Biomedical subjects

Russell H Taylor

Publications and source records attributed to Russell H Taylor.

13 recordsLinked to original sources

PubMed2006

Lung deformation estimation and four-dimensional CT lung reconstruction.

RATIONALE AND OBJECTIVES: Four-dimensional (4D) computed tomography (CT) can be used in radiation treatment planning to account for respiratory motion. Current 4D CT techniques have limitations in either spatial or temporal resolution. In addition, most of these techniques rely on auxiliary surrogates to relate the time of the CT scan to the patient's respiratory phase. We propose a 4D CT method for lung applications to overcome these problems. MATERIALS AND METHODS: A set of axial scans are taken at multiple table positions to obtain a series of two-dimensional images while the patient is breathing freely. Each two-dimensional image is registered to a reference CT volume. The deformation of the image with respect to the volume is used to synchronize the image with the respiratory cycle assuming that there is no phase variation along the craniocaudal direction. The reconstructed 4D dataset is a series of deformable transformations of the reference volume. RESULTS: A synthetic 4D dataset showed that the registration error is less than 5% of the image deformation. A swine study showed that the algorithm can generate better image quality than the image sorting method. A respiratory-gated 4D dataset showed that the algorithm's result is consistent with the ground truth. CONCLUSION: The algorithm can reconstruct good quality 4D images without external surrogates even if the CT scans are acquired under irregular respiratory motion. The algorithm may allow for reduced radiation dose to the patient with a limited loss of image quality. Although the phase variation exists along the craniocaudal direction, the 4D reconstruction is reasonably accurate.

Algorithms↗

PubMed2005

Covalent protein immobilization on glass surfaces: application to alkaline phosphatase.

Lyophilized alkaline phosphatase (ALPase) was immobilized on aminated glass surfaces using the in vacuo cross-linking process [Simons, B.L., King, M.C., Cyr, T., Hefford, M.A., Kaplan, H., 2002. Zero-length cross-linking of lyophilized proteins. Protein Sci. 11, 1558-1564]. In this procedure, amide bonds were formed between carboxyl groups on the protein and amino groups on the glass surface. After the non-covalently attached enzyme was removed the immobilized ALPase not only retained its activity but could also be used, washed and reused at least six times without significant loss of activity. An average of 1.4+/-0.6 mg of reusable ALPase per gram of glass fibre was immobilized based on the activity of the soluble equivalent.

Alkaline Phosphatase↗

PubMed2005

DaVinci canvas: a telerobotic surgical system with integrated, robot-assisted, laparoscopic ultrasound capability.

We present daVinci Canvas: a telerobotic surgical system with integrated robot-assisted laparoscopic ultrasound capability. DaVinci Canvas consists of the integration of a rigid laparoscopic ultrasound probe with the daVinci robot, video tracking of ultrasound probe motions, endoscope and ultrasound calibration and registration, autonomous robot motions, and the display of registered 2D and 3D ultrasound images. Although we used laparoscopic liver cancer surgery as a focusing application, our broader aim was the development of a versatile system that would be useful for many procedures.

Computer Graphics↗

PubMed2005

Electromagnetic tracker measurement error simulation and tool design.

Developing electromagnetically (EM) tracked tools can be very time consuming. Tool design traditionally takes many iterations, each of which requires construction of a physical tool and performing lengthy experiments. We propose a simulator that allows tools to be virtually designed and tested before ever being physically built. Both tool rigid body (RB) configurations and reference RB configurations are configured; the reference RB can be located anywhere in the field, and the tool is virtually moved around the reference in user-specified pattern. Sensor measurements of both RBs are artificially distorted according to a previously acquired error field mapping, and the 6-DOF frames of the Tool and Reference are refit to the distorted sensors. It is possible to predict the tool tip registration error for a particular tool and coordinate reference frame (CRF) in a particular scenario before ever even building the tools.

Computer Simulation↗

PubMed2005

Spatial motion constraints for robot assisted suturing using virtual fixtures.

We address the problem of the stitching task in endoscopic surgery using a circular needle under robotic assistance. Our main focus is to present an algorithm for suturing using guidance virtual fixtures (VF) that assist the surgeon to move towards a desired goal. A weighted multi-objective, constraint optimization framework is used to compute the joint motions required for the tasks. We show that with the help of VF, suturing can be performed at awkward angles without multiple trials, thus avoiding damage to tissue. In this preliminary study we show the feasibility of our approach and demonstrate the promise of cooperative assistance in complex tasks such as suturing.

Feasibility Studies↗

PubMed2005

Lung deformation estimation and four-dimensional CT lung reconstruction.

Four-dimensional (4D) computed tomography (CT) image acquisition is a useful technique in radiation treatment planning and interventional radiology in that it can account for respiratory motion of lungs. Current 4D lung reconstruction techniques have limitations in either spatial or temporal resolution. In addition, most of these techniques rely on auxiliary surrogates to relate the time of CT scan to the patient's respiratory phase. In this paper, we propose a novel 4D CT lung reconstruction and deformation estimation algorithm. Our algorithm is purely image based. The algorithm can reconstruct high quality 4D images even if the original images are acquired under irregular respiratory motion. The algorithm is validated using synthetic 4D lung data. Experimental results from a swine study data are also presented.

Algorithms↗

PubMed2005

Scale-invariant registration of monocular endoscopic images to CT-scans for sinus surgery.

In this paper, we present a novel method for intra-operative registration directly from monocular endoscopic images. This technique has the potential to provide a more accurate surface registration at the surgical site than existing methods. It can operate autonomously from as few as two images and can be particularly useful in revision cases where surgical landmarks may be absent. A by-product of video registration is an estimate of the local surface structure of the anatomy, thus providing the opportunity to dynamically update anatomical models as the surgery progresses. Our approach is based on a previously presented method [Burschka, D., Hager, G.D., 2004. V-GPS (SLAM):--Vision-based inertial system for mobile robots. In: Proceedings of ICRA, 409-415] for reconstruction of a scaled 3D model of the environment from unknown camera motion. We use this scaled reconstruction as input to a PCA-based algorithm that registers the reconstructed data to the CT data and recovers the scale and pose parameters of the camera in the coordinate frame of the CT scan. The result is used in an ICP registration step to refine the registration estimates. The details of our approach and the experimental results with a phantom of a human skull and a head of a pig cadaver are presented in this paper.

Algorithms↗

PubMed2005

Image overlay guidance for needle insertion in CT scanner.

We present an image overlay system to aid needle insertion procedures in computed tomography (CT) scanners. The device consists of a display and a semitransparent mirror that is mounted on the gantry. Looking at the patient through the mirror, the CT image appears to be floating inside the patient with correct size and position, thereby providing the physician with two-dimensional (2-D) "X-ray vision" to guide needle insertions. The physician inserts the needle following the optimal path identified in the CT image rendered on the display and, thus, reflected in the mirror. The system promises to reduce X-ray dose, patient discomfort, and procedure time by significantly reducing faulty insertion attempts. It may also increase needle placement accuracy. We report the design and implementation of the image overlay system followed by the results of phantom and cadaver experiments in several clinical applications.

Biopsy↗

PubMed2005

Image overlay for CT-guided needle insertions.

OBJECTIVE: We present a 2D image overlay device to assist needle placement on computed tomography (CT) scanners. MATERIALS AND METHODS: The system consists of a flat display and a semitransparent mirror mounted on the gantry. When the physician looks at the patient through the mirror, the CT image appears to be floating inside the body with correct size and position as if the physician had 2D 'X-ray vision'. The physician draws the optimal path on the CT image. The composite image is rendered on the display and thus reflected in the mirror. The reflected image is used to guide the physician in the procedure. In this article, we describe the design and various embodiments of the 2D image overlay system, followed by the results of phantom and cadaver experiments in multiple clinical applications. RESULTS: Multiple skeletal targets were successfully accessed with one insertion attempt. Generally, successful access was recorded on liver targets when a clear path opened, but the number of attempts and accuracy showed variability because of occasional lack of access. Soft tissue deformation further reduced the accuracy and consistency in comparison to skeletal targets. CONCLUSION: The system demonstrated strong potential for reducing faulty needle insertion attempts, thereby reducing X-ray dose and patient discomfort.

Animals↗

PubMed2003

Task performance in stapedotomy: comparison between surgeons of different experience levels.

OBJECTIVES: Two steps in stapedotomy are particularly challenging: (1) micropick fenestration of the stapes footplate (SF) and (2) crimping of the stapes prosthesis (SP) to the incus. We conducted trials to determine if experience correlates with differences in performance for these tasks. METHODS: In a surgical model of stapedotomy, performance was measured for 3 experienced and 3 novice surgeons. For fenestration, we measured ability to target the fenestration and force applied to the SF. For crimping, we measured crimp quality, movement of the SP during crimping, and force applied to the SF. RESULTS: Experienced surgeons demonstrated significantly better ability to target the fenestration and, during crimping, caused less SP movement and a significantly lower rate of SP dislodgment. CONCLUSIONS: Clear differences in task performance are measurable between more and less experienced surgeons during critical steps of stapedotomy. CLINICAL SIGNIFICANCE: The observed differences in task performance may contribute to an understanding of maneuvers that increase the risk of inadequate prosthesis placement and cochlear trauma-factors likely responsible for variable hearing results with strapedotomy.

Clinical Competence↗

PubMed2002

System for robotically assisted prostate biopsy and therapy with intraoperative CT guidance.

RATIONALE AND OBJECTIVES: The purpose of this study was to assess the work-in-progress prototype of an image-guided, robotic system for accurate and consistent placement of transperineal needles into the prostate with intraoperative image guidance inside the gantry of a computed tomographic (CT) scanner. MATERIALS AND METHODS: The coach-mounted system consists of a seven-degrees-of-freedom, passive mounting arm: a remote-center-of-motion robot; and a motorized, radiolucent needle-insertion device to deliver 17-18-gauge implant and biopsy needles into the prostate with the transperineal route. The robot is registered to the image space with a stereotactic adapter. The surgeon plans and controls the intervention in the CT scanner room with a desktop computer that receives DICOM images from the CT scanner. The complete system fits in a carry-on suitcase, does not need calibration, and does not utilize vendor-specific features of the CT scanner. RESULTS: In open air, the average accuracy was better than 1 mm at a 5-8-cm depth. In various phantoms, the average orientation error was 1.3 degrees, and the average distance between the needle tip and the target was 2 mm. CONCLUSION: Results of preliminary experiments indicate that this robotic system may be suitable for transperineal needle placement into the prostate and shows potential in a variety of other percutaneous clinical applications.

Biopsy, Needle↗

PubMed2002

Robot-assisted stapedotomy: micropick fenestration of the stapes footplate.

OBJECTIVE: Micropick fenestration of the stapes footplate, a difficult step in stapedotomy, was selected for trials evaluating the potential for robotic assistance (RA) to improve clinical measures of surgical performance. STUDY DESIGN: In a surgical model of stapedotomy, we measured accuracy of fenestration to a desired point location and force applied to the stapes footplate. Performance variables were measured for 3 experienced and 3 less-experienced surgeons. RESULTS: RA significantly reduced the maximum force applied to the stapes footplate. For fenestration targeting, RA significantly improved accuracy for less-experienced surgeons and significantly worsened targeting for more-experienced surgeons. CONCLUSIONS: RA significantly improves performance for micropick fenestration in a surgical model of stapedotomy. For certain tasks, RA differentially affects performance for users of different experience levels. CLINICAL SIGNIFICANCE: These are the first results showing quantitative improvements in performance during simulated ear surgery using RA and differential effects of RA on performance for users of different experience levels.

Clinical Competence↗

PubMedDate not supplied

Projected tetrahedra revisited: a barycentric formulation applied to digital radiograph reconstruction using higher-order attenuation functions.

This paper presents a novel method for volume rendering of unstructured grids. Previously, we introduced an algorithm for perspective-correct interpolation of barycentric coordinates and computing polynomial attenuation integrals for a projected tetrahedron using graphics hardware. Here, we enhance the algorithm by providing a simple and efficient method to compute the projected shape (silhouette) and tessellation of a tetrahedron, in perspective and orthographic projection models. Our tessellation algorithm is published here for the first time. Compared with works of other groups on rendering unstructured grids, the main contributions of this work are: 1) A new algorithm for finding the silhouette of a projected tetrahedron. 2) A method for interpolating barycentric coordinates and thickness on the faces of the tetrahedron. 3) Visualizing higher-order attenuation functions using GPU without preintegration. 4) Capability of applying shape deformations to a rendered tetrahedral mesh without significant performance loss. Our visualization model is independent of depth-sorting of the cells. We present imaging and timing results of our implementation, and an application in time-critical "2D-3D" deformable registration of anatomical models. We discuss the impact of using higher-order functions on quality and performance.

Algorithms↗