos, additional

Published
2023
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33. Outcomes of mechanical thrombectomy in orally anticoagulated patients with anterior circulation large vessel occlusion: a propensity-matched analysis of the Imperial College Thrombectomy Registry.

Author

D'Anna, Lucio, Romoli, Michele, Foschi, Matteo, Abu-Rumeileh, Samir, Dolkar, Tsering, Vittay, Orsolya, Dixon, Luke, Bentley, Paul, Brown, Zoe, Hall, Charles, Jamil, Sohaa, Jenkins, Harri, Kwan, Joseph, La Cava, Roberta, Patel, Maneesh, Rane, Neil, Roi, Dylan, Singh, Abhinav, Venter, Marius, and Halse, Omid

Subjects
BASILAR artery, STROKE patients, THROMBECTOMY, CEREBRAL infarction, PROPENSITY score matching, CEREBRAL hemorrhage
Abstract

Background: Mechanical thrombectomy (MT) remains an effective treatment for patients with acute ischemic stroke receiving oral anticoagulation (OAC) and large vessel occlusion (LVO). However, to date, it remains unclear whether MT is safe in patients on treatment with OAC. Aims: In our study, we performed a propensity-matched analysis to investigate the safety and efficacy of MT in patients with acute ischemic stroke receiving anticoagulants. A propensity score method was used to target the causal inference of the observational study design. Methods: This observational, prospective, single-centre study included consecutive patients with acute LVO ischemic stroke of the anterior circulation. Demographic, neuro-imaging and clinical data were collected and compared according to the anticoagulation status at baseline, patients on OAC vs those not on OAC. The primary study outcomes were the occurrence of any intracerebral haemorrhage (ICH) and symptomatic ICH. The secondary study outcomes were functional independence at 90 days after stroke (defined as modified Rankin Scale (mRS) scores of 0 through 2), mortality at 3 months and successful reperfusion rate according to the modified treatment in cerebral infarction (mTICI) score. Results: Overall, our cohort included 573 patients with acute ischemic stroke and LVO treated with MT. After propensity score matching, 495 patients were matched (99 OAC group vs 396 no OAC group). There were no differences in terms of clinical characteristics between the two groups, except for the rate of intravenous thrombolysis less frequently given in the OAC group. There was no significant difference in terms of the rate of any ICH and symptomatic ICH between the two groups. With regards to the secondary study outcome, there was no significant difference in terms of the rate of successful recanalization post-procedure and functional independence at 3 months between the two groups. Patients in the OAC group showed a reduced mortality rate at 90 days compared to the patients with no previous use of anticoagulation (20.2% vs 21.2%, p = 0.031). Logistic regression analysis did not reveal a statistically significant influence of the anticoagulation status on the likelihood of any ICH (OR = 0.95, 95% CI = 0.46–1.97, p = 0.900) and symptomatic ICH (OR = 4.87, 95% CI = 0.64–37.1, p = 0.127). Our analysis showed also that pre-admission anticoagulant use was not associated with functional independence at 90 days after stroke (OR = 0.76, 95% CI = 0.39–1.48, p = 0.422) and rate of successful reperfusion (OR = 0.81, 95% CI = 0.38–1.72, p = 0.582). Conclusion: According to our findings anticoagulation status at baseline did not raise any suggestion of safety and efficacy concerns when MT treatment is provided according to the standard guidelines. Confirmation of these results in larger controlled prospective cohorts is necessary. [ABSTRACT FROM AUTHOR]

Published
2023
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37. The performance of gender with particular reference to the plays of Shakespeare

Author

Dixon, Luke

Subjects
800, William Shakespeare, Elizabethan plays
Abstract

An analytical history of the representation of gender on the English stage from Shakespeare to modern times is followed by a detailed examination of the National Theatre of Great Britain's production of 'As You Like It' in 1967, the first production of a play by Shakespeare for over three hundred years in which the female parts were played by male actors. Subsequent cross-cast productions of Shakespeare's plays by Glasgow Citizen's Theatre, Prospect theatre Company, Lindsay Kemp, Theatre du Soleil and Goodman Theatre Chicago are discussed and the views of directors and critics of those productions analysed. The thesis then presents the results of a series of workshops with actors into the playing of gender and examines, by means of an experiment employing Gender Schema Theory, how actors construct gender in a production of 'Twelfth Night'. The final part of the thesis describes a controlled experiment into audience perception of gender using a scene from 'Hamlet'. Theories are presented about the nature of the performance of gender on stage and the use of theatrical conventions, the relationship between social conventions and stage conventions, about the way in which an actor builds a character, the influence of biological sex on actors' creativity, and about audience participation.

Published
1998

39. Comparison of Drip‐and‐Ship Versus Mothership Delivery Models of Mechanical Thrombectomy Delivery

Author

D'Anna, Lucio, Dolkar, Tsering, Vittay, Orsolya, Dixon, Luke, Foschi, Matteo, Russo, Michele, Levee, Viva, Bentley, Paul, Brown, Zoe, Hall, Charles, Halse, Omid, Jamil, Sohaa, Jenkins, Harri, Kalladka, Dheeraj, Kwan, Joseph, Malik, Abid, Patel, Maneesh, Rane, Neil, Roi, Dylan, Singh, Abhinav, Venter, Marius, Taylor, Eleanor, Lobotesis, Kyriakos, and Banerjee, Soma

Abstract

Background It remains uncertain whether the drip‐and‐ship (DS) strategy (transport to the nearest primary stroke centers) or the mothership (MS) model (direct transportation to the comprehensive stroke center) is the organizational stroke model associated with the best functional outcome in acute stroke patients with large vessel occlusion. In this study, we compared the periprocedural complications and outcomes at 90 days of acute stroke patients with large vessel occlusion of the anterior circulation directly admitted to our comprehensive stroke center compared to those referred from primary stroke centers treated with mechanical thrombectomy. Methods This is a single‐center prospective observational study where patients with DS and MS were compared regarding the disability at 90 days, as assessed by applying the modified Rankin scale, the rate of successful reperfusion, and the rate of immediate complications postprocedure. Results Of 579 patients, 216 (37.30%) were MS, and 363 (62.7%) were DS. There was no difference regarding the modified Rankin scale at 3 months between the MS (36.4%) and DS (39.3%) groups of patients treated with mechanical thrombectomy ( P =0.362). There was no significant difference regarding the National Institutes of Health Stroke Scale at 24 hours, mortality at 90 days, and rate of successful recanalization postprocedure between the 2 groups. DS was associated with an increased risk of hemorrhagic transformation and symptomatic intracranial hemorrhage (odds ratio, 5.414 [95% CI, 1.572–18.644]; P =0.007). Conclusion Our single‐center study showed no difference in terms of functional independence between the DS and MS organizational paradigm. DS was associated with an increased risk of hemorrhagic transformation and symptomatic intracranial hemorrhage.

Published
2023

40. Severe Disseminated Infection with Emerging Lineage of Methicillin-Sensitive Staphylococcus aureus

Author

Jewell, Paul, Dixon, Luke, Singanayagam, Aran, Ghani, Rohma, Wong, Ernie, Coleman, Meg, Pichon, Bruno, Kearns, Angela, Russell, Georgina, and Hatcher, James

Subjects
Staphylococcus aureus infections -- Case studies -- Development and progression -- Care and treatment, Immunocompromised host -- Case studies -- Care and treatment, Staphylococcus aureus, Staphylococcal infections, Virulence (Microbiology), Genes, Public health, Infection, Livestock, Therapeutics, Health
Abstract

Since being identified in 2002, methicillin-resistant Staphylococcus aureus (MRSA) clonal complex 398 (CC398) lineage, associated with livestock, has been a global public health concern (1). We know less about human [...]

Published
2019
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41. Endovascular Thrombectomy with or without Intravenous Thrombolysis for Anterior Circulation Large Vessel Occlusion in the Imperial College London Thrombectomy Registry

Author

D’Anna, Lucio, primary, Foschi, Matteo, additional, Russo, Michele, additional, Dolkar, Tsering, additional, Vittay, Orsolya, additional, Dixon, Luke, additional, Bentley, Paul, additional, Brown, Zoe, additional, Hall, Charles, additional, Halse, Omid, additional, Jamil, Sohaa, additional, Jenkins, Harri, additional, Kalladka, Dheeraj, additional, Kwan, Joseph, additional, Malik, Abid, additional, Patel, Maneesh, additional, Rane, Neil, additional, Roi, Dylan, additional, Singh, Abhinav, additional, Venter, Marius, additional, Lobotesis, Kyriakos, additional, and Banerjee, Soma, additional

Published
2023
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42. Federated learning enables big data for rare cancer boundary detection

Author

Pati, Sarthak, primary, Baid, Ujjwal, additional, Edwards, Brandon, additional, Sheller, Micah, additional, Wang, Shih-Han, additional, Reina, G. Anthony, additional, Foley, Patrick, additional, Gruzdev, Alexey, additional, Karkada, Deepthi, additional, Davatzikos, Christos, additional, Sako, Chiharu, additional, Ghodasara, Satyam, additional, Bilello, Michel, additional, Mohan, Suyash, additional, Vollmuth, Philipp, additional, Brugnara, Gianluca, additional, Preetha, Chandrakanth J., additional, Sahm, Felix, additional, Maier-Hein, Klaus, additional, Zenk, Maximilian, additional, Bendszus, Martin, additional, Wick, Wolfgang, additional, Calabrese, Evan, additional, Rudie, Jeffrey, additional, Villanueva-Meyer, Javier, additional, Cha, Soonmee, additional, Ingalhalikar, Madhura, additional, Jadhav, Manali, additional, Pandey, Umang, additional, Saini, Jitender, additional, Garrett, John, additional, Larson, Matthew, additional, Jeraj, Robert, additional, Currie, Stuart, additional, Frood, Russell, additional, Fatania, Kavi, additional, Huang, Raymond Y., additional, Chang, Ken, additional, Balaña, Carmen, additional, Capellades, Jaume, additional, Puig, Josep, additional, Trenkler, Johannes, additional, Pichler, Josef, additional, Necker, Georg, additional, Haunschmidt, Andreas, additional, Meckel, Stephan, additional, Shukla, Gaurav, additional, Liem, Spencer, additional, Alexander, Gregory S., additional, Lombardo, Joseph, additional, Palmer, Joshua D., additional, Flanders, Adam E., additional, Dicker, Adam P., additional, Sair, Haris I., additional, Jones, Craig K., additional, Venkataraman, Archana, additional, Jiang, Meirui, additional, So, Tiffany Y., additional, Chen, Cheng, additional, Heng, Pheng Ann, additional, Dou, Qi, additional, Kozubek, Michal, additional, Lux, Filip, additional, Michálek, Jan, additional, Matula, Petr, additional, Keřkovský, Miloš, additional, Kopřivová, Tereza, additional, Dostál, Marek, additional, Vybíhal, Václav, additional, Vogelbaum, Michael A., additional, Mitchell, J. Ross, additional, Farinhas, Joaquim, additional, Maldjian, Joseph A., additional, Yogananda, Chandan Ganesh Bangalore, additional, Pinho, Marco C., additional, Reddy, Divya, additional, Holcomb, James, additional, Wagner, Benjamin C., additional, Ellingson, Benjamin M., additional, Cloughesy, Timothy F., additional, Raymond, Catalina, additional, Oughourlian, Talia, additional, Hagiwara, Akifumi, additional, Wang, Chencai, additional, To, Minh-Son, additional, Bhardwaj, Sargam, additional, Chong, Chee, additional, Agzarian, Marc, additional, Falcão, Alexandre Xavier, additional, Martins, Samuel B., additional, Teixeira, Bernardo C. A., additional, Sprenger, Flávia, additional, Menotti, David, additional, Lucio, Diego R., additional, LaMontagne, Pamela, additional, Marcus, Daniel, additional, Wiestler, Benedikt, additional, Kofler, Florian, additional, Ezhov, Ivan, additional, Metz, Marie, additional, Jain, Rajan, additional, Lee, Matthew, additional, Lui, Yvonne W., additional, McKinley, Richard, additional, Slotboom, Johannes, additional, Radojewski, Piotr, additional, Meier, Raphael, additional, Wiest, Roland, additional, Murcia, Derrick, additional, Fu, Eric, additional, Haas, Rourke, additional, Thompson, John, additional, Ormond, David Ryan, additional, Badve, Chaitra, additional, Sloan, Andrew E., additional, Vadmal, Vachan, additional, Waite, Kristin, additional, Colen, Rivka R., additional, Pei, Linmin, additional, Ak, Murat, additional, Srinivasan, Ashok, additional, Bapuraj, J. Rajiv, additional, Rao, Arvind, additional, Wang, Nicholas, additional, Yoshiaki, Ota, additional, Moritani, Toshio, additional, Turk, Sevcan, additional, Lee, Joonsang, additional, Prabhudesai, Snehal, additional, Morón, Fanny, additional, Mandel, Jacob, additional, Kamnitsas, Konstantinos, additional, Glocker, Ben, additional, Dixon, Luke V. M., additional, Williams, Matthew, additional, Zampakis, Peter, additional, Panagiotopoulos, Vasileios, additional, Tsiganos, Panagiotis, additional, Alexiou, Sotiris, additional, Haliassos, Ilias, additional, Zacharaki, Evangelia I., additional, Moustakas, Konstantinos, additional, Kalogeropoulou, Christina, additional, Kardamakis, Dimitrios M., additional, Choi, Yoon Seong, additional, Lee, Seung-Koo, additional, Chang, Jong Hee, additional, Ahn, Sung Soo, additional, Luo, Bing, additional, Poisson, Laila, additional, Wen, Ning, additional, Tiwari, Pallavi, additional, Verma, Ruchika, additional, Bareja, Rohan, additional, Yadav, Ipsa, additional, Chen, Jonathan, additional, Kumar, Neeraj, additional, Smits, Marion, additional, van der Voort, Sebastian R., additional, Alafandi, Ahmed, additional, Incekara, Fatih, additional, Wijnenga, Maarten M. J., additional, Kapsas, Georgios, additional, Gahrmann, Renske, additional, Schouten, Joost W., additional, Dubbink, Hendrikus J., additional, Vincent, Arnaud J. P. E., additional, van den Bent, Martin J., additional, French, Pim J., additional, Klein, Stefan, additional, Yuan, Yading, additional, Sharma, Sonam, additional, Tseng, Tzu-Chi, additional, Adabi, Saba, additional, Niclou, Simone P., additional, Keunen, Olivier, additional, Hau, Ann-Christin, additional, Vallières, Martin, additional, Fortin, David, additional, Lepage, Martin, additional, Landman, Bennett, additional, Ramadass, Karthik, additional, Xu, Kaiwen, additional, Chotai, Silky, additional, Chambless, Lola B., additional, Mistry, Akshitkumar, additional, Thompson, Reid C., additional, Gusev, Yuriy, additional, Bhuvaneshwar, Krithika, additional, Sayah, Anousheh, additional, Bencheqroun, Camelia, additional, Belouali, Anas, additional, Madhavan, Subha, additional, Booth, Thomas C., additional, Chelliah, Alysha, additional, Modat, Marc, additional, Shuaib, Haris, additional, Dragos, Carmen, additional, Abayazeed, Aly, additional, Kolodziej, Kenneth, additional, Hill, Michael, additional, Abbassy, Ahmed, additional, Gamal, Shady, additional, Mekhaimar, Mahmoud, additional, Qayati, Mohamed, additional, Reyes, Mauricio, additional, Park, Ji Eun, additional, Yun, Jihye, additional, Kim, Ho Sung, additional, Mahajan, Abhishek, additional, Muzi, Mark, additional, Benson, Sean, additional, Beets-Tan, Regina G. H., additional, Teuwen, Jonas, additional, Herrera-Trujillo, Alejandro, additional, Trujillo, Maria, additional, Escobar, William, additional, Abello, Ana, additional, Bernal, Jose, additional, Gómez, Jhon, additional, Choi, Joseph, additional, Baek, Stephen, additional, Kim, Yusung, additional, Ismael, Heba, additional, Allen, Bryan, additional, Buatti, John M., additional, Kotrotsou, Aikaterini, additional, Li, Hongwei, additional, Weiss, Tobias, additional, Weller, Michael, additional, Bink, Andrea, additional, Pouymayou, Bertrand, additional, Shaykh, Hassan F., additional, Saltz, Joel, additional, Prasanna, Prateek, additional, Shrestha, Sampurna, additional, Mani, Kartik M., additional, Payne, David, additional, Kurc, Tahsin, additional, Pelaez, Enrique, additional, Franco-Maldonado, Heydy, additional, Loayza, Francis, additional, Quevedo, Sebastian, additional, Guevara, Pamela, additional, Torche, Esteban, additional, Mendoza, Cristobal, additional, Vera, Franco, additional, Ríos, Elvis, additional, López, Eduardo, additional, Velastin, Sergio A., additional, Ogbole, Godwin, additional, Soneye, Mayowa, additional, Oyekunle, Dotun, additional, Odafe-Oyibotha, Olubunmi, additional, Osobu, Babatunde, additional, Shu’aibu, Mustapha, additional, Dorcas, Adeleye, additional, Dako, Farouk, additional, Simpson, Amber L., additional, Hamghalam, Mohammad, additional, Peoples, Jacob J., additional, Hu, Ricky, additional, Tran, Anh, additional, Cutler, Danielle, additional, Moraes, Fabio Y., additional, Boss, Michael A., additional, Gimpel, James, additional, Veettil, Deepak Kattil, additional, Schmidt, Kendall, additional, Bialecki, Brian, additional, Marella, Sailaja, additional, Price, Cynthia, additional, Cimino, Lisa, additional, Apgar, Charles, additional, Shah, Prashant, additional, Menze, Bjoern, additional, Barnholtz-Sloan, Jill S., additional, Martin, Jason, additional, and Bakas, Spyridon, additional

Published
2022
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46. Adult-onset leukodystrophies: a practical guide, recent treatment updates, and future directions.

Author

Muthusamy, Karthik, Sivadasan, Ajith, Dixon, Luke, Sudhakar, Sniya, Thomas, Maya, Danda, Sumita, Wszolek, Zbigniew K., Wierenga, Klaas, Dhamija, Radhika, and Gavrilova, Ralitza

Subjects
LEUKODYSTROPHY, FAMILY counseling, MOLECULAR spectra, WHITE matter (Nerve tissue), DISEASE progression
Abstract

Adult-onset leukodystrophies though individually rare are not uncommon. This group includes several disorders with isolated adult presentations, as well as several childhood leukodystrophies with attenuated phenotypes that present at a later age. Misdiagnoses often occur due to the clinical and radiological overlap with common acquired disorders such as infectious, immune, inflammatory, vascular, metabolic, and toxic etiologies. Increased prevalence of non-specific white matter changes in adult population poses challenges during diagnostic considerations. Clinico-radiological spectrum and molecular landscape of adult-onset leukodystrophies have not been completely elucidated at this time. Diagnostic approach is less well-standardized when compared to the childhood counterpart. Absence of family history and reduced penetrance in certain disorders frequently create a dilemma. Comprehensive evaluation and molecular confirmation when available helps in prognostication, early initiation of treatment in certain disorders, enrollment in clinical trials, and provides valuable information for the family for reproductive counseling. In this review article, we aimed to formulate an approach to adult-onset leukodystrophies that will be useful in routine practice, discuss common adult-onset leukodystrophies with usual and unusual presentations, neuroimaging findings, recent advances in treatment, acquired mimics, and provide an algorithm for comprehensive clinical, radiological, and genetic evaluation that will facilitate early diagnosis and consider active treatment options when available. A high index of suspicion, awareness of the clinico-radiological presentations, and comprehensive genetic evaluation are paramount because treatment options are available for several disorders when diagnosed early in the disease course. [ABSTRACT FROM AUTHOR]

Published
2023
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48. Collaborative Robotic Ultrasound Tissue Scanning for Surgical Resection Guidance in Neurosurgery

Author

Weld, Alistair, Dyck, Michael, Klodmann, Julian, Anichini, Giulio, Dixon, Luke, Camp, Sophie, Albu-Schäffer, Alin, and Giannarou, Stamatia

Subjects
FOS: Computer and information sciences, Computer Science - Robotics, Computer Vision and Pattern Recognition (cs.CV), Computer Science - Computer Vision and Pattern Recognition, Impedance Control, Ultrasound Medical Imaging, Medical Robotics, Robotics (cs.RO), Visual Servoing
Abstract

The aim of this paper is to introduce a robotic platform for autonomous iUS tissue scanning to optimise intraoperative diagnosis and improve surgical resection during robot-assisted operations. To guide anatomy specific robotic scanning and generate a representation of the robot task space, fast and accurate techniques for the recovery of 3D morphological structures of the surgical cavity are developed. The prototypic DLR MIRO surgical robotic arm is used to control the applied force and the in-plane motion of the US transducer. A key application of the proposed platform is the scanning of brain tissue to guide tumour resection.

Published
2022

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