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The manipulation of the surgical field in laparoscopic surgery, through small incisions with rigid instruments, reduces free sight, dexterity, and tactile feedback. To help overcome some of these drawbacks, we present a prototype research and development platform, CustusX, for navigation in minimally invasive therapy. The system can also be used for planning and follow-up studies. With this platform we can import and display a range of medical images, also real-time data such as ultrasound and X-ray, during surgery. Tracked surgical tools, such as pointers, video laparoscopes, graspers, and various probes, allow surgeons to interactively control the display of medical images during the procedure. This paper introduces navigation technologies and methods for laparoscopic therapy, and presents our software and hardware research platform. Furthermore, we illustrate the use of the system with examples from two pilots performed during laparoscopic therapy. We also present new developments that are currently being integrated into the system for future use in the operating room. Our initial results from pilot studies using this technology with preoperative images and guidance in the retroperitoneum during laparoscopy are promising. Finally, we shortly describe an ongoing multicenter study using this surgical navigation system platform. [ABSTRACT FROM AUTHOR]

The Insight Toolkit (ITK) initiative from the National Library of Medicine has provided a suite of state-of-the-art segmentation and registration algorithms ideally suited to volume visualization and analysis. A volume visualization application that effectively utilizes these algorithms provides many benefits: it allows access to ITK functionality for non-programmers, it creates a vehicle for sharing and comparing segmentation techniques, and it serves as a visual debugger for algorithm developers. This paper describes the integration of image processing functionalities provided by the ITK into VolView, a visualization application for high performance volume rendering. A free version of this visualization application is publicly available and is available in the online version of this paper. The process for developing ITK plugins for VolView according to the publicly available API is described in detail, and an application of ITK VolView plugins to the segmentation of Abdominal Aortic Aneurysms (AAAs) is presented. The source code of the ITK plugins is also publicly available and it is included in the online version.

Background: A study has confirmed the possibility of follow up in the local hospital of patients who have undergone endovascular repair. We present a cost analysis of such a regimen compared to follow up at a university hospital., Material and Methods: By using discharge data from the Norwegian Patient Register we identified a group of patients which could have been followed up at their local hospital for their stent-grafted abdominal aortic aneurysm and estimated the cost effects of performing follow ups locally., Results: The cost analysis showed a potential for cost savings from local follow ups, especially from moving from inpatient care at the university hospital to outpatient care locally. The result of this cost analysis differs from other Norwegian studies of teleradiology by identifying a possibility for more cost-effective treatment., Interpretation: Using teleradiology to follow up these patients will free up capacity in the university hospital. Most probably, other groups of patients can also be followed up by teleradiology. The university hospitals can use this freed-up capacity for new patients. Teleradiology could lead to more efficient use of health care facilities, which should be in the interest of the health authorities.

Purpose: To study the feasibility of 3-dimensional (3D) teleradiology in surveillance of patients treated with stent-grafts for abdominal aortic aneurysm (AAA)., Methods: Between April 2002 and November 2003, 8 AAA patients (7 men; median age 73 years, range 62-84) with stent-grafts had follow-up computed tomograms (CT) performed at their local hospital and transmitted without loss across a broadband connection to the university hospital. On both monitors, the radiologists were presented with the complete CT axial dataset, sagittal and coronal reformatted slices, and a 3D volume-rendered reconstruction. The two radiologists were then able to simultaneously perform measurements and real-time manipulations of the axial and 3D pictures, which were discussed over the telephone or using a videoconferencing unit. Patient satisfaction, the radiologists' evaluation of the method, and the potential cost savings were explored., Results: Twelve follow-up CT scans were performed on the 8 patients. The time for transmission over the teleradiological network averaged 5 minutes, and the evaluation required 15 minutes at the university hospital. The overall technical quality of the images was rated as good by the university radiologist. In 11 studies, the stent-grafts were satisfactory, but a type III endoleak was detected in one 5.5-year-old stent-graft. Neither radiologist had a problem identifying the endoleak. Patients had confidence that the examination at the local hospital was of good quality; they all felt that they received good care and were pleased with avoiding travel to the university hospital. From the economic analysis, an annual savings of 40,000 Euros (USD 52,304) was projected, mostly due to avoiding hospital stays and outpatient consultations at the university hospital., Conclusions: The experiences from this study are encouraging, but a larger series will be necessary for a thorough evaluation of 3D teleradiology as a surveillance method for aortic stent-graft patients.

Background: The main drawback with the laparoscopic approach is that the surgeon is unable to palpate vessels, tumors, and organs during surgery. Furthermore, the laparoscope provides only surface view of organs. There is a need for more advanced visualizations that can enhance the view to include information below the surface of the organs for planning of the procedure and for control and guidance during treatment., Methods: We propose three-dimensional (3D) navigation technology based on preoperatively acquired magnetic resonance or computed tomography data used in combination with a laparoscopic navigation pointer (LNP). The LNP has an attached position tracker that allows the surgeon to control the display of images interactively before and during surgery. This study evaluated the patient registration accuracy, the feasibility of image-based navigation and, qualitatively, the navigation precision in the retroperitoneum during laparoscopic surgery., Results: This technology was used during the treatment of six patients (involving adrenalectomies and a neuroma protruding into the pelvis). An average patient registration accuracy of 6.90 mm was achieved. The precision during navigation in the retroperitoneum was, in some cases, better than the patient registration accuracy suggested. The technology helped the surgeons to understand better the anatomy and to locate blood vessels., Conclusions: In the reported cases, the LNP was a useful tool for image guidance in laparoscopic surgery, both for planning the surgical approach in detail and for guidance. The authors believe that adominal 3D image guidance using an LNP has a large potential for improving laparoscopic surgery, especially when vessels and anatomic relations may be difficult to identify using only a laparoscope. Accordingly, they believe this new technology could increase safety and make it easier for the surgeon to perform successful laparoscopic surgery.

Background: The main drawback with the laparoscopic approach is that the surgeon lacks the possibility to palpate vessels, tumours and organs during surgery. Furthermore, the laparoscope only provides a surface view of organs. There is a need for more advanced visualization that enhances the view to include information below the surface of the organs when the procedure is planned and for control and guidance during treatment., Material and Methods: We propose 3-D navigation technology based on preoperatively acquired MR or CT data used in combination with a laparoscopic navigation pointer. The pointer has an attached position tracker which enables the surgeon to interactively control the display of images prior to and during surgery., Results: We have used this technology during treatment of four patients with adrenal tumours. Preoperative registration of images of the patients was performed within two minutes with an average accuracy of 7.1 mm. 2-D and 3-D visualizations interactively controlled by the pointer were used both for planning and for guidance of the surgical procedures., Interpretation: The pointer was a useful tool in image guidance of laparoscopic surgery in the reported cases both for planning the approach in detail and for guidance. We believe abdominal 3-D image guidance using a laparoscopic navigation pointer has a large potential for improving laparoscopic surgery, especially in cases where vessels and anatomical relations might be difficult to identify using only a laparoscope. Accordingly, this new technology will increase safety and facilitate successful laparoscopic surgery.

Motion of carotid artery plaques during the cardiac cycle may contribute to plaque disruption and embolism. We have developed a computerized method that objectively analyzes such motion from a sequence of ultrasound (US) radiofrequency (RF) images. A displacement vector map is obtained by 2-D correlation of local areas in consecutive images. From this map, motion dynamics can be quantified and presented as function of time, spatial (image) coordinates or as single numbers. Correct functionality has been verified on laboratory data. Applied to patient data, the method gives temporal results that correlate well with ECG data and the calculated peak systolic velocities of typically 10 mm/s agree well with values reported in the literature. The spatial analysis demonstrates that different plaque regions may exhibit different motion patterns that may cause internal stress, leading to fissures and plaque disruption. Thus, the motion analysis method may provide new and important information about the plaque characteristics and the prospective risk of cerebrovascular events.

Purpose: Three-dimensional (3D) intraoperative ultrasound may be easier to interpret when used in combination with less noisy preoperative image data such as CT. The purpose of this study was to evaluate the use of preoperative image data in a 3D ultrasound-based navigation system specially designed for minimally invasive abdominal surgery. A prototype system has been tested in patients with aortic aneurysms undergoing clinical assessment before and after abdominal aortic stent-graft implantation., Methods: All patients were first imaged by spiral CT followed by 3D ultrasound scanning. The CT volume was registered to the patient using fiducial markers. This enabled us to compare corresponding slices from 3D ultrasound and CT volumes. The accuracy of the patient registration was evaluated both using the external fiducial markers (artificial landmarks glued on the patient's skin) and using intraoperative 3D ultrasound as a measure of the true positioning of anatomic landmarks inside the body., Results: The mean registration accuracy on the surface was found to be 7.1 mm, but increased to 13.0 mm for specific landmarks inside the body. CT and ultrasound gave supplementary information of surrounding structures and position of the patient's anatomy. Fine-tuning the initial patient registration of the CT data with a multimodal CT to intraoperative 3D ultrasound registration (e.g., mutual information), as well as ensuring no movements between this registration and image guidance, may improve the registration accuracy., Conclusion: Preoperative CT in combination with 3D ultrasound might be helpful for guiding minimal invasive abdominal interventions.

Objective: We have investigated alternative ways to integrate intraoperative 3D ultrasound images and preoperative MR images in the same 3D scene for visualizing brain shift and improving overview and interpretation in ultrasound-based neuronavigation., Materials and Methods: A Multi-Modal Volume Visualizer (MMVV) was developed that can read data exported from the SonoWand neuronavigation system and reconstruct the spatial relationship between the volumes available at any given time during an operation, thus enabling the exploration of new ways to fuse pre- and intraoperative data for planning, guidance and therapy control. In addition, the mismatch between MRI volumes registered to the patient and intraoperative ultrasound acquired from the dura was qualified., Results: The results show that image fusion of intraoperative ultrasound images in combination with preoperative MRI will make perception of available information easier by providing updated (real-time) image information and an extended overview of the operating field during surgery. This approach will assess the degree of anatomical changes during surgery and give the surgeon an understanding of how identical structures are imaged using the different imaging modalities. The present study showed that in 50% of the cases there were indications of brain shift even before the surgical procedure had started., Conclusions: We believe that image fusion between intraoperative 3D ultrasound and preoperative MRI might improve the quality of the surgical procedure and hence also improve the patient outcome.

The purpose is to describe our experience with endovascular treatment of type B aortic dissections. Five patients were treated for complications following type B dissections like, false channel aneurysm formation, rupture and arterial obstruction. They were treated in general anaesthesia using a 'homemade' endoprosthesis or a commercially available endoprosthesis (Excluder) deployed during fluoroscopy. The patients have been followed at regular intervals with a median observation time of 18 months (range 12--36). One patient needed a secondary intervention due to dislodgement of the proximal stentgraft with haemorrhage into both the false and the true lumen. Otherwise there have been no early or late mortality or major complications in this series. Even if our experience with endovascular treatment of type B dissections is rather limited, the results so far are promising. Open surgery in many of these cases is complicated with high morbidity and mortality rate and the endovascular technique offers great advantages. A longer follow-up period is necessary to define the place of endovascular treatment.

We introduce a new wavelet-based method for edge detection in ultrasound (US) images. Each beam that is analyzed is first transformed into the wavelet domain using the continuous wavelet transform (CWT). Because the CWT preserves both scale and time information, it is possible to separate the signal into a number of scales. The edge is localized by first determining the scale at which the power spectrum, based on the wavelet transform, has its maximum value. Next, at this scale we find the position of the peak for the squared CWT. This method does not depend on any threshold, after the range of scales have been determined. We suggest a range of scales for US images in general. Sample edge detections are demonstrated in US images of straight and jagged edges of simple structures submerged in water bath, and of an abdominal aorta aneurysm phantom.