A Segmented Iterative Learning Scheme-Based Distributed Fault Estimation for Switched Interconnected Nonlinear Systems.

In this article, a distributed fault estimation (DFE) approach for switched interconnected nonlinear systems (SINSs) with time delays and external disturbances is proposed using a novel segmented iterative learning scheme (SILS). First, through the utilization of interrelated information among subsystems, a distributed iterative learning observer is developed to enhance the accuracy of fault estimation results, which can realize the fault estimation of all subsystems under time delays and external disturbances. Simultaneously, to facilitate rapid fault information tracking and significantly reduce sensitivity to interference, a new SILS-based fault estimation law is constructed by combining the idea of segmented design with the method of variable gain. Then, an assessment of the convergence of the established fault estimation methodology is conducted, and the configurations of observer gain matrices and iterative learning gain matrices are duly accomplished. Finally, simulation results are showcased to demonstrate the superiority and feasibility of the developed fault estimation approach.

Antimicrobial activity of CT-K3K7, a modified peptide by lysine substitutions from ctry2459 - A Chaerilus tryznai scorpion venom peptide.

Antimicrobial peptides (AMPs) have started to garner more interest as novel antimicrobial agents. The scorpion venom peptide ctry2459 was modified to CT-K3K7 by lysine substitutions at the 3rd and 7th positions to increase the cationic properties. We discovered that the modified peptides CT-K3K7 had improved antibacterial activity, higher thermal stability, as well as lower hemolytic activity. It can kill S. aureus and P. aeruginosa rapidly, and reduce the production of biofilm and live bacterial residues in biofilm in vitro. CT-K3K7 has also been demonstrated to decrease bacterial counts, abscess area, and inflammatory cell infiltration in the mouse subcutaneous abscess models that were duplicated by S. aureus and P. aeruginosa. CT-K3K7 has difficulty in inducing S. aureus and P. aeruginosa to develop drug resistance, which may be related to the bactericidal properties. CT-K3K7 increases cationic properties by lysine substitutions can increase the electrostatic force between the peptides and the bacterial surface, which can lead to an increase in bacterial membrane permeability and DNA binding. In conclusion, the modified peptide CT-K3K7 enhances the antimicrobial activity and can be a novel antimicrobial agent candidate for the treatment of infections by S. aureus and P. aeruginosa.

Video-augmented fluoroscopy for distal interlocking of intramedullary nails decreased radiation exposure and surgical time in a bovine cadaveric setting.

BACKGROUND: We aimed to assess the feasibility of a video-augmented fluoroscopy (VAF) technique using a camera-augmented mobile C-arm (CamC) for distal interlocking of intramedullary nails. METHODS: Three surgeons performed distal interlocking on seven pairs of cadaveric bovine carpal bones using the VAF system and conventional fluoroscopy. We compared radiation exposure, procedure time, and drilling quality between the VAF system and conventional fluoroscopic guidance. RESULTS: Distal interlocking using VAF significantly reduced the number of fluoroscopic images compared with conventional fluoroscopy (P < 0.05). No significant difference in overall procedure time (P = 0.96) or drilling quality (P = 0.12) was detected. VAF demonstrated improvement in radiation exposure when used by a less experienced surgeon (P < 0.05). CONCLUSION: VAF is a feasible technique for distal interlocking. Overlaid visualization of the osseous anatomy in relation to the surgical field of view appears to improve surgeons' perception of relevant structures and their spatial orientation for the use of surgical instruments.

A liquid metal based capacitive soft pressure microsensor.

A liquid-metal based capacitive soft pressure microsensor is proposed in this work for measuring pressure in microchannels. To measure the pressure of the target microchannel, a short detection channel is fabricated and connected to the target microchannel. Because the detection channel has only one outlet at the end which is connected to the target microchannel, the fluid in the detection channel will stay still during the measurement and the pressure remains constant inside the detection channel. A segment of reference fluid which is immiscible with the working fluid is sealed inside the detection channel. Because the chip material is soft, the pressure change will lead to the movement of the interface between the reference fluid and working fluid inside the detection channel. A pair of liquid metal electrodes are fabricated on both sides of the detection channel. By measuring the capacitance between these two liquid metal electrodes, the movement of the interface can be detected, and thus the pressure change can be detected as well. To minimize the influence from the environment, two liquid metal shield layers are placed on the top and the bottom of the microchannel layer separately. The microsensor was first tested in a microfluidic system and then utilized to measure the blood pressure of rabbit carotid artery in vivo. The experimental results showed excellent stability and linear correlation between capacitance and the value of fluid pressure. The pressure sensor can achieve a resolution of 7.5 mmHg within a pressure range of 20-300 mmHg. This work provides a promising approach to develop an implantable blood or intraocular pressure-monitoring device for clinical use.

Camera-augmented mobile C-arm (CamC): A feasibility study of augmented reality imaging in the operating room.

BACKGROUND: In orthopaedic trauma surgery, image-guided procedures are mostly based on fluoroscopy. The reduction of radiation exposure is an important goal. The purpose of this work was to investigate the impact of a camera-augmented mobile C-arm (CamC) on radiation exposure and the surgical workflow during a first clinical trial. METHODS: Applying a workflow-oriented approach, 10 general workflow steps were defined to compare the CamC to traditional C-arms. The surgeries included were arbitrarily identified and assigned to the study. The evaluation criteria were radiation exposure and operation time for each workflow step and the entire surgery. The evaluation protocol was designed and conducted in a single-centre study. RESULTS: The radiation exposure was remarkably reduced by 18 X-ray shots 46% using the CamC while keeping similar surgery times. CONCLUSIONS: The intuitiveness of the system, its easy integration into the surgical workflow, and its great potential to reduce radiation have been demonstrated.

An augmented reality C-arm for intraoperative assessment of the mechanical axis: a preclinical study.

BACKGROUND: Determination of lower limb alignment is a prerequisite for successful orthopedic surgical treatment. Traditional methods include the electrocautery cord, alignment rod, or axis board which rely solely on C-arm fluoroscopy navigation and are radiation intensive. STUDY OBJECTIVES: To assess a new augmented reality technology in determining lower limb alignment. METHODS: A camera-augmented mobile C-arm (CamC) technology was used to create a panorama image consisting of hip, knee, and ankle X-rays. Twenty-five human cadaver legs were used for validation with random varus or valgus deformations. Five clinicians performed experiments that consisted in achieving acceptable mechanical axis deviation. The applicability of the CamC technology was assessed with direct comparison to ground-truth CT. A t test, Pearson's correlation, and ANOVA were used to determine statistical significance. RESULTS: The value of Pearson's correlation coefficient R was 0.979 which demonstrates a strong positive correlation between the CamC and ground-truth CT data. The analysis of variance produced a p value equal to 0.911 signifying that clinician expertise differences were not significant with regard to the type of system used to assess mechanical axis deviation. CONCLUSION: All described measurements demonstrated valid measurement of lower limb alignment. With minimal effort, clinicians required only 3 X-ray image acquisitions using the augmented reality technology to achieve reliable mechanical axis deviation.

Multi-modal intra-operative navigation during distal locking of intramedullary nails.

The interlocking of intramedullary nails is a technically demanding procedure which involves a considerable amount of X-ray acquisitions; one study lists as many as 48 to successfully complete the procedure and fix screws into 4-6 mm distal holes of the nail. We propose to design an augmented radiolucent drill to assist surgeons in completing the distal locking procedure without any additional X-ray acquisitions. Using an augmented reality fluoroscope that coregisters optical and X-ray images, we exploit solely the optical images to detect the augmented radiolucent drill and estimate its tip position in real-time. Consequently, the surgeons will be able to maintain the down the beam positioning required to drill the screws into the nail holes successfully. To evaluate the accuracy of the proposed augmented drill, we perform a preclinical study involving six surgeons and ask them to perform distal locking on dry bone phantoms. Surgeons completed distal locking 98.3% of the time using only a single X-ray image with an average navigation time of 1.4 ± 0.9 min per hole.

Augmented depth perception visualization in 2D/3D image fusion.

2D/3D image fusion applications are widely used in endovascular interventions. Complaints from interventionists about existing state-of-art visualization software are usually related to the strong compromise between 2D and 3D visibility or the lack of depth perception. In this paper, we investigate several concepts enabling improvement of current image fusion visualization found in the operating room. First, a contour enhanced visualization is used to circumvent hidden information in the X-ray image. Second, an occlusion and depth color-coding scheme is considered to improve depth perception. To validate our visualization technique both phantom and clinical data are considered. An evaluation is performed in the form of a questionnaire which included 24 participants: ten clinicians and fourteen non-clinicians. Results indicate that the occlusion correction method provides 100% correctness when determining the true position of an aneurysm in X-ray. Further, when integrating an RGB or RB color-depth encoding in the image fusion both perception and intuitiveness are improved.

Video-guided calibration of an augmented reality mobile C-arm.

PURPOSE: The augmented reality (AR) fluoroscope augments an X-ray image by video and provides the surgeon with a real-time in situ overlay of the anatomy. The overlay alignment is crucial for diagnostic and intra-operative guidance, so precise calibration of the AR fluoroscope is required. The first and most complex step of the calibration procedure is the determination of the X-ray source position. Currently, this is achieved using a biplane phantom with movable metallic rings on its top layer and fixed X-ray opaque markers on its bottom layer. The metallic rings must be moved to positions where at least two pairs of rings and markers are isocentric in the X-ray image. The current "trial and error" calibration process currently requires acquisition of many X-ray images, a task that is both time consuming and radiation intensive. An improved process was developed and tested for C-arm calibration. METHODS: Video guidance was used to drive the calibration procedure to minimize both X-ray exposure and the time involved. For this, a homography between X-ray and video images is estimated. This homography is valid for the plane at which the metallic rings are positioned and is employed to guide the calibration procedure. Eight users having varying calibration experience (i.e., 2 experts, 2 semi-experts, 4 novices) were asked to participate in the evaluation. RESULTS: The video-guided technique reduced the number of intra-operative X-ray calibration images by 89% and decreased the total time required by 59%. CONCLUSION: A video-based C-arm calibration method has been developed that improves the usability of the AR fluoroscope with a friendlier interface, reduced calibration time and clinically acceptable radiation doses.

Precise X-ray and video overlay for augmented reality fluoroscopy.

PURPOSE: The camera-augmented mobile C-arm (CamC) augments any mobile C-arm by a video camera and mirror construction and provides a co-registration of X-ray with video images. The accurate overlay between these images is crucial to high-quality surgical outcomes. In this work, we propose a practical solution that improves the overlay accuracy for any C-arm orientation by: (i) improving the existing CamC calibration, (ii) removing distortion effects, and (iii) accounting for the mechanical sagging of the C-arm gantry due to gravity. METHODS: A planar phantom is constructed and placed at different distances to the image intensifier in order to obtain the optimal homography that co-registers X-ray and video with a minimum error. To alleviate distortion, both X-ray calibration based on equidistant grid model and Zhang's camera calibration method are implemented for distortion correction. Lastly, the virtual detector plane (VDP) method is adapted and integrated to reduce errors due to the mechanical sagging of the C-arm gantry. RESULTS: The overlay errors are 0.38±0.06 mm when not correcting for distortion, 0.27±0.06 mm when applying Zhang's camera calibration, and 0.27±0.05 mm when applying X-ray calibration. Lastly, when taking into account all angular and orbital rotations of the C-arm, as well as correcting for distortion, the overlay errors are 0.53±0.24 mm using VDP and 1.67±1.25 mm excluding VDP. CONCLUSION: The augmented reality fluoroscope achieves an accurate video and X-ray overlay when applying the optimal homography calculated from distortion correction using X-ray calibration together with the VDP.

Closed-form inverse kinematics for interventional C-arm X-ray imaging with six degrees of freedom: modeling and application.

For trauma and orthopedic surgery, maneuvering a mobile C-arm fluoroscope into a desired position to acquire an X-ray is a routine surgical task. The precision and ease of use of the C-arm becomes even more important for advanced interventional imaging techniques such as parallax-free X-ray image stitching. Today's standard mobile C-arms have been modeled with only five degrees of freedom (DOF), which definitely restricts their motions in 3-D Cartesian space. In this paper, we present a method to model both the mobile C-arm and patient's table as an integrated kinematic chain having six DOF without constraining table position. The closed-form solutions for the inverse kinematics problem are derived in order to obtain the required values for all C-arm joint and table movements to position the fluoroscope at a desired pose. The modeling method and the closed-form solutions can be applied to general isocentric or nonisocentric mobile C-arms. By achieving this we develop an efficient and intuitive inverse kinematics-based method for parallax-free panoramic X-ray imaging. In addition, we implement a 6-DOF C-arm system from a low-cost mobile fluoroscope to optimally acquire X-ray images based solely on the computation of the required movement for each joint by solving the inverse kinematics on a continuous basis. Through simulation experimentation, we demonstrate that the 6-DOF C-arm model has a larger working space than the 5-DOF model. C-arm repositioning experiments show the practicality and accuracy of our 6-DOF C-arm system. We also evaluate the novel parallax-free X-ray stitching method on phantom and dry bones. Using five trials, results show that parallax-free panoramas generated by our method are of high visual quality and within clinical tolerances for accurate evaluation of long bone geometry (i.e., image and metric measurement errors are less than 1% compared to ground-truth).

ABCB6 mutations cause ocular coloboma.

Ocular coloboma is a developmental defect of the eye and is due to abnormal or incomplete closure of the optic fissure. This disorder displays genetic and clinical heterogeneity. Using a positional cloning approach, we identified a mutation in the ATP-binding cassette (ABC) transporter ABCB6 in a Chinese family affected by autosomal-dominant coloboma. The Leu811Val mutation was identified in seven affected members of the family and was absent in six unaffected members from three generations. A LOD score of 3.2 at θ = 0 was calculated for the mutation identified in this family. Sequence analysis was performed on the ABCB6 exons from 116 sporadic cases of microphthalmia with coloboma (MAC), isolated coloboma, and aniridia, and an additional mutation (A57T) was identified in three patients with MAC. These two mutations were not present in the ethnically matched control populations. Immunostaining of transiently transfected, Myc-tagged ABCB6 in retinal pigment epithelial (RPE) cells showed that it localized to the endoplasmic reticulum and Golgi apparatus of RPE cells. RT-PCR of ABCB6 mRNA in human cell lines and tissue indicated that ABCB6 is expressed in the retinae and RPE cells. Using zebrafish, we show that abcb6 is expressed in the eye and CNS. Morpholino knockdown of abcb6 in zebrafish produces a phenotype characteristic of coloboma and replicates the clinical phenotype observed in our index cases. The knockdown phenotype can be corrected with coinjection of the wild-type, but not mutant, ABCB6 mRNA, suggesting that the phenotypes observed in zebrafish are due to insufficient abcb6 function. Our results demonstrate that ABCB6 mutations cause ocular coloboma.

Radiation-free drill guidance in interlocking of intramedullary nails.

Intramedullary nailing is a technically demanding procedure which involves an excessive amount of x-ray acquisitions; one study lists as many as 48 to successfully complete the procedure. In this work, a novel low cost radiation-free drilling guide is designed to assist surgeons in completing the distal locking procedure without any x-ray acquisitions. Using an augmented reality fluoroscope that coregisters optical and x-ray images, we exploit solely the optical images to detect the drilling guide in order to estimate the tip position in real-time in x-ray. We tested over 200 random drill guide poses showing a mean tip-estimation error of 1.72 +/- 0.7mm which is significantly robust and accurate for the interlocking. In a preclinical study on dry bone phantom, three expert surgeons successfully completed the interlocking 56 out of 60 trials with no x-ray acquisition for guidance and an average time of 2 min.

Intra-op measurement of the mechanical axis deviation: an evaluation study on 19 human cadaver legs.

The alignment of the lower limb in high tibial osteotomy (HTO) or total knee arthroplasty (TKA) must be determined intraoperatively. One way to do so is to deform the mechanical axis deviation (MAD), for which a tolerance measurement of 10 mm is widely accepted. Many techniques are proposed in clinical practice such as visual inspection, cable method, grid with lead impregnated reference lines, or more recently, navigation systems. Each has their disadvantages including reliability of the MAD measurement, excess radiation, prolonged operation time, complicated setup and high cost. To alleviate such shortcomings, we propose a novel clinical protocol that allows quick and accurate intraoperative calculation of MAD. This is achieved by an X-ray stitching method requiring only three X-ray images placed into a panoramic image frame during the entire procedure. The method has been systematically analyzed in a simulation framework in order to investigate its accuracy and robustness. Furthermore, we validated our protocol via a preclinical study comprising 19 human cadaver legs. Four surgeons determined MAD measurements using our X-ray panorama and compared these values to a gold-standard CT-based technique. The maximum average MAD error was 3.5mm which shows great potential for the technique.

Interactive 3D visualization of a single-view X-ray image.

In this paper, we present an interactive X-Ray perceptual visualization technique (IXPV) to improve 3D perception in standard single-view X-Ray images. Based on a priori knowledge from CT data, we re-introduce lost depth information into the original single-view X-Ray image without jeopardizing information of the original X-Ray. We propose a novel approach that is suitable for correct fusion of intraoperative X-Ray and ultrasound, co-visualization of X-Ray and surgical tools, and for improving the 3D perception of standard radiographs. Phantom and animal cadaver datasets were used during experimentation to demonstrate the impact of our technique. Results from a questionnaire completed by 11 clinicians and computer scientists demonstrate the added value of introduced depth cues directly in an X-Ray image. In conclusion, we propose IXPV as a futuristic alternative to the standard radiographic image found in today's clinical setting.

3D stent recovery from one X-ray projection.

In the current clinical workflow of endovascular abdominal aortic repairs (EVAR) a stent graft is inserted into the aneurysmatic aorta under 2D angiographic imaging. Due to the missing depth information in the X-ray visualization, it is highly difficult in particular for junior physicians to place the stent graft in the preoperatively defined position within the aorta. Therefore, advanced 3D visualization of stent grafts is highly required. In this paper, we present a novel algorithm to automatically match a 3D model of the stent graft to an intraoperative 2D image showing the device. By automatic preprocessing and a global-to-local registration approach, we are able to abandon user interaction and still meet the desired robustness. The complexity of our registration scheme is reduced by a semi-simultaneous optimization strategy incorporating constraints that correspond to the geometric model of the stent graft. Via experiments on synthetic, phantom, and real interventional data, we are able to show that the presented method matches the stent graft model to the 2D image data with good accuracy.

Parallax-free intra-operative X-ray image stitching.

We present a novel method to generate parallax-free panoramic X-ray images during surgery by enabling the mobile C-arm to rotate around its X-ray source center, relative to the patient's table. Rotating the mobile C-arm around its X-ray source center is impractical and sometimes impossible due to the mechanical design of mobile C-arm systems. In order to ensure that the C-arm motion is a relative pure rotation around its X-ray source center, we propose to move the table to compensate for the translational part of the motion based on C-arm pose estimation. For this we employ a visual marker pattern and a Camera Augmented Mobile C-arm system that is a standard mobile C-arm augmented by a video camera and mirror construction. We are able to produce a parallax-free panoramic X-ray image independent of the geometric configuration of imaged anatomical structures. Our method does not require a fronto-parallel setup or any overlap between the acquired X-ray images. This generated parallax-free panoramic X-ray image preserves the linear perspective projection property. It also presents a negligible difference (below 2 pixels) in the overlapping area between two consecutive individual X-ray images and has a high visual quality. This promises suitability for intra-operative clinical applications in orthopedic and trauma surgery. The experiments on phantoms and ex-vivo bone structure demonstrate both the functionality and accuracy of the method.

Parallax-free long bone X-ray image stitching.

In this paper, we present a novel method to create parallax-free panoramic X-ray images of long bones during surgery by making the C-arm rotate around its X-ray source, relative to the patient's table. In order to ensure that the C-arm motion is a relative pure rotation around its X-ray source, we move the table to compensate for the translational part of the motion based on C-arm pose estimation, for which we employed a Camera Augmented Mobile C-arm system and a visual planar marker pattern. Thus, we are able to produce a parallax-free panoramic X-ray image that preserves the property of linear perspective projection. We additionally implement a method to reduce the error caused by varying intrinsic parameters of C-arm X-ray imaging. The results show that our proposed method can generate a parallax-free panoramic X-ray image, independent of the configuration of bone structures and without the requirement of a fronto-parallel setup or any overlap in the X-ray images. The resulting panoramic images have a negligible difference (below 2 pixels) in the overlap between two consecutive individual X-ray images and have a high visual quality, which promises suitability for intra-operative clinical applications in orthopedic and trauma surgery.

Long bone X-ray image stitching using Camera Augmented Mobile C-arm.

X-ray images are widely used during surgery for long bone fracture fixation. Mobile C-arms provide X-ray images which are used to determine the quality of trauma reduction, i.e. the extremity length and mechanical axis of long bones. Standard X-ray images have a narrow field of view and can not visualize the entire long bone on a single image. In this paper, we propose a novel method to generate panoramic X-ray images in real time by using the previously introduced Camera Augmented Mobile C-arm. This advanced mobile C-arm system acquires registered X-ray and optical images by construction, which facilitates the generation of panoramic X-ray images based on first stitching the optical images and then embedding the X-ray images. We additionally introduce a method to reduce the parallax effect that leads to the blurring and measurement error on panoramic X-ray images. Visual marker tracking is employed to automatically stitch the sequence of video images and to rectify images. Our proposed method is suitable for intra-operative usage generating panoramic X-ray images, which enable metric measurements, with less radiation and without requirement of fronto-parallel setup and overlapping X-ray images. The results show that the panoramic X-ray images generated by our method are accurate enough (errors less than 1%) for metric measurements and suitable for many clinical applications in trauma reduction.