Online Calibration of Extrinsic Parameters for Solid-State LIDAR Systems.

This work addresses the challenge of calibrating multiple solid-state LIDAR systems. The study focuses on three different solid-state LIDAR sensors that implement different hardware designs, leading to distinct scanning patterns for each system. Consequently, detecting corresponding points between the point clouds generated by these LIDAR systems-as required for calibration-is a complex task. To overcome this challenge, this paper proposes a method that involves several steps. First, the measurement data are preprocessed to enhance its quality. Next, features are extracted from the acquired point clouds using the Fast Point Feature Histogram method, which categorizes important characteristics of the data. Finally, the extrinsic parameters are computed using the Fast Global Registration technique. The best set of parameters for the pipeline and the calibration success are evaluated using the normalized root mean square error. In a static real-world indoor scenario, a minimum root mean square error of 7 cm was achieved. Importantly, the paper demonstrates that the presented approach is suitable for online use, indicating its potential for real-time applications. By effectively calibrating the solid-state LIDAR systems and establishing point correspondences, this research contributes to the advancement of multi-LIDAR fusion and facilitates accurate perception and mapping in various fields such as autonomous driving, robotics, and environmental monitoring.

Bare-Metal Stent Tracking with Magnetic Particle Imaging.

Purpose: Magnetic particle imaging (MPI) is an emerging medical imaging modality that is on the verge of clinical use. In recent years, cardiovascular applications have shown huge potential like, e.g., intraprocedural imaging guidance of stent placement through MPI. Due to the lack of signal generation, nano-modifications have been necessary to visualize commercial medical instruments until now. In this work, it is investigated if commercial interventional devices can be tracked with MPI without any nano-modification. Material and Methods: Potential MPI signal generation of nine endovascular metal stents was tested in a commercial MPI scanner. Two of the stents revealed sufficient MPI signal. Because one of the two stents showed relevant heating, the imaging experiments were carried out with a single stent model (Boston Scientific/Wallstent-Uni Endoprothesis, diameter: 16 mm, length: 60 mm). The nitinol stent and its delivery system were investigated in seven different scenarios. Therefore, the samples were placed at 49 defined spatial positions by a robot in a meandering pattern during MPI scans. Image reconstruction was performed, and the mean absolute errors (MAE) between the signals' centers of mass (COM) and ground truth positions were calculated. The stent material was investigated by magnetic particle spectroscopy (MPS) and vibrating sample magnetometry (VSM). To detect metallic components within the delivery system, nondestructive testing via computed tomography was performed. Results: The tracking of the stent and its delivery system was possible without any nano-modification. The MAE of the COM were 1.49 mm for the stent mounted on the delivery system, 3.70 mm for the expanded stent and 1.46 mm for the delivery system without the stent. The results of the MPS and VSM measurements indicate that besides material properties eddy currents seem to be responsible for signal generation. Conclusion: It is possible to image medical instruments with dedicated designs without modifications by means of MPI. This enables a variety of applications without compromising the mechanical and biocompatible properties of the instruments.

Heating of Large Endovascular Stents and Stent Grafts in Magnetic Particle Imaging-Influence of Measurement Parameters and Isocenter Distance.

PURPOSE: Magnetic particle imaging (MPI) is a tomographic imaging modality with the potential for cardiovascular applications. In this context, the extent to which stents are heated should be estimated from safety perspective. Furthermore, the influence of the measurement parameters and stent distance to the isocenter of the MPI scanner on stent heating were evaluated. MATERIALS AND METHODS: Nine different endovascular stents and stent grafts were tested in polyvinyl-chloride tubes. The stents had diameters from 10 to 31 mm, lengths between 25 and 100 mm and were made from stainless steel, nitinol or cobalt-chromium. The temperature differences were recorded with fiber-optic thermometers. All measurements were performed in a preclinical commercial MPI scanner. The measurement parameters were varied (drive field strengths: 3, 6, 9, 12 mT and selection field gradients: 0, 1.25 and 2.5 T/m). Furthermore, measurements with different distances to the scanner's isocenter were performed (100 to 0 mm). RESULTS: All stents showed heating (maximum 53.1 K, minimum 4.6 K). The stent diameter directly correlated with the temperature increase. The drive field strength influenced the heating of the stents, whereas the selection field gradient had no detectable impact. The heating of the stents decreased with increasing distance from the scanner's isocenter and thus correlated with the loss of the scanner's magnetic field. CONCLUSION: Stents can cause potentially harmful heating in MPI. In addition to the stent diameter and design, the drive field strength and the distance to the MPI scanner's isocenter must be kept in mind as influencing parameters.

On the reproducibility of extrusion-based bioprinting: round robin study on standardization in the field.

The outcome of three-dimensional (3D) bioprinting heavily depends, amongst others, on the interaction between the developed bioink, the printing process, and the printing equipment. However, if this interplay is ensured, bioprinting promises unmatched possibilities in the health care area. To pave the way for comparing newly developed biomaterials, clinical studies, and medical applications (i.e. printed organs, patient-specific tissues), there is a great need for standardization of manufacturing methods in order to enable technology transfers. Despite the importance of such standardization, there is currently a tremendous lack of empirical data that examines the reproducibility and robustness of production in more than one location at a time. In this work, we present data derived from a round robin test for extrusion-based 3D printing performance comprising 12 different academic laboratories throughout Germany and analyze the respective prints using automated image analysis (IA) in three independent academic groups. The fabrication of objects from polymer solutions was standardized as much as currently possible to allow studying the comparability of results from different laboratories. This study has led to the conclusion that current standardization conditions still leave room for the intervention of operators due to missing automation of the equipment. This affects significantly the reproducibility and comparability of bioprinting experiments in multiple laboratories. Nevertheless, automated IA proved to be a suitable methodology for quality assurance as three independently developed workflows achieved similar results. Moreover, the extracted data describing geometric features showed how the function of printers affects the quality of the printed object. A significant step toward standardization of the process was made as an infrastructure for distribution of material and methods, as well as for data transfer and storage was successfully established.

Navigation of a magnetic micro-robot through a cerebral aneurysm phantom with magnetic particle imaging.

Cerebral aneurysms are potentially life threatening and nowadays treated by a catheter-guided coiling or by a neurosurgical clipping intervention. Here, we propose a helically shaped magnetic micro-robot, which can be steered by magnetic fields in an untethered manner and could be applied for a novel coiling procedure. This is shown by navigating the micro-robot through an additively manufactured phantom of a human cerebral aneurysm. The magnetic fields are applied with a magnetic particle imaging (MPI) scanner, which allows for the navigation and tomographic visualization by the same machine. With MPI the actuation process can be visualized with a localization accuracy of 0.68 mm and an angiogram can be acquired both without any radiation exposure. First in-vitro phantom experiments are presented, showing an idea of a robot conducted treatment of cerebral aneurysms.

Magnetic Particle Imaging: In vitro Signal Analysis and Lumen Quantification of 21 Endovascular Stents.

PURPOSE: Endovascular stents are medical devices, which are implanted in stenosed blood vessels to ensure sufficient blood flow. Due to a high rate of in-stent re-stenoses, there is the need of a noninvasive imaging method for the early detection of stent occlusion. The evaluation of the stent lumen with computed tomography (CT) and magnetic resonance imaging (MRI) is limited by material-induced artifacts. The purpose of this work is to investigate the potential of the tracer-based modality magnetic particle imaging (MPI) for stent lumen visualization and quantification. METHODS: In this in vitro study, 21 endovascular stents were investigated in a preclinical MPI scanner. Therefore, the stents were implanted in vessel phantoms. For the signal analysis, the phantoms were scanned without tracer material, and the signal-to-noise-ratio was analyzed. For the evaluation of potential artifacts and the lumen quantification, the phantoms were filled with diluted tracer agent. To calculate the stent lumen diameter a calibrated threshold value was applied. RESULTS: We can show that it is possible to visualize the lumen of a variety of endovascular stents without material induced artifacts, as the stents do not generate sufficient signals in MPI. The stent lumen quantification showed a direct correlation between the calculated and nominal diameter (r = 0.98). CONCLUSION: In contrast to MRI and CT, MPI is able to visualize and quantify stent lumina very accurately.

Efficient hybrid 3D system calibration for magnetic particle imaging systems using a dedicated device.

Image reconstruction in magnetic particle imaging is often performed using a system matrix based approach. The acquisition of a system matrix is a time-consuming calibration which may take several weeks and thus, is not feasible for a clinical device. Due to hardware characteristics of the receive chain, a system matrix may not even be used in similar devices but has to be acquired for each imager. In this work, a dedicated device is used for measuring a hybrid system matrix. It is shown that the measurement time of a 3D system matrix is reduced by 96%. The transfer function of the receive chains is measured, which allows the use of the same system matrix in multiple devices. Equivalent image reconstruction results are reached using the hybrid system matrix. Furthermore, the inhomogeneous sensitivity profile of receive coils is successfully applied to a hybrid system matrix. It is shown that each aspect of signal acquisition in magnetic particle imaging can be taken into account using hybrid system matrices. It is favourable to use a hybrid system matrix for image reconstruction in terms of measurement time, signal-to-noise ratio and discretisation.

Magnetic Particle Imaging: Artifact-Free Metallic Stent Lumen Imaging in a Phantom Study.

PURPOSE: To illustrate the potential of magnetic particle imaging (MPI) for stent lumen imaging in comparison with clinical computed tomography (CT) and magnetic resonance imaging (MRI). MATERIALS AND METHODS: Imaging of eight tracer-filled, stented vessel phantoms and a tracer-filled, non-stented reference phantom for each diameter was performed on a preclinical MPI scanner: eight commercially available coronary stents of different dimensions (diameter: 3-4 mm; length: 11-38 mm) and materials (stainless steel, platinum-chromium) were implanted into silicone vessel phantoms. For comparison, all vessel phantoms were also visualized by MRI and CT. Two radiologists assessed the images regarding stent-induced artifacts using a 5-point grading scale. RESULTS: The visualization of all stented vessel phantoms was achieved without stent-induced artifacts with MPI. In contrast, MRI and CT images revealed multiform stent-induced artifacts. CONCLUSION: Given its clinical introduction, MPI has the potential to overcome the disadvantages of MRI and CT concerning the visualization of the stent lumen.

Tracking the Growth of Superparamagnetic Nanoparticles with an In-Situ Magnetic Particle Spectrometer (INSPECT).

Magnetic Particle Spectroscopy (MPS) is a measurement technique to determine the magnetic properties of superparamagnetic iron oxide nanoparticles (SPIONs) in an oscillating magnetic field as applied in Magnetic Particle Imaging (MPI). State of the art MPS devices are solely capable of measuring the magnetization response of the SPIONs to an oscillatory magnetic excitation retrospectively, i.e. after the synthesis process. In this contribution, a novel in-situ magnetic particle spectrometer (INSPECT) is presented, which can be used to monitor the entire synthesis process from particle genesis via growth to the stable colloidal suspension of the nanoparticles in real time. The device is suitable for the use in a biochemistry environment. It has a chamber size of 72 mm such that a 100 ml reaction flask can be used for synthesis. For an alkaline-based precipitation, the change of magnetic properties of SPIONs during the nucleation and growth phase of the synthesis is demonstrated. The device is able to record the changes in the amplitude and phase spectra, and, in turn, the hysteresis. Hence, it is a powerful tool for an in-depth understanding of the nanoparticle formation dynamics during the synthesis process.

Towards Picogram Detection of Superparamagnetic Iron-Oxide Particles Using a Gradiometric Receive Coil.

Superparamagnetic iron-oxide nanoparticles can be used in medical applications like vascular or targeted imaging. Magnetic particle imaging (MPI) is a promising tomographic imaging technique that allows visualizing the 3D nanoparticle distribution concentration in a non-invasive manner. The two main strengths of MPI are high temporal resolution and high sensitivity. While the first has been proven in the assessment of dynamic processes like cardiac imaging, it is unknown how far the detection limit of MPI can be lowered. Within this work, we will present a highly sensitive gradiometric receive-coil unit combined with a noise-matching network tailored for the imaging of mice. The setup is capable of detecting 5 ng of iron in-vitro with an acquisition time of 2.14 sec. In terms of iron concentration we are able to detect 156 µg/L marking the lowest value that has been reported for an MPI scanner so far. In-vivo MPI mouse images of a 512 ng bolus and a 21.5 ms acquisition time allow for capturing the flow of an intravenously injected tracer through the heart of a mouse. Since it has been rather difficult to compare detection limits across MPI publications we propose guidelines to improve the comparability of future MPI studies.

2D Images Recorded With a Single-Sided Magnetic Particle Imaging Scanner.

Magnetic Particle Imaging is a new medical imaging modality, which detects superparamagnetic iron oxide nanoparticles. The particles are excited by magnetic fields. Most scanners have a tube-like measurement field and therefore, both the field of view and the object size are limited. A single-sided scanner has the advantage that the object is not limited in size, only the penetration depth is limited. A single-sided scanner prototype for 1D imaging has been presented in 2009. Simulations have been published for a 2D single-sided scanner and first 1D measurements have been carried out. In this paper, the first 2D single-sided scanner prototype is presented and the first calibration-based reconstruction results of measured 2D phantoms are shown. The field free point is moved on a Lissajous trajectory inside a 30 × 30 mm2 area. Images of phantoms with a maximal distance of 10 mm perpendicular to the scanner surface have been reconstructed. Different cylindrically shaped holes of phantoms have been filled with 6.28 µl undiluted Resovist. After the measurement and image reconstruction of the phantoms, particle volumes could be distinguished with a distance of 2 mm and 6 mm in vertical and horizontal direction, respectively.