Craniofacial phenotyping with fetal MRI: a feasibility study of 3D visualisation, segmentation, surface-rendered and physical models.

This study explores the potential of 3D Slice-to-Volume Registration (SVR) motion-corrected fetal MRI for craniofacial assessment, traditionally used only for fetal brain analysis. In addition, we present the first description of an automated pipeline based on 3D Attention UNet trained for 3D fetal MRI craniofacial segmentation, followed by surface refinement. Results of 3D printing of selected models are also presented.Qualitative analysis of multiplanar volumes, based on the SVR output and surface segmentations outputs, were assessed with computer and printed models, using standardised protocols that we developed for evaluating image quality and visibility of diagnostic craniofacial features. A test set of 25, postnatally confirmed, Trisomy 21 fetal cases (24-36 weeks gestational age), revealed that 3D reconstructed T2 SVR images provided 66-100% visibility of relevant craniofacial and head structures in the SVR output, and 20-100% and 60-90% anatomical visibility was seen for the baseline and refined 3D computer surface model outputs respectively. Furthermore, 12 of 25 cases, 48%, of refined surface models demonstrated good or excellent overall quality with a further 9 cases, 36%, demonstrating moderate quality to include facial, scalp and external ears. Additional 3D printing of 12 physical real-size models (20-36 weeks gestational age) revealed good/excellent overall quality in all cases and distinguishable features between healthy control cases and cases with confirmed anomalies, with only minor manual adjustments required before 3D printing.Despite varying image quality and data heterogeneity, 3D T2w SVR reconstructions and models provided sufficient resolution for the subjective characterisation of subtle craniofacial features. We also contributed a publicly accessible online 3D T2w MRI atlas of the fetal head, validated for accurate representation of normal fetal anatomy.Future research will focus on quantitative analysis, optimizing the pipeline, and exploring diagnostic, counselling, and educational applications in fetal craniofacial assessment.

Trocar localisation for robot-assisted vitreoretinal surgery.

PURPOSE: Robot-assisted vitreoretinal surgery provides precise and consistent operations on the back of the eye. To perform this safely, knowledge of the surgical instrument's remote centre of motion (RCM) and the location of the insertion point into the eye (trocar) is required. This enables the robot to align both positions to pivot the instrument about the trocar, thus preventing any damaging lateral forces from being exerted. METHODS: Building on a system developed in previous work, this study presents a trocar localisation method that uses a micro-camera mounted on a vitreoretinal surgical forceps, to track two ArUco markers attached on either side of a trocar. The trocar position is the estimated midpoint between the markers. RESULTS: Experimental evaluation of the trocar localisation was conducted. Results showed an RMSE of 1.82 mm for the localisation of the markers and an RMSE of 1.24 mm for the trocar localisation. CONCLUSIONS: The proposed camera-based trocar localisation presents reasonable consistency and accuracy and shows improved results compared to other current methods. Optimum accuracy for this application would necessitate a 1.4 mm absolute error margin, which corresponds to the trocar's radius. The trocar localisation results are successfully found within this margin, yet the marker localisation would require further refinement to ensure consistency of localisation within the error margin. Further work will refine these position estimates and ensure the error stays consistently within this boundary.

Artificial intelligence in the autonomous navigation of endovascular interventions: a systematic review.

Background: Autonomous navigation of catheters and guidewires in endovascular interventional surgery can decrease operation times, improve decision-making during surgery, and reduce operator radiation exposure while increasing access to treatment. Objective: To determine from recent literature, through a systematic review, the impact, challenges, and opportunities artificial intelligence (AI) has for the autonomous navigation of catheters and guidewires for endovascular interventions. Methods: PubMed and IEEEXplore databases were searched to identify reports of AI applied to autonomous navigation methods in endovascular interventional surgery. Eligibility criteria included studies investigating the use of AI in enabling the autonomous navigation of catheters/guidewires in endovascular interventions. Following Preferred Reporting Items for Systematic Reviews and Meta-Analysis (PRISMA), articles were assessed using Quality Assessment of Diagnostic Accuracy Studies 2 (QUADAS-2). PROSPERO: CRD42023392259. Results: Four hundred and sixty-two studies fulfilled the search criteria, of which 14 studies were included for analysis. Reinforcement learning (RL) (9/14, 64%) and learning from expert demonstration (7/14, 50%) were used as data-driven models for autonomous navigation. These studies evaluated models on physical phantoms (10/14, 71%) and in-silico (4/14, 29%) models. Experiments within or around the blood vessels of the heart were reported by the majority of studies (10/14, 71%), while non-anatomical vessel platforms "idealized" for simple navigation were used in three studies (3/14, 21%), and the porcine liver venous system in one study. We observed that risk of bias and poor generalizability were present across studies. No procedures were performed on patients in any of the studies reviewed. Moreover, all studies were limited due to the lack of patient selection criteria, reference standards, and reproducibility, which resulted in a low level of evidence for clinical translation. Conclusion: Despite the potential benefits of AI applied to autonomous navigation of endovascular interventions, the field is in an experimental proof-of-concept stage, with a technology readiness level of 3. We highlight that reference standards with well-identified performance metrics are crucial to allow for comparisons of data-driven algorithms proposed in the years to come. Systematic review registration: identifier: CRD42023392259.

Comparative verification of control methodology for robotic interventional neuroradiology procedures.

PURPOSE: The use of robotics is emerging for performing interventional radiology procedures. Robots in interventional radiology are typically controlled using button presses and joystick movements. This study identified how different human-robot interfaces affect endovascular surgical performance using interventional radiology simulations. METHODS: Nine participants performed a navigation task on an interventional radiology simulator with three different human-computer interfaces. Using Simulation Open Framework Architecture we developed a simulation profile of vessels, catheters and guidewires. We designed and manufactured a bespoke haptic interventional radiology controller for robotic systems to control the simulation. Metrics including time taken for navigation, number of incorrect catheterisations, number of catheter and guidewire prolapses and forces applied to vessel walls were measured and used to characterise the interfaces. Finally, participants responded to a questionnaire to evaluate the perception of the controllers. RESULTS: Time taken for navigation, number of incorrect catheterisations and the number of catheter and guidewire prolapses, showed that the device-mimicking controller is better suited for controlling interventional neuroradiology procedures over joystick control approaches. Qualitative metrics also showed that interventional radiologists prefer a device-mimicking controller approach over a joystick approach. CONCLUSION: Of the four metrics used to compare and contrast the human-robot interfaces, three conclusively showed that a device-mimicking controller was better suited for controlling interventional neuroradiology robotics.

Three-Dimensional Printing Applications in Thoracic Surgery.

Advances in technology allowing the combination of medical imaging and three-dimensional printing have greatly benefitted thoracic surgery, allowing for the creation of complex prostheses. Surgical education is also a significant application of three-dimensional printing, especially for the development of simulation-based training models. Aiming to show how three-dimensional printing can benefit patients and clinicians in thoracic surgery, an optimized method to create patient-specific chest wall prosthesis using three-dimensional printing was developed and clinically validated. An artificial chest simulator for surgical training was also developed, replicating the human anatomy with high realism and accurately simulating a minimally invasive lobectomy.

Assessing the impact of 3D image segmentation workshops on anatomical education and image interpretation: A prospective pilot study.

Three-dimensional (3D) segmentation, a process involving digitally marking anatomical structures on cross-sectional images such as computed tomography (CT), and 3D printing (3DP) are being increasingly utilized in medical education. Exposure to this technology within medical schools and hospitals remains limited in the United Kingdom. M3dicube UK, a national medical student, and junior doctor-led 3DP interest group piloted a 3D image segmentation workshop to gauge the impact of incorporating 3D segmentation technology on anatomical education. The workshop, piloted with medical students and doctors within the United Kingdom between September 2020 and 2021, introduced participants to 3D segmentation and offered practical experience segmenting anatomical models. Thirty-three participants were recruited, with 33 pre-workshop and 24 post-workshop surveys completed. Two-tailed t-tests were used to compare mean scores. From pre- to post-workshop, increases were noted in participants' confidence in interpreting CT scans (2.36 to 3.13, p = 0.010) and interacting with 3D printing technology (2.15 to 3.33, p = 0.00053), perceived utility of creating 3D models to aid image interpretation (4.18 to 4.45, p = 0.0027), improved anatomical understanding (4.2 to 4.7, p = 0.0018), and utility in medical education (4.45 to 4.79, p = 0.077). This pilot study provides early evidence of the utility of exposing medical students and healthcare professionals in the United Kingdom to 3D segmentation as part of their anatomical education, with additional benefit in imaging interpretation ability.

SAPM: Self-Adaptive Parallel Manipulator with Pose and Force Adjustment for Robotic Ultrasonography.

Robotic ultrasonography potentially acts as an essential aid to medical diagnosis. To overcome the limitations in robotic ultrasonography, in this paper, we proposed a novel self-adaptive parallel manipulator (SAPM) that can automatically adjust the ultrasound (US) probe pose to adapt to various contours of scanned areas, provide approximate constant operating forces/torques, achieve mechanical measurement, and cushion undesired produced forces. A novel parallel adjustment mechanism is proposed to attain automatic pose adjustment with 3 degrees of freedom (DOFs). This mechanism enables the US probe to adapt to different scanned areas and to perform the scanning with approximate constant forces and torques. Besides, we present a mechanical measurement and safety protection method that can be integrated into the SAPM and used as operation status monitoring and early warning during scanning procedures by capturing operating forces and torques. Experiments were carried out to calibrate the measurement and buffer units and evaluate the performance of the SAPM. Experimental results show the ability of the SAPM to provide 3-DoFs motion and operating force/torque measurement and automatically adjust the US probe pose to capture US images of equally good quality compared to a manual sonographer scan. Moreover, it has characteristics similar to soft robots that could significantly improve operation safety, and could be extended to some other engineering or medical applications.

A Novel Ultrasound Robot with Force/torque Measurement and Control for Safe and Efficient Scanning.

Medical ultrasound is of increasing importance in medical diagnosis and intraoperative assistance and possesses great potential advantages when integrated with robotics. However, some concerns, including the operation efficiency, operation safety, image quality, and comfort of patients, remain after introducing robotics into medical ultrasound. In this paper, an ultrasound robot integrating a force control mechanism, force/torque measurement mechanism, and online adjustment method, is proposed to overcome the current limitations. The ultrasound robot can measure operating forces and torques, provide adjustable constant operating forces, eliminate great operating forces introduced by accidental operations, and achieve various scanning depths based on clinical requirements. The proposed ultrasound robot would potentially facilitate sonographers to find the targets quickly, improve operation safety and efficiency, and decrease patients' discomfort. Simulations and experiments were carried out to evaluate the performance of the ultrasound robot. Experimental results show that the proposed ultrasound robot is able to detect operating force in the z-direction and torques around the x- and y- directions with errors of 3.53% F.S., 6.68% F.S., and 6.11% F.S., respectively, maintain the constant operating force with errors of less than 0.57N, and achieve various scanning depths for target searching and imaging. This proposed ultrasound robot has good performance and would potentially be used in medical ultrasound.

Towards A Physics-based Model for Steerable Eversion Growing Robots.

Soft robots that grow through eversion/apical extension can effectively navigate fragile environments such as ducts and vessels inside the human body. This paper presents the physics-based model of a miniature steerable eversion growing robot. We demonstrate the robot's growing, steering, stiffening and interaction capabilities. The interaction between two robot-internal components is explored, i.e., a steerable catheter for robot tip orientation, and a growing sheath for robot elongation/retraction. The behavior of the growing robot under different inner pressures and external tip forces is investigated. Simulations are carried out within the SOFA framework. Extensive experimentation with a physical robot setup demonstrates agreement with the simulations. The comparison demonstrates a mean absolute error of 10 - 20% between simulation and experimental results for curvature values, including catheter-only experiments, sheath-only experiments and full system experiments. To our knowledge, this is the first work to explore physics-based modelling of a tendon-driven steerable eversion growing robot. While our work is motivated by early breast cancer detection through mammary duct inspection and uses our MAMMOBOT robot prototype, our approach is general and relevant to similar growing robots.

Aortic Stenosis: Haemodynamic Benchmark and Metric Reliability Study.

Aortic stenosis is a condition which is fatal if left untreated. Novel quantitative imaging techniques which better characterise transvalvular pressure drops are being developed but require refinement and validation. A customisable and cost-effective workbench valve phantom circuit capable of replicating valve mechanics and pathology was created. The reproducibility and relationship of differing haemodynamic metrics were assessed from ground truth pressure data alongside imaging compatibility. The phantom met the requirements to capture ground truth pressure data alongside ultrasound and magnetic resonance image compatibility. The reproducibility was successfully tested. The robustness of three different pressure drop metrics was assessed: whilst the peak and net pressure drops provide a robust assessment of the stenotic burden in our phantom, the peak-to-peak pressure drop is a metric that is confounded by non-valvular factors such as wave reflection. The peak-to-peak pressure drop is a metric that should be reconsidered in clinical practice. The left panel shows manufacture of low cost, functional valves. The central section demonstrates circuit layout, representative MRI and US images alongside gross valve morphologies. The right panel shows the different pressure drop metrics that were assessed for reproducibility.

Autostereoscopic 3D Augmented Reality Navigation for Laparoscopic Surgery: A Preliminary Assessment.

OBJECTIVE: Since Augmented Reality (AR) and 3D visualization have proven to be of great significance to the safety and effectiveness of surgical outcomes, will autostereoscopic 3D AR without glasses bring new opportunities for surgical navigation of laparoscopic surgery? METHODS: We used the CPD-based deformation registration algorithm and the proposed virtual view generation algorithm, realizing a deformable autostereoscopic 3D AR navigation framework for laparoscopic surgery. The depth perception and user experience of the 3D AR navigation were evaluated compared with the 2D AR display using an in-vitro porcine heart and offline clinical partial nephrectomy laparoscopic images. RESULTS: The autostereoscopic 3D AR allowed participants to have a more consistent spatial perception as well as a shorter measuring time than 2D AR with significant difference of p < 0.05. It can also improve relative depth perception for smaller distance separation of objects < = 3.28 mm. However, the autostereoscopic 3D AR perceived a worse experience compared to 2D AR in the user experience. CONCLUSION: Autostereoscopic 3D AR shows a more efficient and robust sense of spatial scale than 2D AR with better potential to shorten the operating time and improve surgical outcomes than 2D AR, but image blur and distortion are issues that must be solved to improve the perception effect. High precise registration and high fluency visualization requirements could make autostereoscopic 3D AR navigation for soft tissue more challenging. SIGNIFICANCE: Our work lays a theoretical foundation for the further development of laparoscopic surgical navigation.

Creation of personalised rib prostheses using a statistical shape model and 3D printing: Case report.

Management of chest wall defects after oncologic resection can be challenging, depending on the size and location of the defect, as well as the method of reconstruction. This report presents the first clinical case where patient-specific rib prostheses were created using a computer program and statistical shape model of human ribs. A 64-year-old male was diagnosed with non-small-cell lung cancer originating in the right upper lobe and invading the lateral aspect of the 3rd, 4th, and 5th ribs. Prior to surgical resection, a statistical shape model of human ribs was created and used to synthesise rib models in the software MATLAB (MathWorks, Natick, MA, USA). The patient's age, weight, height, and sex, as well as the number and side of the ribs of interest, were the inputs to the program. Based on these data, the program generated digital models of the right 3rd, 4th, and 5th ribs. These models were 3D printed, and a silicone mould was created from them. The patient subsequently underwent right upper lobectomy with en bloc resection of the involved chest wall. During the operation, the silicone mould was used to produce rigid prostheses consisting of methyl methacrylate and two layers of polypropylene mesh in a "sandwich" fashion. The prosthetic patch was then implanted to cover the chest wall defect. Thirty days after the surgery, the patient has returned to his pre-disease performance and physical activities. The statistical shape model and 3D printing is an optimised 3D modelling method that can provide clinicians with a time-efficient technique to create personalised rib prostheses, without any expertise or prior software knowledge.

Development and Evaluation of a Rib Statistical Shape Model for Thoracic Surgery.

Patients with advanced cancer undergoing chest wall resection may require reconstruction. Currently, rib prostheses are created by segmenting computed tomography images, which is time-consuming and labour intensive. The aim was to optimise the production of digital rib models based on a patient's age, weight, height and gender. A statistical shape model of human ribs was created and used to synthetise rib models, which were compared to the ones produced by segmentation and mirroring. The segmentation took 11.56±1.60 min compared to 0.027 ±0.009 min using the new technique. The average mesh error between the mirroring technique and segmentation was 0.58±0.25 mm (right ribs), and 0.87±0.18 mm (left ribs), compared to 1.37±0.66 mm ( ) and 1.68 ±0.77 mm ( ), respectively, for the new technique. The new technique is promising for the efficiency and ease-of-use in the clinical environment. Clinical Relevance- This is an optimised 3D modelling method providing clinicians with a time-efficient technique to create patient-specific rib prostheses, without any expertise or software knowledge required.

The Medical Segmentation Decathlon.

International challenges have become the de facto standard for comparative assessment of image analysis algorithms. Although segmentation is the most widely investigated medical image processing task, the various challenges have been organized to focus only on specific clinical tasks. We organized the Medical Segmentation Decathlon (MSD)-a biomedical image analysis challenge, in which algorithms compete in a multitude of both tasks and modalities to investigate the hypothesis that a method capable of performing well on multiple tasks will generalize well to a previously unseen task and potentially outperform a custom-designed solution. MSD results confirmed this hypothesis, moreover, MSD winner continued generalizing well to a wide range of other clinical problems for the next two years. Three main conclusions can be drawn from this study: (1) state-of-the-art image segmentation algorithms generalize well when retrained on unseen tasks; (2) consistent algorithmic performance across multiple tasks is a strong surrogate of algorithmic generalizability; (3) the training of accurate AI segmentation models is now commoditized to scientists that are not versed in AI model training.

A Literature Review on the Use of Artificial Intelligence for the Diagnosis of COVID-19 on CT and Chest X-ray.

A COVID-19 diagnosis is primarily determined by RT-PCR or rapid lateral-flow testing, although chest imaging has been shown to detect manifestations of the virus. This article reviews the role of imaging (CT and X-ray), in the diagnosis of COVID-19, focusing on the published studies that have applied artificial intelligence with the purpose of detecting COVID-19 or reaching a differential diagnosis between various respiratory infections. In this study, ArXiv, MedRxiv, PubMed, and Google Scholar were searched for studies using the criteria terms 'deep learning', 'artificial intelligence', 'medical imaging', 'COVID-19' and 'SARS-CoV-2'. The identified studies were assessed using a modified version of the Transparent Reporting of a Multivariable Prediction Model for Individual Prognosis or Diagnosis (TRIPOD). Twenty studies fulfilled the inclusion criteria for this review. Out of those selected, 11 papers evaluated the use of artificial intelligence (AI) for chest X-ray and 12 for CT. The size of datasets ranged from 239 to 19,250 images, with sensitivities, specificities and AUCs ranging from 0.789-1.00, 0.843-1.00 and 0.850-1.00. While AI demonstrates excellent diagnostic potential, broader application of this method is hindered by the lack of relevant comparators in studies, sufficiently sized datasets, and independent testing.

Regional left ventricle scar detection from routine cardiac computed tomography angiograms using latent space classification.

OBJECTIVES: The aim of this study is to develop an automated method of regional scar detection on clinically standard computed tomography angiography (CTA) using encoder-decoder networks with latent space classification. BACKGROUND: Localising scar in cardiac patients can assist in diagnosis and guide interventions. Magnetic resonance imaging (MRI) with late gadolinium enhancement (LGE) is the clinical gold standard for scar imaging; however, it is commonly contraindicated. CTA is an alternative imaging modality that has fewer contraindications and is widely used as a first-line imaging modality of cardiac applications. METHODS: A dataset of 79 patients with both clinically indicated MRI LGE and subsequent CTA scans was used to train and validate networks to classify septal and lateral scar presence within short axis left ventricle slices. Two designs of encoder-decoder networks were compared, with one encoding anatomical shape in the latent space. Ground truth was established by segmenting scar in MRI LGE and registering this to the CTA images. Short axis slices were taken from the CTA, which served as the input to the networks. An independent external set of 22 cases (27% the size of the cross-validation set) was used to test the best network. RESULTS: A network classifying lateral scar only achieved an area under ROC curve of 0.75, with a sensitivity of 0.79 and specificity of 0.62 on the independent test set. The results of septal scar classification were poor (AUC < 0.6) for all networks. This was likely due to a high class imbalance. The highest AUC network encoded anatomical shape information in the network latent space, indicating it was important for the successful classification of lateral scar. CONCLUSIONS: Automatic lateral wall scar detection can be performed from a routine cardiac CTA with reasonable accuracy, without any scar specific imaging. This requires only a single acquisition in the cardiac cycle. In a clinical setting, this could be useful for pre-procedure planning, especially where MRI is contraindicated. Further work with more septal scar present is warranted to improve the usefulness of this approach.

Edge-enhancement densenet for X-ray fluoroscopy image denoising in cardiac electrophysiology procedures.

PURPOSE: Reducing X-ray dose increases safety in cardiac electrophysiology procedures but also increases image noise and artifacts which may affect the discernibility of devices and anatomical cues. Previous denoising methods based on convolutional neural networks (CNNs) have shown improvements in the quality of low-dose X-ray fluoroscopy images but may compromise clinically important details required by cardiologists. METHODS: In order to obtain denoised X-ray fluoroscopy images whilst preserving details, we propose a novel deep-learning-based denoising framework, namely edge-enhancement densenet (EEDN), in which an attention-awareness edge-enhancement module is designed to increase edge sharpness. In this framework, a CNN-based denoiser is first used to generate an initial denoising result. Contours representing edge information are then extracted using an attention block and a group of interacted ultra-dense blocks for edge feature representation. Finally, the initial denoising result and enhanced edges are combined to generate the final X-ray image. The proposed denoising framework was tested on a total of 3262 clinical images taken from 100 low-dose X-ray sequences acquired from 20 patients. The performance was assessed by pairwise voting from five cardiologists as well as quantitative indicators. Furthermore, we evaluated our technique's effect on catheter detection using 416 images containing coronary sinus catheters in order to examine its influence as a pre-processing tool. RESULTS: The average signal-to-noise ratio of X-ray images denoised with EEDN was 24.5, which was 2.2 times higher than that of the original images. The accuracy of catheter detection from EEDN denoised sequences showed no significant difference compared with their original counterparts. Moreover, EEDN received the highest average votes in our clinician assessment when compared to our existing technique and the original images. CONCLUSION: The proposed deep learning-based framework shows promising capability for denoising interventional X-ray fluoroscopy images. The results from the catheter detection show that the network does not affect the results of such an algorithm when used as a pre-processing step. The extensive qualitative and quantitative evaluations suggest that the network may be of benefit to reduce radiation dose when applied in real time in the catheter laboratory.

Robotics in neurointerventional surgery: a systematic review of the literature.

BACKGROUND: Robotically performed neurointerventional surgery has the potential to reduce occupational hazards to staff, perform intervention with greater precision, and could be a viable solution for teleoperated neurointerventional procedures. OBJECTIVE: To determine the indication, robotic systems used, efficacy, safety, and the degree of manual assistance required for robotically performed neurointervention. METHODS: We conducted a systematic review of the literature up to, and including, articles published on April 12, 2021. Medline, PubMed, Embase, and Cochrane register databases were searched using medical subject heading terms to identify reports of robotically performed neurointervention, including diagnostic cerebral angiography and carotid artery intervention. RESULTS: A total of 8 articles treating 81 patients were included. Only one case report used a robotic system for intracranial intervention, the remaining indications being cerebral angiography and carotid artery intervention. Only one study performed a comparison of robotic and manual procedures. Across all studies, the technical success rate was 96% and the clinical success rate was 100%. All cases required a degree of manual assistance. No studies had clearly defined patient selection criteria, reference standards, or index tests, preventing meaningful statistical analysis. CONCLUSIONS: Given the clinical success, it is plausible that robotically performed neurointerventional procedures will eventually benefit patients and reduce occupational hazards for staff; however, there is no high-level efficacy and safety evidence to support this assertion. Limitations of current robotic systems and the challenges that must be overcome to realize the potential for remote teleoperated neurointervention require further investigation.

A Tensor-Based Catheter and Wire Detection and Tracking Framework and Its Clinical Applications.

OBJECTIVE: Catheters and wires are used extensively in cardiac catheterization procedures. Detecting their positions in fluoroscopic X-ray images is important for several clinical applications such as motion compensation and co-registration between 2D and 3D imaging modalities. Detecting the complete length of a catheter or wire object as well as electrode positions on the catheter or wire is a challenging task. METHOD: In this paper, an automatic detection framework for catheters and wires is developed. It is based on path reconstruction from image tensors, which are eigen direction vectors generated from a multiscale vessel enhancement filter. A catheter or a wire object is detected as the smooth path along those eigen direction vectors. Furthermore, a real-time tracking method based on a template generated from the detection method was developed. RESULTS: The proposed framework was tested on a total of 7,754 X-ray images. Detection errors for catheters and guidewires are 0.56 ± 0.28 mm and 0.68 ± 0.33 mm, respectively. The proposed framework was also tested and validated in two clinical applications. For motion compensation using catheter tracking, the 2D target registration errors (TRE) of 1.8 mm ± 0.9 mm was achieved. For co-registration between 2D X-ray images and 3D models from MRI images, a TRE of 2.3 ± 0.9 mm was achieved. CONCLUSION: A novel and fully automatic detection framework and its clinical applications are developed. SIGNIFICANCE: The proposed framework can be applied to improve the accuracy of image-guidance systems for cardiac catheterization procedures.

Chest Wall Reconstruction Using 3-Dimensional Printing: Functional and Mechanical Results.

BACKGROUND: Tumors involving the chest wall may require extensive resection and reconstruction. This study aims to evaluate functional, cosmetic results, and quality of life (QoL) in patients who had a reconstruction based on patient-specific 3-dimensional (3D) printing. METHODS: The patient-specific chest wall prosthesis was created for 10 patients. The anatomical models were 3D printed and used to produce a silicone mold that was filled with methyl methacrylate to create the customized prosthesis. Evaluation of the reconstruction was completed with a QoL assessment and postoperative tracking of patients' chest motion, using infrared markers. The distance between plot points representing markers on the operated and contralateral sides was measured to assess symmetrical motion. RESULTS: Twenty-three consecutive patients were enrolled, with the median age of 64 years. Thirteen patients underwent a nonrigid reconstruction, and 10 had a patient-specific rigid reconstruction with methyl methacrylate. The median number of ribs resected was 3. No postoperative complications or morbidity related to the prostheses were reported. The median hospital stay in the nonrigid reconstruction group was 8.5 days compared with 7.5 days (p = .167) in the rigid reconstruction group. Postoperatively, most patients had low levels of symptoms, with 82% experiencing chest pain and 53% experiencing dyspnea. Rigid reconstruction patients demonstrated more symmetrical breathing motion compared with nonrigid reconstruction patients. The mean distances were 2.32 ± 2.18 and 7.28 ± 5.87 (P < .00001), respectively. CONCLUSIONS: This study shows that a 3D patient-specific prosthesis is feasible and safe, suggesting a possible trend toward improved breathing mechanics, QoL, and cosmetic results.