RGB-D-Based Method for Measuring the Angular Range of Hip and Knee Joints during Home Care Rehabilitation.

Home-based rehabilitation is becoming a gold standard for patient who have undergone knee arthroplasty or full knee replacement, as it helps healthcare costs to be minimized. Nevertheless, there is a chance of increasing adverse health effects in case of home care, primarily due to the patients' lack of motivation and the doctors' difficulty in carrying out rigorous supervision. The development of devices to assess the efficient recovery of the operated joint is highly valued both for the patient, who feels encouraged to perform the proper number of activities, and for the doctor, who can track him/her remotely. Accordingly, this paper introduces an interactive approach to angular range calculation of hip and knee joints based on the use of low-cost devices which can be operated at home. First, the patient's body posture is estimated using a 2D acquisition method. Subsequently, the 3D posture is evaluated by using the depth information coming from an RGB-D sensor. Preliminary results show that the proposed method effectively overcomes many limitations by fusing the results obtained by the state-of-the-art robust 2D pose estimation algorithms with the 3D data of depth cameras by allowing the patient to be correctly tracked during rehabilitation exercises.

Metrological and Critical Characterization of the Intel D415 Stereo Depth Camera.

Low-cost RGB-D cameras are increasingly being used in several research fields, including human⁻machine interaction, safety, robotics, biomedical engineering and even reverse engineering applications. Among the plethora of commercial devices, the Intel RealSense cameras have proven to be among the most suitable devices, providing a good compromise between cost, ease of use, compactness and precision. Released on the market in January 2018, the new Intel model RealSense D415 has a wide acquisition range (i.e., ~160⁻10,000 mm) and a narrow field of view to capture objects in rapid motion. Given the unexplored potential of this new device, especially when used as a 3D scanner, the present work aims to characterize and to provide metrological considerations for the RealSense D415. In particular, tests are carried out to assess the device performance in the near range (i.e., 100⁻1000 mm). Characterization is performed by integrating the guidelines of the existing standard (i.e., the German VDI/VDE 2634 Part 2) with a number of literature-based strategies. Performance analysis is finally compared against the latest close-range sensors, thus providing a useful guidance for researchers and practitioners aiming to use RGB-D cameras in reverse engineering applications.

Are We Ready to Build a System for Assisting Blind People in Tactile Exploration of Bas-Reliefs?

Nowadays, the creation of methodologies and tools for facilitating the 3D reproduction of artworks and, contextually, to make their exploration possible and more meaningful for blind users is becoming increasingly relevant in society. Accordingly, the creation of integrated systems including both tactile media (e.g., bas-reliefs) and interfaces capable of providing the users with an experience cognitively comparable to the one originally envisioned by the artist, may be considered the next step for enhancing artworks exploration. In light of this, the present work provides a description of a first-attempt system designed to aid blind people (BP) in the tactile exploration of bas-reliefs. In detail, consistent hardware layout, comprising a hand-tracking system based on Kinect(®) sensor and an audio device, together with a number of methodologies, algorithms and information related to physical design are proposed. Moreover, according to experimental test on the developed system related to the device position, some design alternatives are suggested so as to discuss pros and cons.

Carded Tow Real-Time Color Assessment: A Spectral Camera-Based System.

One of the most important parameters to be controlled during the production of textile yarns obtained by mixing pre-colored fibers, is the color correspondence between the manufactured yarn and a given reference, usually provided by a designer or a customer. Obtaining yarns from raw pre-colored fibers is a complex manufacturing process entailing a number of steps such as laboratory sampling, color recipe corrections, blowing, carding and spinning. Carding process is the one devoted to transform a "fuzzy mass" of tufted fibers into a regular mass of untwisted fibers, named "tow". During this process, unfortunately, the correspondence between the color of the tow and the target one cannot be assured, thus leading to yarns whose color differs from the one used for reference. To solve this issue, the main aim of this work is to provide a system able to perform a spectral camera-based real-time measurement of a carded tow, to assess its color correspondence with a reference carded fabric and, at the same time, to monitor the overall quality of the tow during the carding process. Tested against a number of differently colored carded fabrics, the proposed system proved its effectiveness in reliably assessing color correspondence in real-time.

Multimodal fusion of tomographic sequences of medical images: MRE spatially enhanced by MRI.

BACKGROUND AND OBJECTIVE: In biomedical fields, image analysis is often necessary for an accurate diagnosis. In order to obtain all the information needed to form an in-depth clinical picture, it may be useful to combine the contents of images taken under different diagnostic modes. Multimodal medical image fusion techniques enable complementary information acquired by different imaging devices to be automatically combined into a unique image. METHODS: In this paper, multimodal medical images fusion method based on multiresolution analysis (MRA) is proposed, with the aim to combine the high geometric content of magnetic resonance imaging (MRI) and the elasticity information of magnetic resonance elastography (MRE), simultaneously acquired on the same organs of a patient. First, the slices of MRE are volumetrically interpolated to exactly overlap, each with a slice of MRI. Then, the spatial details of MRI are extracted by means of MRA and injected into the corresponding slices of MRE. Due to the intrinsic dissimilarity between corresponding slices of MRE and MRI, the spatial details of MRI are modulated by local or global matching functions. RESULTS: The performance of the proposed method is quantitatively assessed considering radiometric and geometric consistency of the fused images with respect to their originals, in a comparison with two popular methods from the literature. For a qualitative evaluation, a visual inspection is carried out. CONCLUSIONS: The results show that the proposed method enables an effective MRI-MRE fusion that allows the elasticity information and geometric details of the examined organs to be evaluated in a single image.

Modelling and fabrication procedure for a 3D printed cardiac model - surgical planning of Left Ventricular Aneurysm.

The present paper describes a procedure for the development and production of a physical model for surgical planning of a Left Ventricular Aneurysm. The method is based on the general approach provided in Otton et al. (2017) and was customized to seek a reliable and fast procedure for the production of a specific type of cardiac model - i.e. chambers of the left side of the heart. The paper covers all the steps: processing of the data, segmentation, modelling and 3D printing; details are provided for all the phases, in order to allow the reproduction of the achieved results. The procedure relies on Computed Tomography - CT imaging as data source for the identification and modelling of the anatomy. Materialise Mimics was used as segmentation software to process the CT data. While its usefulness for the surgical needs was verified on a single clinical case (provided by the Careggi Hospital of Florence, Italy), the modelling procedure was tested twice, to produce a physical replica both ex-ante and ex-post surgical intervention.•The tools used for segmentation and generation of the printable model were customized to reduce modelling time for the specific type of desired model.•Detailed information on the use of modeling tools, not available in the literature, will be provided.•The procedure allows fabrication of a physical model representing the heart chambers in a short time.

Case Report: Three-Dimensional Printing Model for Surgical Planning of Left Ventricular Aneurysm: Evolution Toward Tailoring Surgery.

A 59-year-old woman was admitted to the emergency department for heart failure (HF), New York Heart Association (NYHA) IV, showing an anterior, evolved myocardial infarction (MI) with a wide apical left ventricular aneurysm (LVA), ejection fraction (EF) 24%, and global longitudinal strain (GLS) -5. 5% by echo. Cardiac magnetic resonance imaging (MRI) confirmed an apical LVA without thrombus, EF 20%, and a transmural delayed enhancement in the myocardium wall. Coronarography showed a three-vessel disease with occluded proximal left anterior descending (LAD) and proximal right coronary artery (RCA). Based on the cardiac CT scan, we decided to generate a three-dimensional (3D) print model of the heart, for better prediction of residual LV volumes. After LVA surgery plus complete functional revascularization, an optimal agreement was found between predicted and surgical residual LV end-diastolic (24.7 vs. 31.8 ml/m2) and end-systolic (54.1 vs. 69.4 ml/m2) volumes, with an improvement of NYHA class, from IV to I. The patient was discharged uneventfully and at 6- and 12-month follow-up, the NYHA class, and LV volumes were found unchanged. This is a second report describing the use of the 3D print model for the preoperative planning of surgical management of LVA; the first report was described by Jacobs et al. among three patients, one with a malignant tumor and the remaining two patients with LVA. This article focused on the use of the 3D print model to optimize surgical planning and individualize treatment of LVA associated with complete functional revascularization, leading to complete recovery of LV function with a favorable outcome.

3D-Printed Patient-Specific Casts for the Distal Radius in Children: Outcome and Pre-Market Survey.

BACKGROUND: Orthopaedic and Trauma surgery is expected to undergo profound transformation as a result of the adoption of 3D technology. Among the various applications, patient specific manufacturing of splints and casts would appear to be, particularly in children, an interesting implementation. This study aims to assess the safety of patient specific 3D casts obtained with a newly developed 3D-scanning devise in a small case series. We therefore conducted a clinical outcome and pre-marketing study in 10 consecutive patients with distal radius fractures treated at an Academic Level I Pediatric Trauma Center. After the application of the 3D cast, patients underwent three consecutive evaluations in the following 21 days. The main outcome measurements were: pain, skin lesions and general comfort, and acceptance of the cast. The three domains were measured with the Visual Analogue Scale (VAS), the NPUAP/EPUAP classification and the Positive affect-Negative affect Scale for Children (PANAS-C), the Self-Assessment Manikin (SAM) clinical psychology tests and a Likert-type five item questionnaire, respectively. A final mechanical analysis of the cast was carried out to confirm product integrity. RESULTS: The results obtained were consistently positive in the investigated domains of general comfort, efficacy of contention and mechanical integrity of the 3D-printed cast as well as in the practicability of the supply chain. CONCLUSIONS: This study provides Level IV evidence that patient specific 3D printed casts obtained with a specifically designed software were safe in the management of "buckle" fractures of the distal radius in children. These results encourage to extend the technology to the treatment of more demanding fractures.

U-net for auricular elements segmentation: a proof-of-concept study.

Convolutional neural networks are increasingly used in the medical field for the automatic segmentation of several anatomical regions on diagnostic and non-diagnostic images. Such automatic algorithms allow to speed up time-consuming processes and to avoid the presence of expert personnel, reducing time and costs. The present work proposes the use of a convolutional neural network, the U-net architecture, for the segmentation of ear elements. The auricular elements segmentation process is a crucial step of a wider procedure, already automated by the authors, that has as final goal the realization of surgical guides designed to assist surgeons in the reconstruction of the external ear. The segmentation, performed on depth map images of 3D ear models, aims to define of the contour of the helix, antihelix, tragus-antitragus and concha. A dataset of 131 ear depth map was created;70% of the data are used as the training set, 15% composes the validation set, and the remaining 15% is used as testing set. The network showed excellent performance, achieving 97% accuracy on the validation test.

Volumetric interpolation of tomographic sequences for accurate 3D reconstruction of anatomical parts.

BACKGROUND AND OBJECTIVE: Tomographic sequences of biomedical images are commonly used to achieve a three-dimensional visualization of the human anatomy. In some cases, the number of images contained in the sequence is limited, e.g., in low-dose computed tomography acquired on neonatal patients, resulting in a coarse and inaccurate 3D reconstruction. METHODS: In this paper, volumetric image interpolation methods, devised to increase the axial resolution of tomographic sequences and achieve a refined 3D reconstruction, are proposed and compared. The techniques taken into consideration are based on motion-compensated frame-interpolation concepts, which have been developed for video applications, mainly frame-rate conversion. RESULTS: The performance of the proposed methods is quantitatively assessed by using sequences with a simulated low axial resolution obtained from the decimation of standard high-resolution computed tomography sequences. Real data with an actual low axial resolution have been used as well for a qualitative evaluation of the proposed methods. CONCLUSIONS: The experimental results demonstrate that the proposed methods enable an effective slice interpolation and that the achievable 3D models clearly benefit from the increased axial resolution.

CAD-based automatic modelling of customized cutting templates for Pectus Arcuatum surgical correction.

Pectus Arcuatum (PA) is a congenital chest wall deformity which produces a superior manubrial and sternal protrusion, particularly at the sternal angle. PA surgical correction to reduce the angle of the sternum always includes the removal of bone portion by means of horizontal sternal osteotomies, resection of deformed rib cartilage and finally stabilization of the anterior thoracic wall. Within this process an incorrect assessment of the sternotomy angle during the procedure may lead to the need for bone or cartilage grafts to fill the left voids. This problem has been addressed with a patient-specific cutting template, realized with Reverse Engineering and Additive Manufacturing techniques, which proved to be a key element to simplify the procedure and avoid the occurrence of this type of complications. In this work is presented and validated a procedure that, through common CAD operations, realizes in a completely automatic way the CAD model of the custom cutting template, so as to make non-expert users independent in the realization of the medical device.

Customized Cutting Template to Assist Sternotomy in Pectus Arcuatum.

PURPOSE: Pectus arcuatum is an anterior chest wall deformity that requires transverse wedge sternotomy. Determining and delivering the correct cutting angle are crucial for successful correction. This report describes the early clinical experience with a novel cutting template technology able to deliver the optimal cutting angle. DESCRIPTION: From patients' computed tomographic scans, the optimal cutting angle is obtained using computer-aided design. A template comprising slots tilted at the right cutting angle and a safety block to avoid damaging the posterior periosteum is printed through additive manufacturing. EVALUATION: The template allows surgeons to perform a precise wedge sternotomy, safely sparing the posterior periosteum in all patients, without complications. Postoperative chest roentgenograms and clinical photographs demonstrate optimal sternal realignment and cosmetic outcome. In this report, the mean operative time was 110 minutes. All patients were successfully discharged, with a mean length of stay of 4 days. CONCLUSIONS: Transverse wedge sternotomy aided by a computer-aided design-devised cutting template may reduce the technical challenge of this procedure, thereby increasing its safety and reducing operative times and hospital stay. Further research on long-term patient outcomes is necessary.

Surgery of complex craniofacial defects: A single-step AM-based methodology.

BACKGROUND AND OBJECTIVE: The purpose of the present paper is to pave the road to the systematic optimization of complex craniofacial surgical intervention and to validate a design methodology for the virtual surgery and the fabrication of cranium vault custom plates. Recent advances in the field of medical imaging, image processing and additive manufacturing (AM) have led to new insights in several medical applications. The engineered combination of medical actions and 3D processing steps, foster the optimization of the intervention in terms of operative time and number of sessions needed. Complex craniofacial surgical intervention, such as for instance severe hypertelorism accompanied by skull holes, traditionally requires a first surgery to correctly "resize" the patient cranium and a second surgical session to implant a customized 3D printed prosthesis. Between the two surgical interventions, medical imaging needs to be carried out to aid the design the skull plate. Instead, this paper proposes a CAD/AM-based one-in-all design methodology allowing the surgeons to perform, in a single surgical intervention, both skull correction and implantation. METHODS: A strategy envisaging a virtual/mock surgery on a CAD/AM model of the patient cranium so as to plan the surgery and to design the final shape of the cranium plaque is proposed. The procedure relies on patient imaging, 3D geometry reconstruction of the defective skull, virtual planning and mock surgery to determine the hypothetical anatomic 3D model and, finally, to skull plate design and 3D printing. RESULTS: The methodology has been tested on a complex case study. Results demonstrate the feasibility of the proposed approach and a consistent reduction of time and overall cost of the surgery, not to mention the huge benefits on the patient that is subjected to a single surgical operation. CONCLUSIONS: Despite a number of AM-based methodologies have been proposed for designing cranial implants or to correct orbital hypertelorism, to the best of the authors' knowledge, the present work is the first to simultaneously treat osteotomy and titanium cranium plaque.

A Novel Objective Approach to the External Measurement of Pectus Excavatum Severity by Means of an Optical Device.

BACKGROUND: Current approaches to quantifying the severity of pectus excavatum require internal measurements based on cross-sectional imaging. The aim of this study is to exploit a novel index evaluated on the external surface of the chest with a three-dimensional (3D) optical scanner. METHODS: Fifty-one children (41 male, 10 female) between 2 and 17 years of age were evaluated with a 3D optical scanner. Pectus excavatum severity was calculated by using an ad hoc instant 3D scanner and defining an automatic procedure to generate an optical 3D correction index (CI3D). For the latter, an ideal threshold was derived from a statistical analysis, and five blind surveys were collected from pediatric specialists on chest wall deformities. The CI3D was then correlated with blind clinical assessments of PE severity. RESULTS: The cutoff thresholds were determined to optimally discriminate between six degrees of severity of PE patients by a correlation analysis. The correlation coefficient obtained by matching the CI3D with the average subjective severity shows that the proposed method outperforms traditional approaches. CONCLUSIONS: The optical 3D index has a good match with the average subjective assessment in distinguishing patients with mild to severe PE. This innovative approach offers several advantages over existing indices, as it is repeatable and does not require cross-sectional imaging. The index might be particularly suitable for monitoring the efficacy of nonoperative treatment and, in the future, for designing an optimal personalized usage of therapeutic devices.