Review of the Free Research Software for Computer-Assisted Interventions.

Research software is continuously developed to facilitate progress and innovation in the medical field. Over time, numerous research software programs have been created, making it challenging to keep abreast of what is available. This work aims to evaluate the most frequently utilized software by the computer-assisted intervention (CAI) research community. The software assessments encompass a range of criteria, including load time, stress load, multi-tasking, extensibility and range of functionalities, user-friendliness, documentation, and technical support. A total of eight software programs were selected: 3D Slicer, Elastix, ITK-SNAP, MedInria, MeVisLab, MIPAV, and Seg3D. While none of the software was found to be perfect on all evaluation criteria, 3D Slicer and ITK-SNAP emerged with the highest rankings overall. These two software programs could frequently complement each other, as 3D Slicer has a broad and customizable range of features, while ITK-SNAP excels at performing fundamental tasks in an efficient manner. Nonetheless, each software had distinctive features that may better fit the requirements of certain research projects. This review provides valuable information to CAI researchers seeking the best-suited software to support their projects. The evaluation also offers insights for the software development teams, as it highlights areas where the software can be improved.

Automatic self-gated 4D-MRI construction from free-breathing 2D acquisitions applied on liver images.

PURPOSE: MRI slice reordering is a necessary step when three-dimensional (3D) motion of an anatomical region of interest has to be extracted from multiple two-dimensional (2D) dynamic acquisition planes, e.g., for the construction of motion models used for image-guided radiotherapy. Existing reordering methods focus on obtaining a spatially coherent reconstructed volume for each time. However, little attention has been paid to the temporal coherence of the reconstructed volumes, which is of primary importance for accurate 3D motion extraction. This paper proposes a fully automatic self-sorting four-dimensional MR volume construction method that ensures the temporal coherence of the results. METHODS: First, a pseudo-navigator signal is extracted for each 2D dynamic slice acquisition series. Then, a weighted graph is created using both spatial and motion information provided by the pseudo-navigator. The volume at a given time point is reconstructed following the shortest paths in the graph starting that time point of a reference slice chosen based on its pseudo-navigator signal. RESULTS: The proposed method is evaluated against two state-of-the-art slice reordering algorithms on a prospective dataset of 12 volunteers using both spatial and temporal quality metrics. The automated end-exhale extraction showed results closed to the median value of the manual operators. Furthermore, the results of the validation metrics show that the proposed method outperforms state-of-the-art methods in terms of both spatial and temporal quality. CONCLUSION: Our approach is able to automatically detect the end-exhale phases within one given anatomical position and cope with irregular breathing.

Improved electromagnetic tracking for catheter path reconstruction with application in high-dose-rate brachytherapy.

PURPOSE: Electromagnetic (EM) catheter tracking has recently been introduced in order to enable prompt and uncomplicated reconstruction of catheter paths in various clinical interventions. However, EM tracking is prone to measurement errors which can compromise the outcome of the procedure. Minimizing catheter tracking errors is therefore paramount to improve the path reconstruction accuracy. METHODS: An extended Kalman filter (EKF) was employed to combine the nonlinear kinematic model of an EM sensor inside the catheter, with both its position and orientation measurements. The formulation of the kinematic model was based on the nonholonomic motion constraints of the EM sensor inside the catheter. Experimental verification was carried out in a clinical HDR suite. Ten catheters were inserted with mean curvatures varying from 0 to [Formula: see text] in a phantom. A miniaturized Ascension (Burlington, Vermont, USA) trakSTAR EM sensor (model 55) was threaded within each catheter at various speeds ranging from 7.4 to [Formula: see text]. The nonholonomic EKF was applied on the tracking data in order to statistically improve the EM tracking accuracy. A sample reconstruction error was defined at each point as the Euclidean distance between the estimated EM measurement and its corresponding ground truth. A path reconstruction accuracy was defined as the root mean square of the sample reconstruction errors, while the path reconstruction precision was defined as the standard deviation of these sample reconstruction errors. The impacts of sensor velocity and path curvature on the nonholonomic EKF method were determined. Finally, the nonholonomic EKF catheter path reconstructions were compared with the reconstructions provided by the manufacturer's filters under default settings, namely the AC wide notch and the DC adaptive filter. RESULTS: With a path reconstruction accuracy of 1.9 mm, the nonholonomic EKF surpassed the performance of the manufacturer's filters (2.4 mm) by 21% and the raw EM measurements (3.5 mm) by 46%. Similarly, with a path reconstruction precision of 0.8 mm, the nonholonomic EKF surpassed the performance of the manufacturer's filters (1.0 mm) by 20% and the raw EM measurements (1.7 mm) by 53%. Path reconstruction accuracies did not follow an apparent trend when varying the path curvature and sensor velocity; instead, reconstruction accuracies were predominantly impacted by the position of the EM field transmitter ([Formula: see text]). CONCLUSION: The advanced nonholonomic EKF is effective in reducing EM measurement errors when reconstructing catheter paths, is robust to path curvature and sensor speed, and runs in real time. Our approach is promising for a plurality of clinical procedures requiring catheter reconstructions, such as cardiovascular interventions, pulmonary applications (Bender et al. in medical image computing and computer-assisted intervention-MICCAI 99. Springer, Berlin, pp 981-989, 1999), and brachytherapy.

Electromagnetic tracking in surgical and interventional environments: usability study.

PURPOSE: Electromagnetic (EM) tracking of instruments within a clinical setting is notorious for fluctuating measurement performance. Position location measurement uncertainty of an EM system was characterized in various environments, including control, clinical, cone beam computed tomography (CBCT), and CT scanner environments. Static and dynamic effects of CBCT and CT scanning on EM tracking were evaluated. METHODS: Two guidance devices were designed to solely translate or rotate the sensor in a non-interfering fit to decouple pose-dependent tracking uncertainties. These devices were mounted on a base to allow consistent and repeatable tests when changing environments. Using this method, position and orientation measurement accuracies, precision, and 95 % confidence intervals were assessed. RESULTS: The tracking performance varied significantly as a function of the environment-especially within the CBCT and CT scanners-and sensor pose. In fact, at a fixed sensor position in the clinical environment, the measurement error varied from 0.2 to 2.2 mm depending on sensor orientations. Improved accuracies were observed along the vertical axis of the field generator. Calibration of the measurements improved tracking performance in the CT environment by 50-85 %. CONCLUSION: EM tracking can provide effective assistance to surgeons or interventional radiologists during procedures performed in a clinical or CBCT environment. Applications in the CT scanner demand precalibration to provide acceptable performance.