An anthropomorphic phantom for atrial transseptal puncture simulation training.

Background: Transseptal puncture (TSP) is a critical prerequisite for left-sided cardiac interventions, such as atrial fibrillation (AF) ablation and left atrial appendage closure. Despite its routine nature, TSP can be technically demanding and carries a risk of complications. This study presents a novel, patient-specific, anthropomorphic phantom for TSP simulation training that can be used with X-ray fluoroscopy and ultrasound imaging.

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.

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).

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.

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.

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.

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.

A Constant-Force End-Effector With Online Force Adjustment for Robotic Ultrasonography.

In this letter, we propose a novel constant-force end-effector (CFEE) to address current limitations in robotic ultrasonography. The CFEE uses a parallel, motor-spring-based solution to precisely generate constant operating forces over a wide range and enable the ultrasound (US) probe to adapt to the abdominal contours autonomously. A displacement measurement unit was developed to realize the acquisition of probe position and precise control of the operating force.

Development and Testing of an Ultrasound-Compatible Cardiac Phantom for Interventional Procedure Simulation Using Direct Three-Dimensional Printing.

Organ phantoms are widely used for evaluating medical technologies, training clinical practitioners, as well as surgical planning. In the context of cardiovascular disease, a patient-specific cardiac phantom can play an important role for interventional cardiology procedures. However, phantoms with complicated structures are difficult to fabricate by conventional manufacturing methods.

Design and Integration of a Parallel, Soft Robotic End-Effector for Extracorporeal Ultrasound.

Objective: In this work we address limitations in state-of-the-art ultrasound robots by designing and integrating a novel soft robotic system for ultrasound imaging. It employs the inherent qualities of soft fluidic actuators to establish safe, adaptable interaction between ultrasound probe and patient.

Methods: We acquire clinical data to determine the movement ranges and force levels required in prenatal foetal ultrasound imaging and design the soft robotic end-effector accordingly.

Analysis of a Customized Clutch Joint Designed for the Safety Management of an Ultrasound Robot.

Robotic systems have great potential to assist ultrasound (US) examination. Currently, the safety management method to limit the force that a US robot can apply mostly relies on force sensing and software-based algorithms. This causes the concern that the potential failure of sensors, electrical systems, or software could lead to patient injuries.

Image Data Analysis for Quantifying Scar Transmurality in MRI phantoms for Cardiac Resynchronisation Therapy.

The use of implantable cardiac devices has increased in the last 30 years. Cardiac resynchronisation therapy (CRT) is a procedure which involves implanting a coin sized pacemaker for reversing heart failure. The pacemaker electrode leads are implanted into cardiac myocardial tissue.

Algorithms for left atrial wall segmentation and thickness - Evaluation on an open-source CT and MRI image database.

Structural changes to the wall of the left atrium are known to occur with conditions that predispose to Atrial fibrillation. Imaging studies have demonstrated that these changes may be detected non-invasively. An important indicator of this structural change is the wall's thickness.

LV function validation of computer-assisted interventional system for cardiac resyncronisation therapy.

Purpose: Cardiac resynchronisation therapy (CRT) is an established treatment for symptomatic patients with heart failure, a prolonged QRS duration, and impaired left ventricular (LV) function; however, non-response rates remain high. Recently proposed computer-assisted interventional platforms for CRT provide new routes to improving outcomes. Interventional systems must process information in an accurate, fast and highly automated way that is easy for the interventional cardiologists to use.

Dynamic mapping of ventricular function from cardiovascular magnetic resonance imaging.

Heart failure is associated with substantial mortality and morbidity and remains the most common diagnosis in older patients. Based on experimental electrophysiologic studies, cardiac resynchronization therapy (CRT) for heart failure results in a maximum resynchronization effect when applied to the most delayed left ventricular (LV) site. Current clinical practice is to identify the optimal site using separate visualisation of scar and activation information.

An ergonomic handheld ultrasound probe providing contact forces and pose information.

This paper presents a handheld ultrasound probe which is integrated with sensors to measure force and pose (position/orientation) information. Using an integrated probe like this, one can relate ultrasound images to spatial location and create 3D ultrasound maps. The handheld device can be used by sonographers and also easily be integrated with robot arms for automated sonography.

Image-based view-angle independent cardiorespiratory motion gating and coronary sinus catheter tracking for x-ray-guided cardiac electrophysiology procedures.

Determination of the cardiorespiratory phase of the heart has numerous applications during cardiac imaging. In this article we propose a novel view-angle independent near-real time cardiorespiratory motion gating and coronary sinus (CS) catheter tracking technique for x-ray fluoroscopy images that are used to guide cardiac electrophysiology procedures. The method is based on learning CS catheter motion using principal component analysis and then applying the derived motion model to unseen images taken at arbitrary projections, using the epipolar constraint.

A statistical method for retrospective cardiac and respiratory motion gating of interventional cardiac x-ray images.

Purpose: Image-guided cardiac interventions involve the use of fluoroscopic images to guide the insertion and movement of interventional devices. Cardiorespiratory gating can be useful for 3D reconstruction from multiple x-ray views and for reducing misalignments between 3D anatomical models overlaid onto fluoroscopy.

Methods: The authors propose a novel and potentially clinically useful retrospective cardiorespiratory gating technique.

Surface flattening of the human left atrium and proof-of-concept clinical applications.

Surface flattening in medical imaging has seen widespread use in neurology and more recently in cardiology to describe the left ventricle using the bull's-eye plot. The method is particularly useful to standardize the display of functional information derived from medical imaging and catheter-based measurements. We hypothesized that a similar approach could be possible for the more complex shape of the left atrium (LA) and that the surface flattening could be useful for the management of patients with atrial fibrillation (AF).

Novel System for Real-Time Integration of 3-D Echocardiography and Fluoroscopy for Image-Guided Cardiac Interventions: Preclinical Validation and Clinical Feasibility Evaluation.

Real-time imaging is required to guide minimally invasive catheter-based cardiac interventions. While transesophageal echocardiography allows for high-quality visualization of cardiac anatomy, X-ray fluoroscopy provides excellent visualization of devices. We have developed a novel image fusion system that allows real-time integration of 3-D echocardiography and the X-ray fluoroscopy.

A Method to Standardize Quantification of Left Atrial Scar From Delayed-Enhancement MR Images.

Delayed-enhancement magnetic resonance imaging (DE-MRI) is an effective technique for detecting left atrial (LA) fibrosis both pre and postradiofrequency ablation for the treatment of atrial fibrillation. Fixed thresholding models are frequently utilized clinically to segment and quantify scar in DE-MRI due to their simplicity. These methods fail to provide a standardized quantification due to interobserver variability.

Evaluation of current algorithms for segmentation of scar tissue from late gadolinium enhancement cardiovascular magnetic resonance of the left atrium: an open-access grand challenge.

Background: Late Gadolinium enhancement (LGE) cardiovascular magnetic resonance (CMR) imaging can be used to visualise regions of fibrosis and scarring in the left atrium (LA) myocardium. This can be important for treatment stratification of patients with atrial fibrillation (AF) and for assessment of treatment after radio frequency catheter ablation (RFCA). In this paper we present a standardised evaluation benchmarking framework for algorithms segmenting fibrosis and scar from LGE CMR images.

A statistical model of catheter motion from interventional x-ray images: application to image-based gating.

The motion and deformation of catheters that lie inside cardiac structures can provide valuable information about the motion of the heart. In this paper we describe the formation of a novel statistical model of the motion of a coronary sinus (CS) catheter based on principal component analysis of tracked electrode locations from standard mono-plane x-ray fluoroscopy images. We demonstrate the application of our model for the purposes of retrospective cardiac and respiratory gating of x-ray fluoroscopy images in normal dose x-ray fluoroscopy images, and demonstrate how a modification of the technique allows application to very low dose scenarios.