Automatic measurement of kidney dimensions in two-dimensional ultrasonography is comparable to expert sonographers.

Purpose: Length and width measurements of the kidneys aid in the detection and monitoring of structural abnormalities and organ disease. Manual measurement results in intra- and inter-rater variability, is complex and time-consuming, and is fraught with error. We propose an automated approach based on machine learning for quantifying kidney dimensions from two-dimensional (2D) ultrasound images in both native and transplanted kidneys. Approach: An nnU-net machine learning model was trained on 514 images to segment the kidney capsule in standard longitudinal and transverse views. Two expert sonographers and three medical students manually measured the maximal kidney length and width in 132 ultrasound cines. The segmentation algorithm was then applied to the same cines, region fitting was performed, and the maximum kidney length and width were measured. Additionally, single kidney volume for 16 patients was estimated using either manual or automatic measurements. Results: The experts resulted in length of 84.8±26.4 mm [95% CI: 80.0, 89.6] and a width of 51.8±10.5 mm [49.9, 53.7]. The algorithm resulted a length of 86.3±24.4 [81.5, 91.1] and a width of 47.1±12.8 [43.6, 50.6]. Experts, novices, and the algorithm did not statistically significant differ from one another (p>0.05). Bland-Altman analysis showed the algorithm produced a mean difference of 2.6 mm (SD = 1.2) from experts, compared to novices who had a mean difference of 3.7 mm (SD = 2.9 mm). For volumes, mean absolute difference was 47 mL (31%) consistent with ∼1 mm error in all three dimensions. Conclusions: This pilot study demonstrates the feasibility of an automatic tool to measure in vivo kidney biometrics of length, width, and volume from standard 2D ultrasound views with comparable accuracy and reproducibility to expert sonographers. Such a tool may enhance workplace efficiency, assist novices, and aid in tracking disease progression.

The Kidneys Are Not All Normal: Transplanted Kidneys and Their Speckle Distributions.

OBJECTIVE: Modelling ultrasound speckle to characterise tissue properties has generated considerable interest. As speckle is dependent on the underlying tissue architecture, modelling it may aid in tasks such as segmentation or disease detection. For the transplanted kidney, where ultrasound is used to investigate dysfunction, it is unknown which statistical distribution best characterises such speckle. This applies to the regions of the transplanted kidney: the cortex, the medulla and the central echogenic complex. Furthermore, it is unclear how these distributions vary by patient variables such as age, sex, body mass index, primary disease or donor type. These traits may influence speckle modelling given their influence on kidney anatomy. We investigate these two aims. METHODS: B-mode images from n = 821 kidney transplant recipients (one image per recipient) were automatically segmented into the cortex, medulla and central echogenic complex using a neural network. Seven distinct probability distributions were fitted to each region's histogram, and statistical analysis was performed. DISCUSSION: The Rayleigh and Nakagami distributions had model parameters that differed significantly between the three regions (p ≤ 0.05). Although both had excellent goodness of fit, the Nakagami had higher Kullbeck-Leibler divergence. Recipient age correlated weakly with scale in the cortex (Ω: ρ = 0.11, p = 0.004), while body mass index correlated weakly with shape in the medulla (m: ρ = 0.08, p = 0.04). Neither sex, primary disease nor donor type exhibited any correlation. CONCLUSION: We propose the Nakagami distribution be used to characterize transplanted kidneys regionally independent of disease etiology and most patient characteristics.

SWAVE 2.0 Imaging of Placental Elasticity and Viscosity: Potential Biomarkers for Placenta-Mediated Disease Detection.

Pregnancy complications such as pre-eclampsia (PE) and intrauterine growth restriction (IUGR) are associated with structural and functional changes in the placenta. Different elastography techniques with an ability to assess the mechanical properties of tissue can identify and monitor the pathological state of the placenta. Currently available elastography techniques have been used with promising results to detect placenta abnormalities; however, limitations include inadequate measurement depth and safety concerns from high negative pressure pulses. Previously, we described a shear wave absolute vibro-elastography (SWAVE) method by applying external low-frequency mechanical vibrations to generate shear waves and studied 61 post-delivery clinically normal placentas to explore the feasibility of SWAVE for placental assessment and establish a measurement baseline. This next phase of the study, namely, SWAVE 2.0, improves the previous system and elasticity reconstruction by incorporating a multi-frequency acquisition system and using a 3-D local frequency estimation (LFE) method. Compared with its 2-D counterpart, the proposed system using 3-D LFE was found to reduce the bias and variance in elasticity measurements in tissue-mimicking phantoms. In the aim of investigating the potential of improved SWAVE 2.0 measurements to identify placental abnormalities, we studied 46 post-delivery placentas, including 26 diseased (16 IUGR and 10 PE) and 20 normal control placentas. By use of a 3.33-MHz motorized curved-array transducer, multi-frequency (80,100 and 120 Hz) elasticity measures were obtained with 3-D LFE, and both IUGR (15.30 ± 2.96 kPa, p = 3.35e-5) and PE (12.33 ± 4.88 kPa, p = 0.017) placentas were found to be significantly stiffer compared with the control placentas (8.32 ± 3.67 kPa). A linear discriminant analysis (LDA) classifier was able to classify between healthy and diseased placentas with a sensitivity, specificity and accuracy of 87%, 78% and 83% and an area under the receiver operating curve of 0.90 (95% confidence interval: 0.8-0.99). Further, the pregnancy outcome in terms of neonatal intensive care unit admission was predicted with a sensitivity, specificity and accuracy of 70%, 71%, 71%, respectively, and area under the receiver operating curve of 0.78 (confidence interval: 0.62-0.93). A viscoelastic characterization of placentas using a fractional rheological model revealed that the viscosity measures in terms of viscosity parameter n were significantly higher in IUGR (2.3 ± 0.21) and PE (2.11 ± 0.52) placentas than in normal placentas (1.45 ± 0.65). This work illustrates the potential relevance of elasticity and viscosity imaging using SWAVE 2.0 as a non-invasive technology for detection of placental abnormalities and the prediction of pregnancy outcomes.

Project SWAVE 2.0: An overview of the study design for multimodal placental image acquisition and alignment.

Development of non-invasive and in utero placenta imaging techniques can potentially identify biomarkers of placental health. Correlative imaging using multiple multiscale modalities is particularly important to advance the understanding of placenta structure, function and their relationship. The objective of the project SWAVE 2.0 was to understand human placental structure and function and thereby identify quantifiable measures of placental health using a multimodal correlative approach. In this paper, we present a multimodal image acquisition protocol designed to acquire and align data from ex vivo placenta specimens derived from both healthy and complicated pregnancies. Qualitative and quantitative validation of the alignment method were performed. The qualitative analysis showed good correlation between findings in the MRI, ultrasound and histopathology images. The proposed protocol would enable future studies on comprehensive analysis of placental anatomy, function and their relationship. ● An overview of a novel multimodal placental image acquisition protocol is presented. ● A co-registration method using surface markers and external fiducials is described. ● A preliminary correlative imaging analysis for a placenta specimen is presented.

A comparative study on position and paramedian neuraxial access on healthy volunteers using three-dimensional models registered to lumbar spine ultrasound.

PURPOSE: Optimizing patient position and needle puncture site are important factors for successful neuraxial anesthesia. Two paramedian approaches are commonly utilized and we sought to determine whether variations of the seated position would increase the chance of puncture success. METHODS: We simulated paramedian needle passes on three-dimensional lumbar spine models registered to volumetric ultrasound data acquired from ten healthy volunteers in three different positions: 1) prone; 2) seated with thoracic and lumbar flexion; and 3) seated as in position 2, but with a 10° dorsal tilt. Simulated paramedian needle passes from the right side performed on validated models were used to determine L2-3 and L3-4 neuraxial target size and success. We selected two paramedian puncture sites according to standard anesthesia textbook descriptions: 10 mm lateral and 10 mm caudal from inferior edge of the superior spinous process as described by Miller, and 10 mm lateral from the superior edge of the inferior spinous process as described by Barash. RESULTS: A significant increase in the area available for dural puncture was found in the L2-3 (61-62 mm2) and L3-4 (76-79 mm2) vertebral levels for all seated positions relative to the prone position (P < 0.001). Similarly, a significant increase in the total number of successful punctures was found in the L2-3 (77-79) and L3-4 (119-120) vertebral levels for all seated positions relative to the prone position (P < 0.001). No differences were found between seated positions. The Barash puncture site achieved a higher number of successful punctures than the Miller puncture site in both the L2-3 (19) and L3-4 (84) vertebral levels (P < 0.001). CONCLUSION: An added dorsal table tilt did not increase puncture success in the seated position. The landmarks for puncture site described by Barash resulted in significantly more successful punctures compared with those described by Miller in all positions.

RéSUMé: OBJECTIF: L'optimisation de la position du patient et celle du site de ponction de l'aiguille sont des facteurs importants pour la réussite d'une anesthésie neuraxiale. Deux approches paramédianes sont fréquemment utilisées et nous avons tenté de déterminer si des variations de la position assise augmenteraient la probabilité de réussite de la ponction. MéTHODE: Nous avons simulé les passages paramédians de l'aiguille sur des modèles tridimensionnels de la colonne lombaire adaptés à partir de données d'échographie volumétriques acquises auprès de dix volontaires sains placés dans trois positions différentes : 1) couché sur le ventre; 2) assis en flexion thoraco-lombaire; et 3) assis comme en position 2, mais avec une inclinaison dorsale de 10°. Les passages paramédians simulés de l'aiguille du côté droit réalisés sur des modèles validés ont été utilisés pour déterminer la taille des cibles neuraxiales L2­3 et L3­4 ainsi que la réussite de la ponction. Nous avons sélectionné deux sites de ponction paramédians selon les descriptions de deux manuels d'anesthésie standard, soit 10 mm en latéral et 10 mm en caudal depuis le bord inférieur de l'apophyse épineuse supérieure tel que décrit par celui de Miller, et 10 mm en latéral depuis le bord supérieur de l'apophyse épineuse inférieure, tel que décrit par celui de Barash. RéSULTATS: Une augmentation significative de la surface disponible pour la ponction durale a été observée aux niveaux vertébraux L2­3 (61­62 mm2) et L3­4 (76­79 mm2) dans les deux positions assises par rapport à la position ventrale (P < 0,001). De la même manière, nous avons observé une augmentation significative du nombre total de ponctions durales réussies aux niveaux vertébraux L2­3 (77­79) et L3­4 (119­120) dans les deux positions assises par rapport à la position ventrale (P < 0,001). Aucune différence n'a été observée entre les deux positions assises. Le site de ponction selon le manuel de Barash a permis la réalisation d'un nombre plus élevé de ponctions réussies que le site de ponction selon celui de Miller, tant au niveau vertébral L2­3 (19) qu'au niveau L3­4 (84) (P < 0,001). CONCLUSION: L'ajout d'une inclinaison du plan dorsal n'a pas augmenté le taux de réussite de la ponction en position assise. Les repères utilisés pour le site de ponction décrits par le manuel de Barash ont entraîné un nombre significativement plus élevé de ponctions réussies que ceux décrits par celui de Miller, toutes positions confondues.

Comparison of Patient Position and Midline Lumbar Neuraxial Access Via Statistical Model Registration to Ultrasound.

Patient positioning and needle puncture site are important for lumbar neuraxial anesthesia. We sought to identify optimal patient positioning and puncture sites with a novel ultrasound registration. We registered a statistical model to volumetric ultrasound data acquired from volunteers (n = 10) in three positions: (i) prone; (ii) seated with thoracic and lumbar flexion; and (iii) seated as in position ii, with a 10° dorsal tilt. We determined injection target size and penetration success by simulating lumbar injections on validated registered models. Injection window and target area sizes in seated positions were significantly larger than those in prone positions by 65% in L2-3 and 130% in L3-4; a 10° tilt had no significant effect on target sizes between seated positions. In agreement with computed tomography studies, simulated L2-3 and L3-4 injections had the highest success at the 50% and 75% midline puncture sites, respectively, measured from superior to inferior spinous process. We conclude that our registration to ultrasound technique is a potential tool for tolerable determination of puncture site success in vivo.

Automatic Localization of the Needle Target for Ultrasound-Guided Epidural Injections.

Accurate identification of the needle target is crucial for effective epidural anesthesia. Currently, epidural needle placement is administered by a manual technique, relying on the sense of feel, which has a significant failure rate. Moreover, misleading the needle may lead to inadequate anesthesia, post dural puncture headaches, and other potential complications. Ultrasound offers guidance to the physician for identification of the needle target, but accurate interpretation and localization remain challenges. A hybrid machine learning system is proposed to automatically localize the needle target for epidural needle placement in ultrasound images of the spine. In particular, a deep network architecture along with a feature augmentation technique is proposed for automatic identification of the anatomical landmarks of the epidural space in ultrasound images. Experimental results of the target localization on planes of 3-D as well as 2-D images have been compared against an expert sonographer. When compared with the expert annotations, the average lateral and vertical errors on the planes of 3-D test data were 1 and 0.4 mm, respectively. On 2-D test data set, an average lateral error of 1.7 mm and vertical error of 0.8 mm were acquired.

SLIDE: automatic spine level identification system using a deep convolutional neural network.

PURPOSE: Percutaneous spinal needle insertion procedures often require proper identification of the vertebral level to effectively and safely deliver analgesic agents. The current clinical method involves "blind" identification of the vertebral level through manual palpation of the spine, which has only 30% reported accuracy. Therefore, there is a need for better anatomical identification prior to needle insertion. METHODS: A real-time system was developed to identify the vertebral level from a sequence of ultrasound images, following a clinical imaging protocol. The system uses a deep convolutional neural network (CNN) to classify transverse images of the lower spine. Several existing CNN architectures were implemented, utilizing transfer learning, and compared for adequacy in a real-time system. In the system, the CNN output is processed, using a novel state machine, to automatically identify vertebral levels as the transducer moves up the spine. Additionally, a graphical display was developed and integrated within 3D Slicer. Finally, an augmented reality display, projecting the level onto the patient's back, was also designed. A small feasibility study [Formula: see text] evaluated performance. RESULTS: The proposed CNN successfully discriminates ultrasound images of the sacrum, intervertebral gaps, and vertebral bones, achieving 88% 20-fold cross-validation accuracy. Seventeen of 20 test ultrasound scans had successful identification of all vertebral levels, processed at real-time speed (40 frames/s). CONCLUSION: A machine learning system is presented that successfully identifies lumbar vertebral levels. The small study on human subjects demonstrated real-time performance. A projection-based augmented reality display was used to show the vertebral level directly on the subject adjacent to the puncture site.

Model-based registration of preprocedure MR and intraprocedure US of the lumbar spine.

PURPOSE: Epidural and spinal needle insertions, as well as facet joint denervation and injections are widely performed procedures on the lumbar spine for delivering anesthesia and analgesia. Ultrasound (US)-based approaches have gained popularity for accurate needle placement, as they use a non-ionizing, inexpensive and accessible modality for guiding these procedures. However, due to the inherent difficulties in interpreting spinal US, they yet to become the clinical standard-of-care. METHODS: A novel statistical shape [Formula: see text] pose [Formula: see text] scale (s [Formula: see text] p [Formula: see text] s) model of the lumbar spine is jointly registered to preoperative magnetic resonance (MR) and US images. An instance of the model is created for each modality. The shape and scale model parameters are jointly computed, while the pose parameters are estimated separately for each modality. RESULTS: The proposed method is successfully applied to nine pairs of preoperative clinical MR volumes and their corresponding US images. The results are assessed using the target registration error (TRE) metric in both MR and US domains. The s [Formula: see text] p [Formula: see text] s model in the proposed joint registration framework results in a mean TRE of 2.62 and 4.20 mm for MR and US images, respectively, on different landmarks. CONCLUSION: The joint framework benefits from the complementary features in both modalities, leading to significantly smaller TREs compared to a model-to-US registration approach. The s [Formula: see text] p [Formula: see text] s model also outperforms our previous shape [Formula: see text] pose model of the lumbar spine, as separating scale from pose allows to better capture pose and guarantees equally-sized vertebrae in both modalities. Furthermore, the simultaneous visualization of the patient-specific models on the MR and US domains makes it possible for clinicians to better evaluate the local registration accuracy.

Detection of an invisible needle in ultrasound using a probabilistic SVM and time-domain features.

We propose a novel learning-based approach to detect an imperceptible hand-held needle in ultrasound images using the natural tremor motion. The minute tremor induced on the needle however is also transferred to the tissue in contact with the needle, making the accurate needle detection a challenging task. The proposed learning-based framework is based on temporal analysis of the phase variations of pixels to classify them according to the motion characteristics. In addition to the classification, we also obtain a probability map of the segmented pixels by cross-validation. A Hough transform is then used on the probability map to localize the needle using the segmented needle and posterior probability estimate. The two-step probability-weighted localization on the segmented needle in a learning framework is the key innovation which results in localization improvement and adaptability to specific clinical applications. The method was tested in vivo for a standard 17 gauge needle inserted at 50-80° insertion angles and 40-60mm depths. The results showed an average accuracy of (2.12°, 1.69mm) and 81%±4% for localization and classification, respectively.

Ultrasound-Guided Spine Anesthesia: Feasibility Study of a Guidance System.

Spinal needle injections are guided by fluoroscopy or palpation, resulting in radiation exposure and/or multiple needle re-insertions. Consequently, guiding these procedures with live ultrasound has become more popular, but images are still challenging to interpret. We introduce a guidance system based on augmentation of ultrasound images with a patient-specific 3-D surface model of the lumbar spine. We assessed the feasibility of the system in a study on 12 patients. The system could accurately provide augmentations of the epidural space and the facet joint for all subjects. Following conventional, fluoroscopy-guided needle placement, augmentation accuracy was determined according to the electromagnetically tracked final position of the needle. In 9 of 12 cases, the accuracy was considered sufficient for successfully delivering anesthesia. The unsuccessful cases can be attributed to errors in the electromagnetic tracking reference, which can be avoided by a setup reducing the influence of the metal C-arm.

Registration of a statistical model to intraoperative ultrasound for scaphoid screw fixation.

PURPOSE: Volar percutaneous scaphoid fracture fixation is conventionally performed under fluoroscopy-based guidance, where surgeons need to mentally determine a trajectory for the insertion of the screw and its depth based on a series of 2D projection images. In addition to challenges associated with mapping 2D information to a 3D space, the process involves exposure to ionizing radiation. Three-dimensional ultrasound has been suggested as an alternative imaging tool for this procedure; however, it has not yet been integrated into clinical routine since ultrasound only provides a limited view of the scaphoid and its surrounding anatomy. METHODS: We propose a registration of a statistical wrist shape + scale + pose model to a preoperative CT and intraoperative ultrasound to derive a patient-specific 3D model for guiding scaphoid fracture fixation. The registered model is then used to determine clinically important intervention parameters, including the screw length and the trajectory of screw insertion in the scaphoid bone. RESULTS: Feasibility experiments are performed using 13 cadaver wrists. In 10 out of 13 cases, the trajectory of screw suggested by the registered model meets all clinically important intervention parameters. Overall, an average 94 % of maximum allowable screw length is obtained based on the measurements from gold standard CT. Also, we obtained an average 92 % successful volar accessibility, which indicates that the trajectory is not obstructed by the surrounding trapezium bone. CONCLUSIONS: These promising results indicate that determining clinically important screw insertion parameters for scaphoid fracture fixation is feasible using 3D ultrasound imaging. This suggests the potential of this technology in replacing fluoroscopic guidance for this procedure in future applications.

Joint registration of ultrasound, CT and a shape+pose statistical model of the lumbar spine for guiding anesthesia.

PURPOSE: Facet joint injections and epidural needle insertions are widely used for spine anesthesia. Accurate needle placement is important for effective therapy delivery and avoiding complications arising from damage of soft tissue and nerves. Needle guidance is usually performed by fluoroscopy or palpation, resulting in radiation exposure and multiple needle re-insertions. Several ultrasound (US)-based approaches have been proposed but have not found wide acceptance in clinical routine. This is mainly due to difficulties in interpretation of the complex spinal anatomy in US, which leads to clinicians' lack of confidence in relying only on information derived from US for needle guidance. METHODS: We introduce a multimodal joint registration technique that takes advantage of easy-to-interpret preprocedure computed topography (CT) scans of the lumbar spine to concurrently register a shape+pose model to the intraprocedure 3D US. Common shape coefficients are assumed between two modalities, while pose coefficients are specific to each modality. RESULTS: The joint method was evaluated on patient data consisting of ten pairs of US and CT scans of the lumbar spine. It was successfully applied in all cases and yielded an RMS shape error of 2.1 mm compared to the CT ground truth. The joint registration technique was compared to a previously proposed method of statistical model to US registration Rasoulian et al. (Information processing in computer-assisted interventions. Springer, Berlin, pp 51-60, 2013). The joint framework improved registration accuracy to US in 7 out of 17 visible vertebrae, belonging to four patients. In the remaining cases, the two methods were equally accurate. CONCLUSION: The joint registration allows visualization and augmentation of important anatomy in both the US and CT domain and improves the registration accuracy in both modalities. Observing the patient-specific model in the CT domain allows the clinicians to assess the local registration accuracy qualitatively, which is likely to increase their confidence in using the US model for deriving needle guidance decisions.

A multi-vertebrae CT to US registration of the lumbar spine in clinical data.

PURPOSE: Spinal needle injections are widely applied to alleviate back pain and for anesthesia. Current treatment is performed either blindly with palpation or using fluoroscopy or computed tomography (CT). Both fluoroscopy and CT guidance expose patients to ionizing radiation. Ultrasound (US) guidance for spinal needle procedures is becoming more prevalent as an alternative. It is challenging to use US as the sole imaging modality for intraoperative guidance of spine needle injections due to the acoustic shadows created by the bony structures of the vertebra that limit visibility of the target areas for injection. We propose registration of CT and the US images to augment anatomical visualization for the clinician during spinal interventions guided by US. METHODS: The proposed method involves automatic global and multi-vertebrae registration to find the closest alignment between CT and US data. This is performed by maximizing the similarity between the two modalities using voxel intensity information as well as features extracted from the input volumes. In our method, the lumbar spine is first globally aligned between the CT and US data using intensity-based registration followed by point-based registration. To account for possible curvature change of the spine between the CT and US volumes, a multi-vertebrae registration step is also performed. Springs are used to constrain the movement of the individually transformed vertebrae to ensure the optimal alignment is a pose of the lumbar spine that is physically possible. RESULTS: Evaluation of the algorithm is performed on 10 clinical patient datasets. The registration approach was able to align CT and US datasets from initial misalignments of up to 25 mm, with a mean TRE of 1.37 mm. These results suggest that the proposed approach has the potential to offer a sufficiently accurate registration between clinical CT and US data.

Real-time ultrasound image classification for spine anesthesia using local directional Hadamard features.

PURPOSE: Injection therapy is a commonly used solution for back pain management. This procedure typically involves percutaneous insertion of a needle between or around the vertebrae, to deliver anesthetics near nerve bundles. Most frequently, spinal injections are performed either blindly using palpation or under the guidance of fluoroscopy or computed tomography. Recently, due to the drawbacks of the ionizing radiation of such imaging modalities, there has been a growing interest in using ultrasound imaging as an alternative. However, the complex spinal anatomy with different wave-like structures, affected by speckle noise, makes the accurate identification of the appropriate injection plane difficult. The aim of this study was to propose an automated system that can identify the optimal plane for epidural steroid injections and facet joint injections. METHODS: A multi-scale and multi-directional feature extraction system to provide automated identification of the appropriate plane is proposed. Local Hadamard coefficients are obtained using the sequency-ordered Hadamard transform at multiple scales. Directional features are extracted from local coefficients which correspond to different regions in the ultrasound images. An artificial neural network is trained based on the local directional Hadamard features for classification. RESULTS: The proposed method yields distinctive features for classification which successfully classified 1032 images out of 1090 for epidural steroid injection and 990 images out of 1052 for facet joint injection. In order to validate the proposed method, a leave-one-out cross-validation was performed. The average classification accuracy for leave-one-out validation was 94 % for epidural and 90 % for facet joint targets. Also, the feature extraction time for the proposed method was 20 ms for a native 2D ultrasound image. CONCLUSION: A real-time machine learning system based on the local directional Hadamard features extracted by the sequency-ordered Hadamard transform for detecting the laminae and facet joints in ultrasound images has been proposed. The system has the potential to assist the anesthesiologists in quickly finding the target plane for epidural steroid injections and facet joint injections.

Ultrasound-guided spinal injections: a feasibility study of a guidance system.

PURPOSE: Facet joint injections of analgesic agents are widely used to treat patients with lower back pain. The current standard-of-care for guiding the injection is fluoroscopy, which exposes the patient and physician to significant radiation. As an alternative, several ultrasound guidance systems have been proposed, but have not become the standard-of-care, mainly because of the difficulty in image interpretation by the anesthesiologist unfamiliar with the complex spinal sonography. METHODS: We introduce an ultrasound-based navigation system that allows for live 2D ultrasound images augmented with a patient-specific statistical model of the spine and relating this information to the position of the tracked injection needle. The model registration accuracy is assessed on ultrasound data obtained from nine subjects who had prior CT images as the gold standard for the statistical model. The clinical validity of our method is evaluated on four subjects (of an ongoing in vivo study) which underwent facet joint injections. RESULTS: The statistical model could be registered to the bone structures in the ultrasound volume with an average RMS accuracy of 2.3±0.4 mm. The shape of the individual vertebrae could be estimated from the US volume with an average RMS surface distance error of 1.5±0.4 mm. The facet joints could be identified by the statistical model with an average accuracy of 5.1 ± 1.5 mm. CONCLUSIONS: The results of this initial feasibility assessment suggest that this ultrasound-based system is capable of providing information sufficient to guide facet joint injections. Further clinical studies are warranted.

Panorama Ultrasound for Navigation and Guidance of Epidural Anesthesia.

Despite the common use of epidural anesthesia in obstetrics and surgery, the procedure can be challenging, especially for obese patients. We propose the use of an ultrasound guidance system employing a transducer-mounted camera to create 3-D panorama ultrasound volumes of the spine, thereby allowing identification of vertebrae and selection of puncture site, needle trajectory and depth of insertion. The camera achieves absolute position estimation of the transducer with respect to the patient using a specialized marker strip attached to the skin surface. The guidance system is validated first on a phantom against a commercial optical tracking system and then in vivo by comparing panorama images from human subjects against independent measurements by an experienced sonographer. The results for measuring depth to the epidural space, intervertebral spacing and registration of interspinous gaps to the skin prove the potential of the system for improving guidance of epidural anesthesia. The tracking and visualization are implemented in real time using the 3D Slicer software package.

Needle Trajectory and Tip Localization in Real-Time 3-D Ultrasound Using a Moving Stylus.

Described here is a novel approach to needle localization in 3-D ultrasound based on automatic detection of small changes in appearance on movement of the needle stylus. By stylus oscillation, including its full insertion into the cannula to the tip, the image processing techniques can localize the needle trajectory and the tip in the 3-D ultrasound volume. The 3-D needle localization task is reduced to two 2-D localizations using orthogonal projections. To evaluate our method, we tested it on three different ex vivo tissue types, and the preliminary results indicated that the method accuracy lies within clinical acceptance, with average error ranges of 0.9°-1.4° in needle trajectory and 0.8-1.1 mm in needle tip. Results also indicate that method performance is independent of the echogenicity of the tissue. This technique is a safe way of producing ultrasonic intensity changes and appears to introduce negligible risk to the patient, as the outer cannula remains fixed.

Towards real-time, tracker-less 3D ultrasound guidance for spine anaesthesia.

PURPOSE: Epidural needle insertions and facet joint injections play an important role in spine anaesthesia. The main challenge of safe needle insertion is the deep location of the target, resulting in a narrow and small insertion channel close to sensitive anatomy. Recent approaches utilizing ultrasound (US) as a low-cost and widely available guiding modality are promising but have yet to become routinely used in clinical practice due to the difficulty in interpreting US images, their limited view of the internal anatomy of the spine, and/or inclusion of cost-intensive tracking hardware which impacts the clinical workflow. METHODS: We propose a novel guidance system for spine anaesthesia. An efficient implementation allows us to continuously align and overlay a statistical model of the lumbar spine on the live 3D US stream without making use of additional tracking hardware. The system is evaluated in vivo on 12 volunteers. RESULTS: The in vivo study showed that the anatomical features of the epidural space and the facet joints could be continuously located, at a volume rate of 0.5 Hz, within an accuracy of 3 and 7 mm, respectively. CONCLUSIONS: A novel guidance system for spine anaesthesia has been presented which augments a live 3D US stream with detailed anatomical information of the spine. Results from an in vivo study indicate that the proposed system has potential for assisting the physician in quickly finding the target structure and planning a safe insertion trajectory in the spine.

Bone enhancement in ultrasound using local spectrum variations for guiding percutaneous scaphoid fracture fixation procedures.

PURPOSE: The scaphoid bone is the most frequently fractured bone in the wrist. When fracture fixation is indicated, a screw is inserted into the bone either in an open surgical procedure or percutaneously under fluoroscopic guidance. Due to the complex geometry of the wrist, fracture fixation is a challenging task. Fluoroscopic guidance exposes both the patient and the physician to ionizing radiation. Ultrasound-based guidance has been suggested as a real-time, radiation-free alternative. The main challenge of using ultrasound is the difficulty in interpreting the images due to the low contrast and noisy nature of the data. METHODS: We propose a bone enhancement method that exploits local spectrum features of the ultrasound image. These features are utilized to design a set of quadrature band-pass filters and subsequently estimate the local phase symmetry, where high symmetry is expected at the bone locations. We incorporate the shadow information below the bone surfaces to further enhance the bone responses. The extracted bone surfaces are then used to register a statistical wrist model to ultrasound volumes, allowing the localization and interpretation of the scaphoid bone in the volumes. RESULTS: Feasibility experiments were performed using phantom and in vivo data. For phantoms, we obtain a surface distance error 1.08 mm and an angular deviation from the main axis of the scaphoid bone smaller than 5°, which are better compared to previously presented approaches. CONCLUSION: The results are promising for further development of a surgical guidance system to enable accurate anatomy localization for guiding percutaneous scaphoid fracture fixations.