Euclidean distances of laryngopharyngeal structures obtained from CT data for preclinical development of laryngoscopic devices.

PURPOSE: This study aims to determine Euclidean distances between landmark structures in the larynx and pharynx to optimize endoscope shaft designs with regard to gentle and patient-oriented handling. METHODS: Four Euclidean distances between landmarks in the larynx and pharynx were analyzed based on CT data of 66 patients. Distance (1): labium inferius oris-posterior pharyngeal wall at the cervical vertebra C1 (atlas), anterior edge of the tuberculum anterius atlantis. Distance (2): posterior pharyngeal wall adjacent to C1-entrance of pyriform sinus. Distance (3): inferior edge of the uvula-superior edge of the epiglottis. Distance (4): base of the vallecula-posterior pharyngeal wall. The minimum angular field of view α required to observe the glottis with a rigid transoral laryngoscope was derived trigonometrically from distances (2) and (4). RESULTS: Average Euclidean distances measured: Distance (1): 90.7 mm ± 6.9 mm in men and 86.9 mm ± 5.9 mm in women. (2): 73.7 mm ± 13.4 mm and 56.2 mm ± 7.6 mm. (3): 25.2 mm ± 8.6 mm and 18.5 mm ± 6.8 mm. (4): 20.8 mm ± 4.6 mm and 16.5 mm ± 3.4 mm. α: 16.0° ± 3.9° and 16.6 ± 4.3°. CONCLUSIONS: As expected, statistically significant sex-related differences could be observed for distances (1)-(4). The results indicate that the length of transoral laryngoscopes should not be below 110 mm and that a minimum angular field of view of α = 17° is required to fully observe the laryngeal inlet.

Experimental Visualization of Labyrinthine Structure with Optical Coherence Tomography.

INTRODUCTION: Visualization of inner ear structures is a valuable strategy for researchers and clinicians working on hearing pathologies. Optical coherence tomography (OCT) is a high-resolution imaging technology which may be used for the visualization of tissues. In this experimental study we aimed to evaluate inner ear anatomy in well-prepared human labyrinthine bones. MATERIALS AND METHODS: Three fresh human explanted temporal bones were trimmed, chemically decalcified with ethylenediaminetetraacetic acid (EDTA), and mechanically drilled under visual control using OCT in order to reveal the remaining bone shell. After confirming decalcification with a computed tomography (CT) scan, the samples were scanned with OCT in different views. The oval window, round window, and remnant part of internal auditory canal and cochlear turn were investigated. RESULTS: Preparation of the labyrinthine bone and visualization under OCT guidance was successfully performed to a remaining bony layer of 300µm thickness. OCT images of the specimen allowed a detailed view of the intra-cochlear anatomy. CONCLUSION: OCT is applicable in the well-prepared human inner ear and allows visualization of soft tissue parts.

Soft tissue motion tracking with application to tablet-based incision planning in laser surgery.

PURPOSE: Recent research has revealed that incision planning in laser surgery deploying stylus and tablet outperforms micromanipulator control. However, vision-based adaption to dynamic surgical scenes has not been addressed so far. In this study, scene motion compensation for tablet-based planning by means of tissue deformation tracking is discussed. METHODS: A stereo-based method for motion tracking with piecewise affine deformation modeling is presented. Proposed parametrization relies on the epipolar constraint to enforce left-right consistency in the energy minimization problem. Furthermore, the method implements illumination-invariant tracking and appearance-based occlusion detection. Performance is assessed on laparoscopic and laryngeal in vivo data. In particular, tracking accuracy is measured under various conditions such as occlusions and simulated laser cuttings. Experimental validation is extended to a user study conducted on a tablet-based interface that integrates the tracking for image stabilization. RESULTS: Tracking accuracy measurement reveals a root-mean-square error of 2.45 mm for the laparoscopic and 0.41 mm for the laryngeal dataset. Results successfully demonstrate stereoscopic tracking under changes in illumination, translation, rotation and scale. In particular, proposed occlusion detection scheme can increase robustness against tracking failure. Moreover, assessed user performance indicates significantly increased path tracing accuracy and usability if proposed tracking is deployed to stabilize the view during free-hand path definition. CONCLUSION: The presented algorithm successfully extends piecewise affine deformation tracking to stereo vision taking the epipolar constraint into account. Improved surgical performance as demonstrated for laser incision planning highlights the potential of presented method regarding further applications in computer-assisted surgery.

Freely-available, true-color volume rendering software and cryohistology data sets for virtual exploration of the temporal bone anatomy.

BACKGROUND: Cadaveric dissection of temporal bone anatomy is not always possible or feasible in certain educational environments. Volume rendering using CT and/or MRI helps understanding spatial relationships, but they suffer in nonrealistic depictions especially regarding color of anatomical structures. Freely available, nonstained histological data sets and software which are able to render such data sets in realistic color could overcome this limitation and be a very effective teaching tool. METHODS: With recent availability of specialized public-domain software, volume rendering of true-color, histological data sets is now possible. We present both feasibility as well as step-by-step instructions to allow processing of publicly available data sets (Visible Female Human and Visible Ear) into easily navigable 3-dimensional models using free software. RESULTS: Example renderings are shown to demonstrate the utility of these free methods in virtual exploration of the complex anatomy of the temporal bone. After exploring the data sets, the Visible Ear appears more natural than the Visible Human. CONCLUSION: We provide directions for an easy-to-use, open-source software in conjunction with freely available histological data sets. This work facilitates self-education of spatial relationships of anatomical structures inside the human temporal bone as well as it allows exploration of surgical approaches prior to cadaveric testing and/or clinical implementation.

Planning and simulation of microsurgical laser bone ablation.

PURPOSE: Laser ablation of hard tissue is not completely understood until now and not modeled for computer-assisted microsurgery. A precise planning and simulation is an essential step toward the usage of microsurgical laser bone ablation in the operating room. METHODS: Planning the volume for laser bone ablation is based on geometrical definitions. Shape and volume of the removed bone by single laser pulses were measured with a confocal microscope for modeling the microsurgical ablation. To remove the planned volume and to achieve smooth surfaces, a simulation of the laser pulse distribution is developed. RESULTS: The confocal measurements show a clear dependency from laser energy and resulting depth. Two-dimensional Gaussian functions are fitting in these craters. Exemplarily three ablation layers were planned, simulated, executed and verified. CONCLUSIONS: To model laser bone ablation in microsurgery the volume and shape of each laser pulse should be known and considered in the process of ablation planning and simulation.

Including parameterization of the discrete ablation process into a planning and simulation environment for robot-assisted laser osteotomy.

Material processing using laser became a widely used method especially in the scope of industrial automation. The systems are mostly based on a precise model of the laser process and the according parameterization. Beside the industrial use the laser as an instrument to treat human tissue has become an integral part in medicine as well. Human tissue as an inhomogeneous material to process, poses the question of how to determine a model, which reflects the interaction processes with a specific laser.Recently it could be shown that the pulsed CO2 laser is suitable to ablate bony and cartilage tissue. Until now this thermo-mechanical bone ablation is not characterized as a discrete process. In order to plan and simulate the ablation process in the correct level of detail, the parameterization is indispensable. We developed a planning and simulation environment, determined parameters by confocal measurements of bony specimen and use these results to transfer planned cutting trajectories into a pulse sequence and corresponding robot locations.

Visualization of surgical 3D information with projector-based augmented reality.

For visualizing surgical information (operation plans) directly onto the patient a projector-based augmented reality system is used for cranio-maxillofacial surgery. A prototype is introduced which has been evaluated in the first clinical cases. In a new setup with a second video projector it is now possible to give additionally 3D information for localization and orientation (6DoF). With this method the repositioning of a bone segment is intuitive and exact applicable.