Image-Guided Intervention

by Peters, Terry; Cleary, Kevin

• ISBN13: 9780387738567
• ISBN10: 0387738568
• Edition: DVD
• Format: Hardcover
• Copyright: 2008-05-23
• Publisher: Springer Verlag

Summary

Image-Guided Intervention: Technology and Applications provides a comprehensive overview of the current technological advances in image-guided surgery. Edited and authored by leading researchers in the field, this volume blends the expertise of both engineers and physicians, offering the latest findings amidst the growing demand for minimally-invasive procedures. Complete with detailed color images, readers will find a description of existing tools such as localizers/tracking systems, augmented reality, rigid body registration and high frequency ultrasound used in various applications, including cranial, orthopedic, prostrate and endovascular interventions. Image-Guided Intervention: Technology and Applications is a useful reference for engineers, physicists, computer scientists and physicians working with image guidance technologies.

Author Biography

Terry M Peters has worked in Image-guided Surgery for over 20 years, first at the Montreal Neurological Institute, and currently at the Robarts Research Institute, where he continues his work with image-guided surgery applied to the brain and the heart. At the Robarts he is the Director of the Image-guided Surgery and Therapy research program.Kevin Cleary is a Research Associate Professor for the Imaging Sciences and Information Systems (ISIS) Center in the Department of Radiology at Georgetown University and the Deputy Director of the Imaging Sciences and Information Systems Center in the Department of Radiology. He is an expert in the field of medical robotics, specializing in the development of technology for image-guided and minimally invasive medical procedures.

Table of Contents

Foreword	p. vii
Preface	p. ix
Contributors	p. xxiii
List of Abbreviations	p. xxix
Overview and History of Image-Guided Interventions	p. 1
Introduction	p. 1
Stereotaxy	p. 2
The Arrival of Computed Tomography	p. 6
Computer Systems Come of Age	p. 7
Image-Guided Surgery	p. 8
Three-Dimensional Localization	p. 9
Handheld Localizers	p. 10
Registration Techniques	p. 12
Display	p. 14
The Next Generation of Systems	p. 15
References	p. 16
Tracking Devices	p. 23
Introduction	p. 23
Tracking: A Brief History	p. 24
Principles of Optical Tracking Systems	p. 27
Principles of Electromagnetic Tracking	p. 28
Other Technologies	p. 31
Data Transmission and Representation	p. 34
Accuracy	p. 35
Conclusions	p. 35
References	p. 36
Visualization in Image-Guided Interventions	p. 45
Introduction	p. 45
Coordinate Systems	p. 46
Preoperative Images	p. 47
Computed Tomography	p. 48
Magnetic Resonance Imaging	p. 49
Nuclear Image Scans and Other Functional Data	p. 50
Intraoperative Data	p. 51
X-Ray Fluoroscopy and Rotational Angiography	p. 51
Intraoperative Ultrasound	p. 52
Intraoperative CT and Intraoperative MR	p. 53
Integration	p. 53
Segmentation and Surface Extraction	p. 53
Registration	p. 54
Visualization	p. 55
2D - Multi-Planar and Oblique	p. 55
3D Surface Rendering and 3D Volume Rendering	p. 57
Fusion, Parametric Mapping, and Multi-Object Rendering	p. 59
Systems for Visualization	p. 61
Low-Level Interfacing to Hardware	p. 61
Pipeline-Based APIs	p. 62
Scene-Graph APIs	p. 62
Software Rendering APIs	p. 63
Numerical Computing with Visualization	p. 65
Real-Time Feedback and Hardware Interfacing	p. 65
Receiving Input	p. 65
Presenting Output	p. 67
Applications	p. 67
Epilepsy Foci Removal	p. 67
Left Atrium Cardiac Ablation	p. 68
Permanent Prostate Brachytherapy	p. 70
Virtual and Enhanced Colonoscopy	p. 72
Surgical Separation of Conjoined Twins	p. 73
Summary	p. 75
References	p. 76
Augmented Reality	p. 81
Introduction	p. 81
What Is Augmented Reality?	p. 81
Why AR for Interventional Guidance?	p. 83
Technology Building Blocks and System Options	p. 84
System Examples and Applications	p. 85
Optical Microscope Systems	p. 85
Video AR Systems	p. 88
Large Screens	p. 91
Tomographic Overlays	p. 97
Video Enodoscope Systems	p. 102
Other Methods: Direct Projection	p. 104
System Features Overview	p. 104
Microscope Systems	p. 104
Video AR HMD Systems	p. 105
Semitransparent Screens	p. 105
Tomographic Displays	p. 106
Optical See-Through HMD Systems	p. 106
Technical Challenges and Fundamental Comparisons	p. 107
Right Place: Calibration	p. 107
Right Time: Synchronization	p. 107
Right Way: Visualization and Perception	p. 108
Concluding Remarks and Outlook	p. 110
References	p. 111
Software	p. 121
Introduction	p. 121
The Need for Software	p. 121
Software as a Risk Factor	p. 122
Quality Control	p. 123
The Cost of Software Maintenance	p. 123
Open Source Versus Closed Source	p. 124
Software Development Process	p. 127
FDA Guidelines	p. 128
Requirements	p. 130
Validation and Verification	p. 131
Testing	p. 131
Bug Tracking	p. 138
Coding Style	p. 139
Documentation	p. 140
Refactoring	p. 141
Backward Compatibility Versus Evolution	p. 142
Design	p. 143
Safety by Design	p. 143
Architecture	p. 144
User Interaction	p. 145
Keeping It Simple	p. 146
Risk Analysis	p. 147
State Machines	p. 148
Devices	p. 154
Realism Versus Informative Display	p. 156
References	p. 156
Rigid Registration	p. 159
Introduction	p. 159
3D/3D Registration	p. 160
Geometry-Based Methods	p. 161
Intensity-Based Methods	p. 167
2D/3D Registration	p. 172
Geometry-Based Methods	p. 175
Intensity-Based Methods	p. 178
Gradient-Based Methods	p. 181
Registration Evaluation	p. 183
Conclusions	p. 186
References	p. 187
Nonrigid Registration	p. 193
Introduction	p. 193
NonRigid Registration Technologies Potentially Applicable to Image-Guided Interventions	p. 196
Feature-Based Algorithms	p. 197
Intensity-Based Algorithms	p. 198
Optimization	p. 199
Nonrigid 2D-3D Registration	p. 199
Incorporation of Biomechanical Models	p. 200
Statistical Shape Models	p. 201
Real-Time Requirements	p. 201
Validation	p. 202
Applications of Image-Guided Applications to Soft Deforming Tissue	p. 203
Locally Rigid Transformations	p. 203
Biomechanical Models	p. 203
Motion Models	p. 206
Application of Statistical Shape Models	p. 211
Conclusion	p. 213
References	p. 214
Model-Based Image Segmentation for Image-Guided Interventions	p. 219
Introduction	p. 219
Low-Level Image Segmentation	p. 220
Model-Based Image Segmentation	p. 222
Introduction	p. 222
Classical Parametric Deformable Models or Snakes	p. 223
Level Set Segmentation	p. 224
Statistical Shape Models	p. 228
Applications	p. 232
Segmentation in Image-Guided Interventions	p. 232
Future Directions	p. 234
References	p. 235
Imaging Modalities	p. 241
Introduction	p. 241
X-Ray Fluoroscopy and CT	p. 242
Basic Physics Concepts	p. 242
Fluoroscopy	p. 244
Computed Tomography	p. 247
Current Research and Development Areas	p. 250
Nuclear Medicine	p. 251
Basic Physics Concepts	p. 251
Positron Emission Tomography	p. 252
Single Photon Emission Tomography	p. 254
Patient Access and Work Environment	p. 256
Current Research and Development Areas	p. 256
Magnetic Resonance Imaging	p. 257
Basic Physics Concepts	p. 257
System Components	p. 258
Image Characteristics	p. 259
Patient Access and Work Environment	p. 259
Current Research and Development Areas	p. 260
Ultrasound	p. 262
Basic Physics Concepts	p. 262
System Components	p. 263
Image Characteristics	p. 264
Patient Access and Work Environment	p. 265
Current Research and Development Areas	p. 265
Summary and Discussion	p. 268
References	p. 270
MRI-Guided FUS and its Clinical Applications	p. 275
Introduction	p. 275
MRgFUS Technology	p. 276
Acoustic Components	p. 279
Closed-Loop Control	p. 281
Planning and Execution	p. 284
The Commercial Therapy Delivery System	p. 285
Clinical Applications	p. 289
Commercial Brain Treatment System: ExAblate	p. 291
Targeted Drug Delivery and Gene Therapy	p. 292
BBB Disruption	p. 293
Conclusion	p. 297
References	p. 297
Neurosurgical Applications	p. 309
Introduction	p. 309
Stereotactic Neurosurgery	p. 309
Atlases	p. 311
Intraoperative Electrophysiological Confirmation	p. 312
Electrophysiological Databases	p. 313
Standard Brain Space	p. 314
Image Registration	p. 315
Surgical Targets	p. 316
Standardizing Electrophysiological Data in Patient Native MRI-Space	p. 317
Application to Deep-Brain Neurosurgery	p. 318
Representative Database Searches	p. 318
Target Prediction Using EP Atlases	p. 321
Integration of the Neurosurgical Visualization and Navigation System	p. 321
Digitized Brain Atlas and Segmented Deep-Brain Nuclei	p. 322
Final Surgical Target Locations	p. 322
Surgical Instrument Representation	p. 322
Visualization and Navigation Platform	p. 322
System Validation	p. 324
Conventional Planning Approach	p. 324
System-Based Planning Procedure	p. 324
Discussion	p. 328
References	p. 329
Computer-Assisted Orthopedic Surgery	p. 333
Introduction	p. 333
Orthopedic Practice	p. 336
Clinical Practice of Orthopedics	p. 336
CAOS Procedures	p. 337
Review of Quantitative Technologies Used in Orthopedics	p. 338
Evaluation	p. 339
Improved Technical and Functional Outcomes	p. 339
Reduced Operative Times	p. 342
Reduced Costs	p. 342
Other Issues Affecting Adoption	p. 343
Prospective Randomized Clinical Trials	p. 344
Practice Areas	p. 346
Hip Replacement	p. 346
Knee Replacement	p. 357
Pedicle Screw Insertion	p. 366
Fracture Repair	p. 370
Summary and Future Trends	p. 375
References	p. 376
Thoracoabdominal Interventions	p. 387
Introduction	p. 387
Lung: Bronchoscopic Biopsy	p. 389
Beginings of Guided Bronchoscopy: Biosense	p. 389
Clinical Evolution: Super Dimension	p. 392
Aurora-Based System	p. 393
Liver	p. 393
Transjugular Intrahepatic Shunt Placement (TIPS)	p. 394
Biopsy and Thermoablation	p. 396
Image-Guided Liver Surgery	p. 399
Kidney: Ultrasound-Guided Nephrostomy	p. 401
Laparoscopic Guidance	p. 403
Phantom Investigations	p. 404
Swine Studies	p. 404
Summary and Research Issues	p. 405
References	p. 406
Real-Time Interactive MRI for Guiding Cardiovascular Surgical Interventions	p. 409
Introduction	p. 409
Interventional MR Imaging System	p. 411
Magnet Configuration	p. 411
Interventional Imaging Platform	p. 411
Pulse Sequences and Image Reconstruction	p. 412
Interactive Imaging Features	p. 413
Invasive Devices and Experiments	p. 416
Room Setup	p. 417
Initial Preclinical Procedures	p. 418
Discussion	p. 422
References	p. 424
Three-Dimensional Ultrasound Guidance and Robot Assistance for Prostate Brachytherapy	p. 429
Introduction	p. 429
Prostate Brachytherapy	p. 431
Limitations of Current Brachytherapy	p. 433
Potential Solutions	p. 433
System Description	p. 434
Hardware Components	p. 434
System Calibration	p. 436
Software Tools	p. 438
System Evaluation	p. 445
Evaluation of Calibration	p. 445
Needle Positioning and Orientation Accuracy by Robot	p. 449
Needle Targeting Accuracy	p. 450
Evaluation of the Prostate Segmentation Algorithm	p. 452
Evaluation of the Needle Segmentation Algorithm	p. 454
Evaluation of the Seed Segmentation Algorithm	p. 455
Discussion	p. 457
References	p. 458
Radiosurgery	p. 461
Introduction	p. 461
Definition of Radiosurgery	p. 461
Review of Body Sites Treated with Radiosurgery	p. 462
What is Image-Guided Radiosurgery (IGRT)?	p. 463
Gamma Knife®	p. 464
History	p. 468
Current Status	p. 471
Developments	p. 475
Conventional Linac-Based Radiosurgery Systems	p. 477
Frame-Based Systems	p. 478
Image-Guided Setup Systems	p. 480
Image-Guided Treatment with Respiratory Motion	p. 481
Image-Guided Robotic Radiosurgery	p. 481
History and Description of the Cyber Knife	p. 481
Frameless Tracking Technology for Cranial Surgery, Spine, and Body	p. 482
Treatment Planning	p. 490
Treatment Delivery	p. 491
Four-Dimensional Real-Time Adaptive Respiratory Tracking (Synchrony) Technology	p. 491
Future of Image-Guided Radiosurgery	p. 494
Future Tracking Technologies	p. 494
Treatment Planning Algorithms	p. 497
Summary	p. 497
References	p. 497
Radiation Oncology	p. 501
Introduction	p. 501
Oncological Targets and the Nature of Disease Management	p. 502
Imaging and Feedback in Intervention	p. 503
Formalisms for Execution of Therapy	p. 503
Dimensions of an Image-Guided Solution for Radiation Therapy	p. 504
Image Guidance Technologies in Radiation Oncology	p. 506
Image-Guided Applications in Radiation Oncology	p. 514
Prostate Cancer: Off-Line and Online Models	p. 514
Stereotactic Body Radiation Therapy (SBRT) for Cancer of the Lung	p. 515
Accelerated Partial Breast Irradiation	p. 517
Image Guidance Approaches that Bridge Therapeutic Modalities	p. 517
The Optimal Intervention	p. 518
Opportunities in Image-Guided Therapy: New Information Driving Invention	p. 520
Image Guidance, Adaptation, and Innovation by the User	p. 521
Environments and Conditions that Support Innovations in Image-Guided Therapy	p. 523
Conclusion	p. 525
References	p. 525
Assessment of Image-Guided Interventions	p. 531
Introduction	p. 531
General Assessment Definitions	p. 532
Complexity of Procedures and Scenarios	p. 532
Direct and Indirect Impact of IGI Systems	p. 533
Interdisciplinary Collaborations	p. 533
Human-Machine Interaction	p. 533
Assessment Methodology	p. 535
Assessment Objective	p. 536
Study Conditions and Data Sets	p. 541
Assessment Methods	p. 543
Discussion	p. 545
References	p. 547
Table of Contents provided by Publisher. All Rights Reserved.