Deconvolution based photoacoustic reconstruction with sparsity regularization.

In most photoacoustic tomography (PAT) reconstruction approaches, it is assumed that the receiving transducers have omnidirectional response and can fully surround the region of interest. These assumptions are not satisfied in practice. To deal with these limitations, we present a novel deconvolution based photoacoustic reconstruction with sparsity regularization (DPARS) technique. The DPARS algorithm is a semi-analytical reconstruction approach in which the projections of the absorber distribution derived from a deconvolution-based method are computed and used to generate a large linear system of equations. In these projections, computed over limited viewing angles, the directivity effect of the transducer is taken into account. The distribution of absorbers is computed using a sparse representation of absorber coefficients obtained from the discrete cosine transform. This sparse representation helps improve the numerical conditioning of the system of equations and reduces the computation time of the deconvolution-based approach by one order of magnitude relative to Tikhonov regularization. The algorithm has been tested in simulations, and using two-dimensional and three-dimensional experimental data obtained with a conventional ultrasound transducer. The results show that DPARS, when evaluated using contrast-to-noise ratio and root-mean-square errors, outperforms the conventional delay-and-sum (DAS) reconstruction method.

Prostate brachytherapy postimplant dosimetry: automatic plan reconstruction of stranded implants.

PURPOSE: Plan reconstruction for permanent implant prostate brachytherapy is the process of determining the correspondence between planned and implanted seeds in postimplant analysis. Plan reconstruction informs many areas of brachytherapy quality assurance, including the verification of seed segmentation, misplacement and migration assessment, implant simulations, and the dosimetry of mixed-activity or mixed-species implants. METHODS: An algorithm has been developed for stranded implants which uses the interseed spacing constraints imposed by the suture to improve the accuracy of reconstruction. Seventy randomly selected clinical cases with a mean of 23.6 (range 18-30) needles and mean density of 2.0 (range 1.6-2.6) 2.0 (range 1.6-2.6) seeds/cm3 were automatically reconstructed and the accuracy compared to manual reconstructions performed using a custom 3D graphical interface. RESULTS: Using the automatic algorithm, the mean accuracy of the assignment relative to manual reconstruction was found to be 97.7 +/- 0.5%. Fifty-two of the 70 cases (74%) were error-free; of seeds in the remaining cases, 96.7 +/- 0.3% were found to be attributed to the correct strand and 97.0 +/-0.3% were correctly connected to their neighbors. Any necessary manual correction using the interface is usually straightforward. For the clinical data set tested, neither the number of seeds or needles, average density, nor the presence of clusters was found to have an effect on reconstruction accuracy using this method. CONCLUSIONS: Routine plan reconstruction of stranded implants can be performed with a high degree of accuracy to support postimplant dosimetry and quality analyses.

A comparison of direct and iterative finite element inversion techniques in dynamic elastography.

As part of tissue elasticity imaging or elastography, an inverse problem needs to be solved to find the elasticity distribution from the measured displacements. The finite element method (FEM) is a common method for solving the inverse problem in dynamic elastography. This problem has been solved with both direct and iterative FEM schemes. Each of these methods has its own advantages and disadvantages which are examined in this paper. Choosing the data resolution and the excitation frequency are critical for achieving the best estimation of the tissue elasticity in FEM methods. In this paper we investigate the performance of both direct and iterative FEMs for different ranges of excitation frequency. A new form of iterative method is suggested here which requires a lower mesh density compared to the original form. Also two forms of the direct method are compared in this paper: one using the exact fit for derivatives calculation and the other using the least squares fit. We also perform a study on the spatial resolution of these methods using simulations. The comparison is also validated using a phantom experiment. The results suggest that the direct method with least squares fit is more robust to noise compared to other methods but has slightly lower resolution results. For example, for the homogenous region with 20 dB noise added to the data, the RMS error for the direct method with least squares fit is approximately half of the iterative method. It was observed that the ratio of voxel size to the wavelength should be within a specific range for the results to be reliable. For example for the direct method with least squares fit, for the case of 20 dB noise level, this ratio should be between 0.1 to 0.2. On balance, considering the much higher computational cost of the iterative method, the dependency of the iterative method on the initial guess, and the greater robustness of the direct method to noise, we suggest using the direct method with least squares fit for linear elasticity cases.

Needle steering and motion planning in soft tissues.

In this work, needle insertion into deformable tissue is formulated as a trajectory planning and control problem. A new concept of needle steering has been developed and a needle manipulation Jacobian defined using numerical needle insertion models that include needle deflection and soft tissue deformation. This concept is used in conjunction with a potential-field-based path planning technique to demonstrate needle tip placement and obstacle avoidance. Results from open loop insertion experiments are provided.

Direct vibro-elastography FEM inversion in Cartesian and cylindrical coordinate systems without the local homogeneity assumption.

To produce images of tissue elasticity, the vibro-elastography technique involves applying a steady-state multi-frequency vibration to tissue, estimating displacements from ultrasound echo data, and using the estimated displacements in an inverse elasticity problem with the shear modulus spatial distribution as the unknown. In order to fully solve the inverse problem, all three displacement components are required. However, using ultrasound, the axial component of the displacement is measured much more accurately than the other directions. Therefore, simplifying assumptions must be used in this case. Usually, the equations of motion are transformed into a Helmholtz equation by assuming tissue incompressibility and local homogeneity. The local homogeneity assumption causes significant imaging artifacts in areas of varying elasticity. In this paper, we remove the local homogeneity assumption. In particular we introduce a new finite element based direct inversion technique in which only the coupling terms in the equation of motion are ignored, so it can be used with only one component of the displacement. Both Cartesian and cylindrical coordinate systems are considered. The use of multi-frequency excitation also allows us to obtain multiple measurements and reduce artifacts in areas where the displacement of one frequency is close to zero. The proposed method was tested in simulations and experiments against a conventional approach in which the local homogeneity is used. The results show significant improvements in elasticity imaging with the new method compared to previous methods that assumes local homogeneity. For example in simulations, the contrast to noise ratio (CNR) for the region with spherical inclusion increases from an average value of 1.5-17 after using the proposed method instead of the local inversion with homogeneity assumption, and similarly in the prostate phantom experiment, the CNR improved from an average value of 1.6 to about 20.

The effects of physical constraints in laparoscopic surgery.

In order to provide guidelines for the development and evaluation of advanced laparoscopic instrumentation (including teleoperated devices), we assessed the impact of constrained motion on surgeons' ability to perform standardized pick-and-place and suturing tasks when using an emulation of a perfectly transparent teleoperator under direct, binocular vision. The surgeons' performance when using the emulator represents an upper bound on performance using any conceivable teleoperator with one-to-one force and motion scaling. Our analysis examines the mean differences in task completion time between three open tool configurations and two laparoscopic tool configurations with various degrees of freedom (DOFs). Fifteen laparoscopic surgeons participated in the study. We show that avoiding reversed hand and tool motions and adding DOFs significantly improves suturing performance. In the pick-and-place task, avoiding the reversed motions also improves performance, but adding DOFs to an open tool configuration does not. For both tasks, subjects who use open tools constrained to four DOF complete their tasks in approximately 38% less time than when using standard four-DOF laparoscopic tools. The marginal benefit to overall surgical time of adding two additional degrees of freedom is likely to be small (approximately 2%), although surgeons may then feel confident in attempting more difficult procedures.

Sparsity regularization in dynamic elastography.

We consider the inverse problem of continuum mechanics with the tissue deformation described by a mixed displacement-pressure finite element formulation. The mixed formulation is used to model nearly incompressible materials by simultaneously solving for both elasticity and pressure distributions. To improve numerical conditioning, a common solution to this problem is to use regularization to constrain the solutions of the inverse problem. We present a sparsity regularization technique that uses the discrete cosine transform to transform the elasticity and pressure fields to a sparse domain in which a smaller number of unknowns is required to represent the original field. We evaluate the approach by solving the dynamic elastography problem for synthetic data using such a mixed finite element technique, assuming time harmonic motion, and linear, isotropic and elastic behavior for the tissue. We compare our simulation results to those obtained using the more common Tikhonov regularization. We show that the sparsity regularization is less dependent on boundary conditions, less influenced by noise, requires no parameter tuning and is computationally faster. The algorithm has been tested on magnetic resonance elastography data captured from a CIRS elastography phantom with similar results as the simulation.

Haptic Simulator for Prostate Brachytherapy with Simulated Needle and Probe Interaction.

This paper presents a haptic simulator for prostate brachytherapy. Both needle insertion and the manipulation of the transrectal ultrasound (TRUS) probe are controlled via haptic devices. Tissue interaction forces that are computed by a deformable tissue model based on the finite element method (FEM) are rendered to the user by these devices. The needle insertion simulation employs 3D models of needle flexibility and asymmetric tip bevel. The needle-tissue simulation allows a trainee to practice needle insertion and targeting. The TRUS-tissue interaction simulation allows a trainee to practice the 3D intraoperative TRUS placement for registration with the preoperative volume study and to practice TRUS axial translation and rotation for imaging needles during insertions. Approaches to computational acceleration for realtime haptic performance are presented. Trade-offs between accuracy and speed are discussed. A graphics-card implementation of the numerically intensive mesh-adaptation operation is also presented. The simulator can be used for training, rehearsal, and treatment planning.

Detection of brachytherapy seeds using 3D ultrasound.

Imaging and detection of brachytherapy seeds using transrectal ultrasound (TRUS) remains a challenge for prostate brachytherapy, mainly due to the small size of brachytherapy seeds in relatively low-quality B-mode TRUS images. In this paper, we propose a new solution for brachytherapy seed detection using 3D ultrasound. We use 3D reflected power images computed from ultrasound radio-frequency signals, instead of using conventional B-mode images. Then implanted seeds are detected in 3D local search spaces that are determined by a priori knowledge. Experimental results showed that the proposed solution works well for seed localization in the prostate phantom.

Viscoelastic parameter estimation based on spectral analysis.

This paper introduces a new technique for the robust estimation of relaxation-time distribution in tissue. The main novelty is in the use of the phase of transfer functions calculated from a time series of strain measurements at multiple locations. Computer simulations with simulated measurement noise demonstrate the feasibility of the approach. An experimental apparatus and software were developed to confirm the simulations. The setup can be used both as a rheometer to characterize the overall mechanical properties of a material or as a vibro-elastography imaging device using an ultrasound system. The algorithms were tested on tissue mimicking phantoms specifically developed to exhibit contrast in elasticity and relaxation time. The phantoms were constructed using a combination of gelatin and a polyvinyl alcohol sponge to produce the desired viscoelastic properties. The tissue parameters were estimated and the elasticity and relaxation time of the materials have been used as complementary features to distinguish different materials. The estimation results are consistent with the rheometry, verifying that the relaxation time can be used as a complementary feature to elasticity to delineate the mechanical properties of the phantom.

Viscoelasticity modeling of the prostate region using vibro-elastography.

We present an ultrasound vibro-elastography system designed to acquire viscoelastic properties of the prostate and peri-prostatic tissue. An excitation stage imparts low-frequency (<20 Hz), limited amplitude (< +/- 2 mm), broadband vibratory motion to an endorectal transducer, along a radial/transversal direction. The induced tissue motion is estimated from ultrasound radio-frequency data and is used to estimate the mechanical frequency response of tissue to the excitation at different spatial locations. This can be used to determine the spatial distribution of various mechanical parameters of tissue, such as stiffness and viscosity. Phantom and in-vivo images are presented. The results obtained demonstrate high phantom and tissue linearity and high signal-to-noise ratio.