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Current commercial matrix transducers for 3D DCE-US do not display side-by-side B-mode and contrast-mode images when capturing volumetric data, thus leaving the operator with no position feedback during lengthy acquisitions. The purpose of this study was to investigate the use of transducer tracking to provide positioning feedback and to re-align images to improve quantification. An interventional tracking system was developed in house using an infrared camera and a 3D-printed tracking target attached to a X6-1 matrix transducer. The system displays a virtual probe on a separate screen and allows to capture a reference position to provide operator feedback when no B-mode image is available. To test this set-up, five experienced operators were asked to locate an image landmark within a volunteer liver in B-mode images using the X6-1 connected to an EPIQ7 system. Operators were then asked to maintain the transducer position for 4 minutes under three feedback methods: i) B-mode, ii) display of real-time virtual transducer, iii) blind. The magnitude of displacement over the cine was computed as an estimate of the imaging position error. We also investigated whether transducer coordinates can be used to re-align images due to motion and improve contrast ultrasound perfusion repeatability. A total of 8 patient data were obtained under an IRB for this. Results suggest that tracking can assist operators maintain a steady position during a lengthy acquisition. With blinded acquisition, an average displacement of 4.58 mm (S.D. 2.65 mm) was noted. In contrast, the average displacement for tracking-feedback was comparable to B-mode at 3.48 mm (S.D. 0.8 mm). We also observed that perfusion parameters had better repeatability after re-alignment.

The purpose of the study was to retrospectively compare three-dimensional gadolinium-enhanced magnetic resonance angiography (conventional MRA) with MRA accelerated by a parallel acquisition technique (fast MRA) for the assessment of visceral arteries, using 64-detector-row computed tomography angiography (MDCTA) as the reference standard. Eighteen patients underwent fast MRA (imaging time 17s), conventional MRA (29s) and MDCTA of the abdomen and pelvis. Two independent readers assessed subjective image quality and the presence of arterial stenosis. Data were analysed on per-patient and per-segment bases. Fast MRA yielded better subjective image quality in all segments compared with conventional MRA (P = 0.012 for reader 1, P = 0.055 for reader 2) because of fewer motion-induced artefacts. Sensitivity and specificity of fast MRA for the detection of arterial stenosis were 100% for both readers. Sensitivity of conventional MRA was 89% for both readers, and specificity was 100% (reader 1) and 99% (reader 2). Differences in sensitivity between the two types of MRA were not significant for either reader. Interobserver agreement for the detection of arterial stenosis was excellent for fast (κ = 1.00) and good for conventional MRA (κ = 0.76). Thus, subjective image quality of visceral arteries remains good on fast MRA compared with conventional MRA, and the two techniques do not differ substantially in the grading of arterial stenosis, despite the markedly reduced acquisition time of fast MRA

Robotic additive manufacturing methods have enabled the design and fabrication of novel forms and material systems that represent an important step forward for architectural fabrication. However, a common problem in additive manufacturing is to predict and incorporate the dynamic behavior of the material that is the result of the complex confluence of forces and material properties that occur during fabrication. While there have been some approaches towards verification systems, to date most robotic additive manufacturing processes lack verification to ensure deposition accuracy. Inaccuracies, or in some instances critical errors, can occur due to robot dynamics, material self-deflection, material coiling, or timing shifts in the case of multi-material prints. This paper addresses that gap by presenting an approach that uses vision-based sensing systems to assist robotic additive manufacturing processes. Using online image analysis techniques, occupancy maps can be created and updated during the fabrication process to document the actual position of the previously deposited material. This development is an intermediary step towards closed-loop robotic control systems that combine workspace sensing capabilities with decision-making algorithms to adjust toolpaths to correct for errors or inaccuracies if necessary. The occupancy grid map provides a complete representation of the print that can be analyzed to determine various key aspects, such as, print quality, extrusion diameter, adhesion between printed parts, and intersections within the meshes. This valuable quantitative information regarding system robustness can be used to influence the system’s future actions. This approach will help ensure consistent print quality and sound tectonics in robotic additive manufacturing processes, improving on current techniques and extending the possibilities of robotic fabrication in architecture.

To prospectively compare the accuracy of 16-detector row computed tomographic (CT) angiography with conventional digital subtraction angiography (DSA) as the reference standard in the assessment of aortoiliac and lower extremity arteries in patients with peripheral arterial disease.This study was approved by the institutional review board, and informed consent was obtained. A total of 39 consecutive patients (27 men [mean age, 66 years] and 12 women [mean age, 64 years]) with peripheral arterial disease underwent both conventional DSA and 16-detector row CT angiography. For data analysis, the arterial vascular system was divided into 35 segments. A total of 1365 arterial segments were analyzed for arterial stenosis by two independent blinded readers using a four-point grading system (grade 1,10% luminal narrowing; grade 2, 10%-49% luminal narrowing; grade 3, 50%-99% luminal narrowing; grade 4, occlusion). Interobserver agreements were calculated by using kappa statistics. A third independent blinded reader assessed possible reasons for disagreements between 16-detector row CT angiographic findings and conventional DSA findings. Effective radiation dose was calculated for both imaging modalities.Sixteen-detector row CT angiographic and conventional DSA findings were diagnostic in all vascular segments. Compared with conventional DSA, the sensitivity and specificity of 16-detector row CT angiography with regard to detection of hemodynamically significant stenosis in all 35 arterial segments were 96% and 97%, respectively, for both readers. Readers 1 and 2 overestimated arterial stenosis in 42 (3%) and 34 (2%) arterial segments, respectively, and underestimated arterial stenosis in 13 (1%) and 10 (1%) arterial segments, respectively. Interobserver agreement was excellent (kappa = 0.84-1.00). Presence of anteroposteriorly located luminal narrowing and extensive vascular wall calcification were considered main reasons for disagreements between imaging modalities. Effective radiation dose was lower for 16-detector row CT angiography (1.6-3.9 mSv) than for conventional DSA (6.4-16.0 mSv).Sixteen-detector row CT angiography is an accurate and reliable noninvasive alternative to conventional DSA in the assessment of aortoiliac and lower extremity arteries in patients with peripheral arterial disease.