Versatile robotic probe calibration for position tracking in ultrasound imaging.

Within the field of ultrasound-guided procedures, there are a number of methods for ultrasound probe calibration. While these methods are usually developed for a specific probe, they are in principle easily adapted to other probes. In practice, however, the adaptation often proves tedious and this is impractical in a research setting, where new probes are tested regularly. Therefore, we developed a method which can be applied to a large variety of probes without adaptation. The method used a robot arm to move a plastic sphere submerged in water through the ultrasound image plane, providing a slow and precise movement. The sphere was then segmented from the recorded ultrasound images using a MATLAB programme and the calibration matrix was computed based on this segmentation in combination with tracking information. The method was tested on three very different probes demonstrating both great versatility and high accuracy.

Three-dimensional electromagnetic navigation vs. fluoroscopy for endovascular aneurysm repair: a prospective feasibility study in patients.

PURPOSE: To evaluate the in vivo feasibility of a 3-dimensional (3D) electromagnetic (EM) navigation system with electromagnetically-tracked catheters in endovascular aneurysm repair (EVAR). METHODS: The pilot study included 17 patients undergoing EVAR with a bifurcated stent-graft. Ten patients were assigned to the control group, in which a standard EVAR procedure was used. The remaining 7 patients (intervention group) underwent an EVAR procedure during which a cone-beam computed tomography image was acquired after implantation of the main stent-graft. The 3D image was presented on the navigation screen. From the contralateral side, the tip of an electromagnetically-tracked catheter was visualized in the 3D image and positioned in front of the contralateral cuff in the main stent-graft. A guidewire was inserted through the catheter and blindly placed into the stent-graft. The placement of the guidewire was verified by fluoroscopy before the catheter was pushed over the guidewire. If the guidewire was incorrectly placed outside the stent-graft, the procedure was repeated. Successful placement of the guidewire had to be achieved within a 15-minute time limit. RESULTS: Within 15 minutes, the guidewire was placed correctly inside the stent-graft in 6 of 7 patients in the intervention group and in 8 of 10 patients in the control group. In the intervention group, fewer attempts were needed to insert the guidewire correctly. CONCLUSION: A 3D EM navigation system, used in conjunction with fluoroscopy and angiography, has the potential to provide more spatial information and reduce the use of radiation and contrast during endovascular interventions. This pilot study showed that 3D EM navigation is feasible in patients undergoing EVAR. However, a larger study must be performed to determine if 3D EM navigation is better than the existing practice for these patients.

Three-dimensional endovascular navigation with electromagnetic tracking: ex vivo and in vivo accuracy.

PURPOSE: To evaluate the accuracy of a 3-dimensional (3D) navigation system using electromagnetically tracked tools to explore its potential in patients. METHODS: The 3D navigation accuracy was quantified on a phantom and in a porcine model using the same setup and vascular interventional suite. A box-shaped phantom with 16 markers was scanned in 5 different positions using computed tomography (CT). The 3D navigation system registered each CT volume in the magnetic field. A tracked needle was pointed at the physical markers, and the spatial distances between the tracked needle positions and the markers were calculated. Contrast-enhanced CT images were acquired from 6 swine. The 3D navigation system registered each CT volume in the magnetic field. An electromagnetically tracked guidewire and catheter were visualized in the 3D image and navigated to 4 specified targets. At each target, the spatial distance between the tracked guidewire tip position and the actual position, verified by a CT control, was calculated. RESULTS: The mean accuracy on the phantom was 1.28±0.53 mm, and 90% of the measured distances were ≤1.90 mm. The mean accuracy in swine was 4.18±1.76 mm, and 90% of the measured distances were ≤5.73 mm. CONCLUSION: This 3D navigation system demonstrates good ex vivo accuracy and is sufficiently accurate in vivo to explore its potential for improved endovascular navigation.

Tissue motion and strain in the human brain assessed by intraoperative ultrasound in glioma patients.

The objective of the study was to investigate tissue motion and strain imposed by cardiovascular pulsation in pathologic and normal brain parenchyma, as quantified from in vivo ultrasound data. Ultrasound acquired during surgery of 16 patients with glial tumors was retrospectively processed and analyzed. The tissue velocity was quantified at depths of 1cm, 2cm and 3cm from brain cortex to investigate spatial dependency with depth. Comparison of strain and velocity in tumor and adjacent normal parenchyma was performed by selecting two regions-of-interest in the hyperechoic tumor and two regions in the low-echogenic areas interpreted as mainly normal tissue with some degree of tumor cell infiltration. The absolute maximum tissue velocity is seen to increase with increasing depths in 14 of 16 cases (87.5%). The maximum tissue velocities in the four regions close to the ultrasound visible tumor border are not statistically different (p=0.163 to p=0.975). The strain magnitudes are significantly higher in the regions with expected normal brain parenchyma than in regions with expected glial tumor tissue, both for the two regions being closest to the tumor border (p=0.0004) and for the two regions further away from the tumor border (p=0.0009). We conclude that the velocity of the brain parenchyma imposed by arterial pulsation during a cardiac cycle is generally increasing with increasing depth from cortex. The maximum velocity appears to be similar in regions with expected normal brain and tumor tissue, thus, does not seem to be affected by pathology. Strain magnitude is, however, a suitable parameter for discrimination of glial tumor and normal brain parenchyma. (E-mail: Tormod.Selbekk@sintef.no).

Reduced strain in abdominal aortic aneurysms after endovascular repair.

PURPOSE: To compare in vivo strain in abdominal aortic aneurysms before and after endovascular aneurysm repair (EVAR), thereby obtaining a quantitative measure of changes in mechanical burden on the aneurysm wall. METHOD: Transabdominal ultrasound was acquired from 10 patients (9 men; median age 76 years, range 61-83) 1 day before and 2 days after elective EVAR. Strain was estimated as the relative cyclic elongation and contraction of the wall tissue in a number of connected segments along the aneurysm circumference. For each time instance of the cardiac cycle, the maximum and the average strain values along the circumference were recorded. The temporal maximums of these parameters (defined as the maximum strain and the peak average strain, respectively) were compared before and after EVAR. RESULTS: Both maximum strain and peak average strain were reduced following EVAR by 41% (range 35%-63%) and 68% (range 41%-93%), respectively. Despite the reduction, cyclic strain was still evident after the stent-graft was placed, even when no evidence of endoleak was found. Further, the strain values were inhomogeneous along the circumference, both before and after treatment. In 2 cases, endoleak was proven by routine computed tomography; the relative reduction in maximum strain was slightly less in these cases (35% and 38%) compared to those without endoleak (45%, range 38%-63%). No difference was found in reduction of peak average strain. CONCLUSION: Strain is significantly reduced after EVAR, but there may still be a certain level of strain after the treatment. The strain values are inhomogeneous along the circumference both before and after treatment. These results encourage further investigation to evaluate the potential for using circumferential strain as an additional indicator of outcome after endovascular repair.

Strain estimation in abdominal aortic aneurysms from 2-D ultrasound.

The rupture risk of abdominal aortic aneurysms (AAAs) is routinely inferred from the maximum diameter of the AAA. However, clinical experience indicates that this criterion has poor accuracy and that noninvasive assessment of the elastic properties of the vessel might give better correspondence with the rupture risk. We have developed a method for analysis of circumferential strain in AAAs from sequences of cross-sectional ultrasound B-mode images. The algorithm is fast, semiautomatic and well-suited for real-time applications. The method was developed and evaluated using data from 10 AAA patients. The preliminary results demonstrate that the method is sufficiently accurate and robust for clinically acquired data. An important finding is that local strain values may exceed the circumferential average strain significantly. Furthermore, the calculated strain shows no apparent covariation with the diagnosed diameter. This implies that the method may give new and essential information on the clinical condition of the AAA.