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Purpose: To evaluate whether a 3 D proton density-weighted fat-suppressed sequence (PDwFS) of the knee is able to replace multiplanar 2D-PDwFS., Materials and Methods: 52 patients (26 men, mean age: 41.9 ± 14.5years) underwent magnetic resonance imaging (MRI) of the knee at 3.0 Tesla using a T/R-coil. The imaging protocol included 3 planes of 2D-PDwFS (acquisition time (AT): 6:40 min; voxel sizes: 0.40 - 0.63 × 0.44 - 0.89 × 3mm³) and a 3D-PDwFS (AT: 6:31 min; voxel size: 0.63 × 0.68 × 0.63mm³). Homogeneity of fat suppression (HFS), artifacts, and image sharpness (IS) were evaluated on a 5-point scale (5[excellent] - 1[non-diagnostic]). The sum served as a measure for the overall image quality (OIQ). Contrast ratios (CR) compared to popliteal muscle were calculated for the meniscus (MEN), anterior (ACL) and posterior cruciate ligaments (PCL). In 13 patients who underwent arthroscopic knee surgery, two radiologists evaluated the presence of meniscal, ligamental and cartilage lesions to estimate the sensitivity and specificity of lesion detection., Results: The CR was higher in the ACL, PCL and MEN in 3D- PDwFS compared to 2D-PDwFS (p < 0.01 for ACL and PCL; p = 0.07 for MEN). Compared to 2 D images, the OIQ was rated higher in 3D-PDwFS images (p < 0.01) due to fewer artifacts and HFS despite the lower IS (p < 0.01). The sensitivity and specificity of lesion detection in 3D- and 2D-PDwFS were similar., Conclusion: Compared to standard multiplanar 2D-PDwFS knee imaging, isotropic high spatial resolution 3D-PDwFS of the knee at 3.0 T can be acquired with high image quality in a reasonable scan time. Multiplanar reformations in arbitrary planes may serve as an additional benefit of 3D-PDwFS., Key Points: • 3D-PDwFS of the knee is acquired with high image quality• 3D-PDwFS can be achieved in only one measurement with a reasonable scan time• 3D-PDwFS with the advantage of multiplanar reformation may replace 2D-PD-weighted knee MRI Citation Format: • Homsi R, Gieseke J, Luetkens JA et al. Three-Dimensional Isotropic Fat-Suppressed Proton Density-Weighted MRI at 3 Tesla Using a T/R-Coil Can Replace Multiple Plane Two-Dimensional Sequences in Knee Imaging. Fortschr Röntgenstr 2016; 188: 949 - 956., (© Georg Thieme Verlag KG Stuttgart · New York.)

3D kinect camera systems are essential for real-time imaging of 3D treatment space that consists of both the patient anatomy as well as the treatment equipment setup. In this paper, we present the technical details of a 3D treatment room monitoring system that employs a scalable number of calibrated and coregistered Kinect v2 cameras. The monitoring system tracks radiation gantry and treatment couch positions, and tracks the patient and immobilization accessories. The number and positions of the cameras were selected to avoid line-of-sight issues and to adequately cover the treatment setup. The cameras were calibrated with a calibration error of 0.1 mm. Our tracking system evaluation show that both gantry and patient motion could be acquired at a rate of 30 frames per second. The transformations between the cameras yielded a 3D treatment space accuracy of &lt; 2 mm error in a radiotherapy setup within 500mm around the isocenter.

Intravascular ultrasound (IVUS) imaging is extremely important for detection and characterization of high-risk atherosclerotic plaques as well as gastrointestinal diseases. Recently, intravascular photoacoustic (IVPA) imaging has been used to differentiate the composition of biological tissues with high optical contrast and ultrasonic resolution. The combination of these imaging techniques could provide morphological information and molecular screening to characterize abnormal tissues, which would help physicians to ensure vital therapeutic value and prognostic significance for patients before commencing therapy. In this study, integration of a high-frequency IVUS imaging catheter (45MHz, single-element, unfocused, 0.7mm in diameter) with a multi-mode optical fiber (0.6mm in core diameter, 0.22 NA), an integrated intravascular ultrasonic-photoacoustic (IVUP) imaging catheter, was developed to provide spatial and functional information on light distribution in a turbid sample. Simultaneously, IVUS imaging was co-registered to IVPA imaging to construct 3D volumetric sample images. In a phantom study, a polyvinyl alcohol (PVA) tissue-mimicking arterial vessel phantom with indocyanine green (ICG) and methylene blue (MB) inclusion was used to demonstrate the feasibility of mapping the biological dyes, which are used in cardiovascular and cancer diagnostics. For the ex vivo study, an excised sample of pig intestine with ICG was utilized to target the biomarkers present in the gastrointestinal tumors or the atherosclerotic plaques with the proposed hybrid technique. The results indicated that IVUP endoscope with the 2.2-mm diameter catheter could be a useful tool for medical imaging., (Copyright © 2015 Elsevier Ltd. All rights reserved.)

Background: Registered medical images can assist with surgical navigation and enable image-guided therapy delivery. In soft tissues, surface-based registration is often used and can be facilitated by laser surface scanning. Tracked conoscopic holography (which provides distance measurements) has been recently proposed as a minimally invasive way to obtain surface scans. Moving this technique from concept to clinical use requires a rigorous accuracy evaluation, which is the purpose of our paper., Methods: We adapt recent non-homogeneous and anisotropic point-based registration results to provide a theoretical framework for predicting the accuracy of tracked distance measurement systems. Experiments are conducted a complex objects of defined geometry, an anthropomorphic kidney phantom and a human cadaver kidney., Results: Experiments agree with model predictions, producing point RMS errors consistently < 1 mm, surface-based registration with mean closest point error < 1 mm in the phantom and a RMS target registration error of 0.8 mm in the human cadaver kidney., Conclusions: Tracked conoscopic holography is clinically viable; it enables minimally invasive surface scan accuracy comparable to current clinical methods that require open surgery., (Copyright © 2012 John Wiley & Sons, Ltd.)

Photoacoustic microscopy (PAM) is sensitive to optical absorption, while optical coherence tomography (OCT) is based on optical backscattering. Combining PAM and OCT can provide complementary information about biological tissue. Here we present a combined optical-resolution PAM (ORPAM) and OCT system that is integrated through a miniature probe with an overall diameter of 2.3 mm, suitable for insertion through a standard endoscopic or laparoscopic port during minimally invasive surgery or endoscopic exam. The hybrid probe consists of a common optical path for OCT (light delivery/detection) and ORPAM (light excitation) and a 10 MHz unfocused ultrasound transducer for photoacoustic detection. The combined system yields a lateral resolution of 15 μm for both ORPAM and OCT.

We have implemented a deterministic method for solving the phase problem in hard x-ray in-line holography which overcomes the twin image problem. The phase distribution in the detector plane is retrieved by using two images with slightly different Fresnel numbers. We then use measured intensities and reconstructed phases in the detection plane to compute the exit wave in the sample plane. No further a priori information like a limited support or the assumption of pure phase objects is necessary so that it can be used for a wide range of complex samples. Using a nano-focused hard x-ray beam half period resolutions better than 30 nm are achieved.

Although several strategies exist for a minimal-invasive treatment of patients with lung failure, the mortality rate of acute respiratory distress syndrome still reaches 30% at minimum. This striking number indicates the necessity of understanding lung dynamics on an alveolar level. To investigate the dynamical behavior on a microscale, we used three-dimensional geometrical and functional imaging to observe tissue parameters including alveolar size and length of embedded elastic fibers during ventilation. We established a combined optical coherence tomography (OCT) and confocal fluorescence microscopy system that is able to monitor the distension of alveolar tissue and elastin fibers simultaneously within three dimensions. The OCT system can laterally resolve a 4.9 μm line pair feature and has an approximately 11 μm full-width-half-maximum axial resolution in air. confocal fluorescence microscopy visualizes molecular properties of the tissue with a resolution of 0.75 μm (laterally), and 5.9 μm (axially) via fluorescence detection of the dye sulforhodamine B specifically binding to elastin. For system evaluation, we used a mouse model in situ to perform lung distension by application of different constant pressure values within the physiological regime. Our method enables the investigation of alveolar dynamics by helping to reveal basic processes emerging during artificial ventilation and breathing.

Background: In the new generation of EYECUBE devices, the angiography image and the OCT are included in a 3D illustration as an integration. Other diagnostic procedures such as autofluorescence and ICG can also be correlated to the OCT. The aim was to precisely classify various two-dimensional findings in relation to each other., Method: The new generation of OCT devices enables imaging with a low incidence of motion artefacts with very good fundus image quality - and with that, permits a largely automatic classification. The feature enabling the integration of the EYECUBE was further developed with new software, so that not only the topographic image (red-free, autofluorescence) can be correlated to the Cirrus OCT, but also all other findings gathered within the same time frame can be correlated to each other. These were brightened and projected onto the cube surface in a defined interval. The imaging procedures can be selected in a menu toolbar. Topographic volumetry OCT images can be overlayed. The practical application of the new method was tested on patients with macular disorders., Results: By lightening up the results from various diagnostic procedures, it is possible of late to directly compare pathologies to each other and to the OCT results. In all patients (n = 45 eyes) with good single-image quality, the automated integration into the EYECUBE was possible (to a great extent). The application is not dependent on a certain type of device used in the procedures performed., Conclusions: The increasing level of precision in imaging procedures and the handling of large data volumes has led to the possibility of examining each macular diagnostics procedure from the comparative perspective: imaging (photo) with perfusion (FLA, ICG) and morphology (OCT). The exclusion of motion artefacts and the reliable scan position in the course of the imaging process increases the informative value of OCT., (© Georg Thieme Verlag KG Stuttgart · New York.)

Purpose: Several linacs with integrated kilovoltage (kV) imaging have been developed for delivery of image guided radiation therapy (IGRT). High geometric accuracy and coincidence of kV imaging systems and megavoltage (MV) beam delivery are essential for successful image guidance. A geometric QA tool has been adapted for routine QA for evaluating and characterizing the geometric accuracy of kV and MV cone-beam imaging systems. The purpose of this work is to demonstrate the application of methodology to routine QA across three IGRT-dedicated linac platforms., Methods: It has been applied to a Varian Trilogy (Varian Medical Systems, Palo Alto, CA), an Elekta SynergyS (Elekta, Stockholm, Sweden), and a Brainlab Vero (Brainlab AG, Feldkirchen, Germany). Both the Trilogy and SynergyS linacs are equipped with a retractable kV x-ray tube and a flat panel detector. The Vero utilizes a rotating, rigid ring structure integrating a MV x-ray head mounted on orthogonal gimbals, an electronic portal imaging device (EPID), two kV x-ray tubes, and two fixed flat panel detectors. This dual kV imaging system provides orthogonal radiographs, CBCT images, and real-time fluoroscopic monitoring. Two QA phantoms were built to suit different field sizes. Projection images of a QA phantom were acquired using MV and kV imaging systems at a series of gantry angles. Software developed for this study was used to analyze the projection images and calculate nine geometric parameters for each projection. The Trilogy was characterized five times over one year, while the SynergyS was characterized four times and the Vero once. Over 6500 individual projections were acquired and analyzed. Quantitative geometric parameters of both MV and kV imaging systems, as well as the isocenter consistency of the imaging systems, were successfully evaluated., Results: A geometric tool has been successfully implemented for calibration and QA of integrated kV and MV across a variety of radiotherapy platforms. X-ray source angle deviations up to 0.8 degrees, and detector center offsets up to 3 mm, were observed for three linacs, with the exception of the Vero, for which a significant center offset of one kV detector (prior to machine commissioning) was observed. In contrast, the gimbal-based MV source positioning of the Vero demonstrated differences between observed and expected source positions of less than 0.2 mm, both with and without gimbal rotation., Conclusions: This initial application of this geometric QA tool shows promise as a universal, independent tool for quantitative evaluation of geometric accuracies of both MV and integrated kV imaging systems across a range of platforms. It provides nine geometric parameters of any imaging system at every gantry angle as well as the isocenter coincidence of the MV and kV image systems.

The ray projection and its application to recovering a projective geometric transformation and an affine lighting change between two objects are mathematically studied. A novel technique, viz., variable contour, is proposed for accurately evaluating the ray projection. Moreover, a novel flexible framework of the ray projection is devised for the joint recovery of the eight parameters for the projective transformation and the two parameters for the lighting change. Finally, the framework is experimentally evaluated by recovering a variety of geometric and photometric transformations between real images of indoor and outdoor scenes. Its robustness to image blur and occlusion is demonstrated. Its versatility is illustrated through matching different objects in different classes.

We present a parallel implementation of a new deformable image registration algorithm using the Computer Unified Device Architecture (CUDA). The algorithm co-registers preoperative and intraoperative 3-dimensional magnetic resonance (MR) images of a deforming organ. It employs a linear elastic dynamic finite-element model of the deformation and distance measures such as mutual information and sum of squared differences to align volumetric image data sets. Computationally intensive elements of the method such as interpolation, displacement and force calculation are significantly accelerated using a Graphics Processing Unit (GPU). The result of experiments carried out with a realistic breast phantom tissue shows a 37 fold speedup for the GPU-based implementation compared with an optimized CPU-based implementation in high resolution MR image registration. The GPU implementation is capable of registering 512 × 512 × 136 image sets in just over 2 seconds, making it suitable for clinical applications requiring fast and accurate processing of medical images.

In Europe one out of every nine women suffers from breast cancer during her lifetime. Since the introduction of mammography screening programs more breast cancers are being diagnosed when they are still small and early stage cancers with a favourable prognosis. The introduction of digital mammography systems has led to a continuous reduction of breast cancer mortality especially in specific patient subgroups. Furthermore, the digital mammography platform enables the development of new, innovative breast imaging methods to increase sensitivity and decrease breast cancer mortality. This digital mammography platform includes digital breast tomosynthesis, digital contrast medium mammography and digital contrast medium breast tomosynthesis as well as fused data sets from digital mammography with ultrasound or MRI. The following article summarizes these new applications, describes the strengths of the digital platform and illustrates the potential advantages of an improved breast cancer diagnosis by digital mammography.

A 3-D augmented reality navigation system using autostereoscopic images was developed for MRI-guided surgery. The 3-D images are created by employing an animated autostereoscopic image, integral videography (IV), which provides geometrically accurate 3-D spatial images and reproduces motion parallax without using any supplementary eyeglasses or tracking devices. The spatially projected 3-D images are superimposed onto the surgical area and viewed via a half-silvered mirror. A fast and accurate spatial image registration method was developed for intraoperative i.v. image-guided therapy. Preliminary experiments showed that the total system error in patient-to-image registration was 0.90 +/- 0.21 mm, and the procedure time for guiding a needle toward a target was shortened by 75%. An animal experiment was also conducted to evaluate the performance of the system. The feasibility studies showed that augmented reality of the image overlay system could increase the surgical instrument placement accuracy and reduce the procedure time as a result of intuitive 3-D viewing.

This paper describes a precision-guided surgical navigation system for minimally invasive surgery. The system combines a laser guidance technique with a three-dimensional (3D) autostereoscopic image overlay technique. Images of surgical anatomic structures superimposed onto the patient are created by employing an animated imaging method called integral videography (IV), which can display geometrically accurate 3D autostereoscopic images and reproduce motion parallax without the need for special viewing or tracking devices. To improve the placement accuracy of surgical instruments, we integrated an image overlay system with a laser guidance system for alignment of the surgical instrument and better visualization of patient's internal structure. We fabricated a laser guidance device and mounted it on an IV image overlay device. Experimental evaluations showed that the system could guide a linear surgical instrument toward a target with an average error of 2.48 mm and standard deviation of 1.76 mm. Further improvement to the design of the laser guidance device and the patient-image registration procedure of the IV image overlay will make this system practical; its use would increase surgical accuracy and reduce invasiveness., (Copyright 2009 Elsevier Ltd. All rights reserved.)

Background: Ongoing advancements in SPECT-CT technology raise important questions regarding the differences in performance between various cameras and their respective image-processing algorithms. Our study seeks the answer to this question via measurement of phantom myocardial wall thickness (MWT) on images obtained from three state-of-the-art cameras., Methods: A thorax phantom with an insert modeling a healthy heart was scanned using cardiac acquisition protocols with Philips' Precedence (PP), GE's Infinia Hawkeye (IH), and Siemens' Symbia-T6 (SS). Processing was performed using advanced reconstruction techniques available on the cameras and our own independent software. The MWT measurement was used as a figure of merit in performance evaluation., Results: When using 50% threshold, MWTs measured for the data acquired using PP, IH, and SS and reconstructed with independent standardized software were 8.5 +/- 1.2 mm, 7.7 +/- 1.2 mm, and 9.3 +/- 0.9 mm, respectively; and 9.3 +/- 0.5 mm, 19.2 +/- 0.8 mm and 18.4 +/- 1.1 mm when using the manufacturers' own reconstructions, respectively. Thresholds optimized for each image (ranging from 32% to 68%) produced much more uniform results., Conclusions: No significant differences were observed between image resolutions when data acquired from different cameras were reconstructed with an independent algorithm. However, different manufacturers' reconstruction algorithms produced MWTs that differed by up to about 110% when using a set threshold of 50%.

In the presence of intrafraction organ motion, target localization uncertainty can greatly hamper the advantage of highly conformal dose techniques such as intensity modulated radiation therapy (IMRT). To minimize the adverse dosimetric effect caused by tumor motion, a real-time knowledge of the tumor position is required throughout the beam delivery process. The recent integration of onboard kV diagnostic imaging together with MV electronic portal imaging devices on linear accelerators can allow for real-time three-dimensional (3D) tumor position monitoring during a treatment delivery. The aim of this study is to demonstrate a near real-time 3D internal fiducial tracking system based on the combined use of kV and MV imaging. A commercially available radiotherapy system equipped with both kV and MV imaging systems was used in this work. A hardware video frame grabber was used to capture both kV and MV video streams simultaneously through independent video channels at 30 frames per second. The fiducial locations were extracted from the kV and MV images using a software tool. The geometric tracking capabilities of the system were evaluated using a pelvic phantom with embedded fiducials placed on a moveable stage. The maximum tracking speed of the kV/MV system is approximately 9 Hz, which is primarily limited by the frame rate of the MV imager. The geometric accuracy of the system is found to be on the order of less than 1 mm in all three spatial dimensions. The technique requires minimal hardware modification and is potentially useful for image-guided radiation therapy systems.

Large core needle biopsy is a common procedure used to obtain histological samples when cancer is suspected in diagnostic breast images. The procedure is typically performed under image guidance, with freehand ultrasound and stereotactic mammography (SM) being the most common modalities used. To utilize the advantages of both modalities, a biopsy device combining three-dimensional ultrasound (3DUS) and digital SM imaging with computer-aided needle guidance was developed. An implementation of a stereo camera method was applied to SM calibration, providing a target localization error of 0.35 mm. The 3-D transformation between the two imaging modalities was then derived, with a target registration error of 0.52 mm. Finally, the needle guidance error of the device was evaluated using tissue-mimicking phantoms, showing a sample mean and standard deviation of 0.44 +/- 0.22 and 0.49 +/- 0.27 mm for targets planned from 3DUS and SM images, respectively. These results suggest that a biopsy procedure guided using this device would successfully sample breast lesions at a size greater than or equal to the smallest typically detected in mammographic screening (approximately 2 mm).

The authors present a design framework and optimizer for computational systems containing many sensors on a common optical axis.

Unlabelled: The National Electrical Manufacturers Association (NEMA) NU 2-2001 performance measurements were conducted on the Discovery RX, a whole-body PET/CT system under development by GE Healthcare. The PET scanner uses 4.2 x 6.3 x 30 mm lutetium yttrium orthosilicate (LYSO) crystals grouped in 9 x 6 blocks. There are 24 rings with 630 crystals per ring and the ring diameter is 88.6 cm. The transaxial and axial fields of view are 70.0 and 15.7 cm, respectively. The scanner has retractable septa and can operate in both 2-dimensional (2D) and 3-dimensional (3D) modes. 2D acquisitions use ring differences of +/-4 for direct and +/-5 for cross slices; 3D acquisitions use a ring difference of 23. The coincident window width is 6.5 ns and the energy window is 425-650 keV. Other than the detectors, the system uses the same hardware and software as a Discovery ST. The CT scanner is a 16-slice LightSpeed; the performance characteristics of the CT component are not included herein., Methods: Performance measurements of sensitivity, spatial resolution, image quality, scatter fraction and counting rate performance, and image quality were obtained using NEMA methodology., Results: The system sensitivity in 2D and 3D was measured as 1.7 cps/kBq and 7.3 cps/kBq, respectively. The transaxial resolution for 2D (3D) was 5.1 mm full width at half maximum (FWHM) (5.0 mm) at 1 cm from gantry center and the radial and tangential resolutions were 5.9 mm (5.9 mm) and 5.1 mm (5.2 mm) at 10 cm, respectively. The axial resolution for 2D (3D) was 4.8 mm FWHM (5.8 mm) and 6.3 mm (6.5 mm) at 1 cm and 10 cm from gantry center, respectively. The scatter fraction was 13.1% and 31.8% in 2D and 3D. The peak noise equivalent count rate (NECR) was 155 kcps at 92.1 kBq/mL in 2D and 117.7 kcps at 21.7 kBq/mL in 3D for a noise-free estimation of randoms. The contrast of the 22, 17, 13, and 10 mm hot spheres in the image quality phantom in 2D (3D) were 74.6% (72.4%), 56.7% (59.5%), 46.2% (44.6%), and 17.9% (18.0%), respectively., Conclusion: The Discovery RX is a scanner that possesses high NECR, low scatter fraction, and good spatial resolution characteristics.

X-ray microtomography (micro-CT) is a new technique allowing for visualization of the internal structure of opaque specimens with a quasi-histological quality. Among multiple potential applications, the use of this technique in otology is very promising. Micro-CT appears to be ideally suited for in vitro visualization of the inner ear tissues as well as for evaluation of the electrode damage and/or surgical insertion trauma during implantation of the cochlear implant electrodes. This technique can greatly aid in design and development of new cochlear implant electrodes and is applicable for temporal bone studies. The main advantage of micro-CT is the practically artefact-free preparation of the samples and the possibility of evaluation of the interesting parameters along the whole insertion depth of the electrode. This paper presents the results of the first application of micro-CT for visualization of the inner ear structures in human temporal bones and for evaluation of the surgical positioning of the cochlear implant electrodes relative to the intracochlear soft tissues.

The authors developed a computer system that automatically produces temporal subtraction images on thin-section thoracic computed tomography based on a 3-dimensional nonlinear geometric warping technique. The automated subtraction system was applied to data from 20 subjects with lung diseases. Nineteen (95%) of 20 results showed good or excellent image quality. The remaining 1 (5%) showed adequate image quality. Our preliminary computer system demonstrates the potential for a clinically useful automated subtraction system.

Accurate patient registration and referencing is a key element in navigated surgery. Unfortunately all existing methods are either invasive or very time consuming. We propose a fully non-invasive optical approach using a tracked monocular endoscope to reconstruct the surgical scene in 3D using photogrammetric methods. The 3D reconstruction can then be used for matching the pre-operative data to the intra-operative scene. In order to cope with the near real-time requirements for referencing, we use a novel, efficient 3D point management method during 3D model reconstruction. The presented prototype system provides a reconstruction accuracy of 0.1 mm and a tracking accuracy of 0.5 mm on phantom data. The ability to cope with real data is demonstrated by cadaver experiments.

Conventional histologic techniques cannot readily be used for 3D reconstruction of large tissue volumes. We have developed an imaging rig which supports both confocal and light microscopy, and utilizes a surface imaging approach to serially image embedded tissue blocks while maintaining alignment and registration of the image series.

The hybrid magnetic resonance (MR)/X-ray suite (XMR) is a recently introduced imaging solution that provides new possibilities for guidance of cardiovascular catheterization procedures. We have previously described and validated a technique based on optical tracking to register MR and X-ray images obtained from the sliding table XMR configuration. The aim of our recent work was to extend our technique by providing an improved calibration stage, real-time guidance during cardiovascular catheterization procedures, and further off-line analysis for mapping cardiac electrical data to patient anatomy. Specially designed optical trackers and a dedicated calibration object have resulted in a single calibration step that can be efficiently checked and updated before each procedure. An X-ray distortion model has been implemented that allows for distortion correction for arbitrary c-arm orientations. During procedures, the guidance system provides a real-time combined MR/X-ray image display consisting of live X-ray images with registered recently acquired MR derived anatomy. It is also possible to reconstruct the location of catheters seen during X-ray imaging in the MR derived patient anatomy. We have applied our registration technique to 13 cardiovascular catheterization procedures. Our system has been used for the real-time guidance of ten radiofrequency ablations and one aortic stent implantation. We demonstrate the real-time guidance using two exemplar cases. In a further two cases we show how off-line analysis of registered image data, acquired during electrophysiology study procedures, has been used to map cardiac electrical measurements to patient anatomy for two different types of mapping catheters. The cardiologists that have used the guidance system suggest that real-time XMR guidance could have substantial value in difficult interventional and electrophysiological procedures, potentially reducing procedure time and delivered radiation dose. Also, the ability to map measured electrical data to patient specific anatomy provides improved visualization and a path to investigation of cardiac electromechanical models.

Aim: Optoelectronic navigation for computer-assisted orthopaedic surgery (CAOS) is based on a firm connection of bone with passive reflectors or active light-emitting diodes in a specific three-dimensional pattern. Even a so-called "minimally-invasive" dynamic reference base (DRB) requires fixation with screws or clamps via incision of the skin. Consequently an originally percutaneous intervention would unnecessarily be extended to an open procedure. Thus, computer-assisted navigation is rarely applied. Due to their tree-like design most DRB's interfere with the surgeon's actions and therefore are at permanent risk to be accidentally dislocated. Accordingly, the optic communication between the camera and the operative site may repeatedly be interrupted. The aim of the research was the development of a less bulky, more comfortable, stable and safely trackable device that can be fixed truly percutaneously., Method: With engineering support of the industrial partner the radiolucent epiDRB was developed. It can be fixed with two or more pins and gains additional stability from its epicutaneous position. The intraoperative applicability and reliability was experimentally tested., Results: Its low centre of gravity and its flat design allow the device to be located directly in the area of interest. Thanks to its epicutaneous position and its particular shape the epiDRB may perpetually be tracked by the navigation system without hindering the surgeon's actions. Hence, the risk of being displaced by accident is minimised and the line of sight remains unaffected., Conclusion: With the newly developed epiDRB computer-assisted navigation becomes easier and safer to handle even in punctures and other percutaneous procedures at the spine as much as at the extremities without an unproportionate amount of additional trauma. Due to the special design referencing of more than one vertebral body is possible at one time, thus decreasing radiation exposure and increasing efficiency.

In this study we have designed and created a data-fusion display that has enabled volumetric MIP image navigation using intraoperative C-arm CT data in the operating room. The 3D volumetric data reflecting a patient's inner structure is directly displayed on the monitor through video images of the surgical field using a 3D optical tracking system, a ceiling-mounted articulating monitor, and a small size video camera mounted at the back of the monitor. The system performance was validated in an experiment carried out in the operating room.

This paper describes an autostereoscopic image overlay technique that is integrated into a surgical navigation system to superimpose a real three-dimensional (3-D) image onto the patient via a half-silvered mirror. The images are created by employing a modified version of integral videography (IV), which is an animated extension of integral photography. IV records and reproduces 3-D images using a microconvex lens array and flat display; it can display geometrically accurate 3-D autostereoscopic images and reproduce motion parallax without the need for special devices. The use of semitransparent display devices makes it appear that the 3-D image is inside the patient's body. This is the first report of applying an autostereoscopic display with an image overlay system in surgical navigation. Experiments demonstrated that the fast IV rendering technique and patient-image registration method produce an average registration accuracy of 1.13 mm. Experiments using a target in phantom agar showed that the system can guide a needle toward a target with an average error of 2.6 mm. Improvement in the quality of the IV display will make this system practical and its use will increase surgical accuracy and reduce invasiveness.

A phantom study was conducted to investigate inherent positioning accuracy of an image-guided patient positioning system-the Novalis Body system for three-dimensional (3-D) conformal radiotherapy. This positioning system consists of two infrared (IR) cameras and one video camera and two kV x-ray imaging devices. The initial patient setup was guided by the IR camera system and the target localization was accomplished using the kV x-ray imaging system. In this study, the IR marker shift and phantom rotation were simulated and their effects on the positioning accuracy were examined by a Rando phantom. The effects of CT slice thickness and treatment sites on the positioning accuracy were tested. In addition, the internal target shift was simulated and its effect on the positioning accuracy was examined by a water tank. With the application of the Novalis Body system, the positioning error of the planned isocenter was significantly reduced. The experimental results with the simulated IR marker shifts indicated that the positioning errors of the planned isocenter were 0.6 +/- 0.3, 0.5 +/- 0.2, and 0.7 +/- 0.2 mm along the lateral, longitudinal, and vertical axes, respectively. The experimental results with the simulated phantom rotations indicated that the positioning errors of the planned isocenter were 0.6 +/- 0.3, 0.7 +/- 0.2, and 0.5 +/- 0.2 mm along the three axes, respectively. The experimental results with the simulated target shifts indicated that the positioning errors of the planned isocenter were 0.6 +/- 0.3, 0.7 +/- 0.2, and 0.5 +/- 0.2 mm along the three axes, respectively. On average, the positioning accuracy of 1 mm for the planned isocenter was achieved using the Novalis Body system.

Mutual information-based image registration, shown to be effective in registering a range of medical images, is a computationally expensive process, with a typical execution time on the order of minutes on a modern single-processor computer. Accelerated execution of this process promises to enhance efficiency and therefore promote routine use of image registration clinically. This paper presents details of a hardware architecture for real-time three-dimensional (3-D) image registration. Real-time performance can be achieved by setting up a network of processing units, each with three independent memory buses: one each for the two image memories and one for the mutual histogram memory. Memory access parallelization and pipelining, by design, allow each processing unit to be 25 times faster than a processor with the same bus speed, when calculating mutual information using partial volume interpolation. Our architecture provides superior per-processor performance at a lower cost compared to a parallel supercomputer.

The objective of this work was to develop and then validate a stereotactic fiduciary marker system for tumor xenografts in rodents which could be used to co-register magnetic resonance imaging (MRI), PET, tissue histology, autoradiography, and measurements from physiologic probes. A Teflon fiduciary template has been designed which allows the precise insertion of small hollow Teflon rods (0.71 mm diameter) into a tumor. These rods can be visualized by MRI and PET as well as by histology and autoradiography on tissue sections. The methodology has been applied and tested on a rigid phantom, on tissue phantom material, and finally on tumor bearing mice. Image registration has been performed between the MRI and PET images for the rigid Teflon phantom and among MRI, digitized microscopy images of tissue histology, and autoradiograms for both tissue phantom and tumor-bearing mice. A registration accuracy, expressed as the average Euclidean distance between the centers of three fiduciary markers among the registered image sets, of 0.2 +/- 0.06 mm was achieved between MRI and microPET image sets of a rigid Teflon phantom. The fiduciary template allows digitized tissue sections to be co-registered with three-dimensional MRI images with an average accuracy of 0.21 and 0.25 mm for the tissue phantoms and tumor xenografts, respectively. Between histology and autoradiograms, it was 0.19 and 0.21 mm for tissue phantoms and tumor xenografts, respectively. The fiduciary marker system provides a coordinate system with which to correlate information from multiple image types, on a voxel-by-voxel basis, with sub-millimeter accuracy--even among imaging modalities with widely disparate spatial resolution and in the absence of identifiable anatomic landmarks.

This paper presents a new method for image-guided surgery called image-enhanced endoscopy. Registered real and virtual endoscopic images (perspective volume renderings generated from the same view as the endoscope camera using a preoperative image) are displayed simultaneously; when combined with the ability to vary tissue transparency in the virtual images, this provides surgeons with the ability to see beyond visible surfaces and, thus, provides additional exposure during surgery. A mount with four photoreflective spheres is rigidly attached to the endoscope and its position and orientation is tracked using an optical position sensor. Generation of virtual images that are accurately registered to the real endoscopic images requires calibration of the tracked endoscope. The calibration process determines intrinsic parameters (that represent the projection of three-dimensional points onto the two-dimensional endoscope camera imaging plane) and extrinsic parameters (that represent the transformation from the coordinate system of the tracker mount attached to the endoscope to the coordinate system of the endoscope camera), and determines radial lens distortion. The calibration routine is fast, automatic, accurate and reliable, and is insensitive to rotational orientation of the endoscope. The routine automatically detects, localizes, and identifies dots in a video image snapshot of the calibration target grid and determines the calibration parameters from the sets of known physical coordinates and localized image coordinates of the target grid dots. Using nonlinear lens-distortion correction, which can be performed at real-time rates (30 frames per second), the mean projection error is less than 0.5 mm at distances up to 25 mm from the endoscope tip, and less than 1.0 mm up to 45 mm. Experimental measurements and point-based registration error theory show that the tracking error is about 0.5-0.7 mm at the tip of the endoscope and less than 0.9 mm for all points in the field of view of the endoscope camera at a distance of up to 65 mm from the tip. It is probable that much of the projection error is due to endoscope tracking error rather than calibration error. Two examples of clinical applications are presented to illustrate the usefulness of image-enhanced endoscopy. This method is a useful addition to conventional image-guidance systems, which generally show only the position of the tip (and sometimes the orientation) of a surgical instrument or probe on reformatted image slices.

This paper reports on technology developments aimed at improving the state of the art for image-guided minimally invasive spine procedures. Back pain is a major health problem with serious economic consequences. Minimally invasive procedures to treat back pain are rapidly growing in popularity due to improvements in technique and the substantially reduced trauma to the patient versus open spinal surgery. Image guidance is an enabling technology for minimally invasive procedures, but technical problems remain that may limit the wider applicability of these techniques. The paper begins with a discussion of low back pain and the potential shortcomings of open back surgery. The advantages of minimally invasive procedures are enumerated, followed by a list of technical problems that must be overcome to enable the more widespread dissemination of these techniques. The technical problems include improved intraoperative imaging, fusion of images from multiple modalities, the visualization of oblique paths, percutaneous spine tracking, mechanical instrument guidance, and software architectures for technology integration. Technical developments to address some of these problems are discussed next. The discussion includes intraoperative computerized tomography (CT) imaging, magnetic resonance imaging (MRI)/CT image registration, three-dimensional (3-D) visualization, optical localization, and robotics for percutaneous instrument placement. Finally, the paper concludes by presenting several representative clinical applications: biopsy, vertebroplasty, nerve and facet blocks, and shunt placement. The program presented here is a first step to developing the physician-assist systems of the future, which will incorporate visualization, tracking, and robotics to enable the precision placement and manipulation of instruments with minimal trauma to the patient.