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Sample records for c-bogen-ct-unterstuetzte 3d-navigation perkutaner

  1. 3D navigation of endoscopic rhizotomy at the lumbar spine.

    PubMed

    Jentzsch, Thorsten; Sprengel, Kai; Peterer, Lorenz; Mica, Ladislav; Werner, Clément M L

    2016-01-01

    We present a detailed description of the surgical technique and the preliminary results of an endoscopic denervation for patients with chronic low back pain (CLBP) originating from the facet joints (FJ). Endoscopic denervation of the medial branches of the dorsal rami supplying the FJ has recently been appraised as providing excellent intraoperative visualization and long term pain relief for these patients. Conventional endoscopic rhizotomy has been expanded to include a the precise localization of 3D navigation. A surgical description and the results of our first four patients treated with 3D navigated endoscopic rhizotomy (3DNER) are presented. Four patients with a mean age of 59years and a follow-up time of 2months were included. All patients reported pain reduction in the immediate postoperative period, while three patients (75%) had long lasting relief. The patient without persisting relief had previously sustained a lumbar disc prolapse and only achieved minor pain relief with preoperative FJ infiltration, compared to the significant relief that was seen in the other patients. In contrast to conventional rhizotomy, 3DNER enables the surgeon to ablate more precisely and extensively, which is especially useful if scar tissue is present from previous injuries or surgeries. When successful, this technique may provide long lasting pain relief, especially if the preoperative FJ infiltrations are followed by a substantial pain reduction. PMID:26628214

  2. On-chip Microfluidic Multimodal Swimmer toward 3D Navigation.

    PubMed

    Barbot, Antoine; Decanini, Dominique; Hwang, Gilgueng

    2016-01-01

    Mobile microrobots have a promising future in various applications. These include targeted drug delivery, local measurement, biopsy or microassembly. Studying mobile microrobots inside microfluidics is an essential step towards such applications. But in this environment that was not designed for the robot, integration process and propulsion robustness still pose technological challenges. In this paper, we present a helical microrobot with three different motions, designed to achieve these goals. These motions are rolling, spintop motion and swimming. Through these multiple motions, microrobots are able to selectively integrate a chip through a microfluidic channel. This enables them to perform propulsion characterizations, 3D (Three Dimensional) maneuverability, particle cargo transport manipulation and exit from the chip. The microrobot selective integration inside microfluidics could lead to various in-vitro biologic or in-vivo biomedical applications. PMID:26791433

  3. On-chip Microfluidic Multimodal Swimmer toward 3D Navigation

    PubMed Central

    Barbot, Antoine; Decanini, Dominique; Hwang, Gilgueng

    2016-01-01

    Mobile microrobots have a promising future in various applications. These include targeted drug delivery, local measurement, biopsy or microassembly. Studying mobile microrobots inside microfluidics is an essential step towards such applications. But in this environment that was not designed for the robot, integration process and propulsion robustness still pose technological challenges. In this paper, we present a helical microrobot with three different motions, designed to achieve these goals. These motions are rolling, spintop motion and swimming. Through these multiple motions, microrobots are able to selectively integrate a chip through a microfluidic channel. This enables them to perform propulsion characterizations, 3D (Three Dimensional) maneuverability, particle cargo transport manipulation and exit from the chip. The microrobot selective integration inside microfluidics could lead to various in-vitro biologic or in-vivo biomedical applications. PMID:26791433

  4. On-chip Microfluidic Multimodal Swimmer toward 3D Navigation.

    PubMed

    Barbot, Antoine; Decanini, Dominique; Hwang, Gilgueng

    2016-01-21

    Mobile microrobots have a promising future in various applications. These include targeted drug delivery, local measurement, biopsy or microassembly. Studying mobile microrobots inside microfluidics is an essential step towards such applications. But in this environment that was not designed for the robot, integration process and propulsion robustness still pose technological challenges. In this paper, we present a helical microrobot with three different motions, designed to achieve these goals. These motions are rolling, spintop motion and swimming. Through these multiple motions, microrobots are able to selectively integrate a chip through a microfluidic channel. This enables them to perform propulsion characterizations, 3D (Three Dimensional) maneuverability, particle cargo transport manipulation and exit from the chip. The microrobot selective integration inside microfluidics could lead to various in-vitro biologic or in-vivo biomedical applications.

  5. On-chip Microfluidic Multimodal Swimmer toward 3D Navigation

    NASA Astrophysics Data System (ADS)

    Barbot, Antoine; Decanini, Dominique; Hwang, Gilgueng

    2016-01-01

    Mobile microrobots have a promising future in various applications. These include targeted drug delivery, local measurement, biopsy or microassembly. Studying mobile microrobots inside microfluidics is an essential step towards such applications. But in this environment that was not designed for the robot, integration process and propulsion robustness still pose technological challenges. In this paper, we present a helical microrobot with three different motions, designed to achieve these goals. These motions are rolling, spintop motion and swimming. Through these multiple motions, microrobots are able to selectively integrate a chip through a microfluidic channel. This enables them to perform propulsion characterizations, 3D (Three Dimensional) maneuverability, particle cargo transport manipulation and exit from the chip. The microrobot selective integration inside microfluidics could lead to various in-vitro biologic or in-vivo biomedical applications.

  6. 3D Navigation and Integrated Hazard Display in Advanced Avionics: Workload, Performance, and Situation Awareness

    NASA Technical Reports Server (NTRS)

    Wickens, Christopher D.; Alexander, Amy L.

    2004-01-01

    We examined the ability for pilots to estimate traffic location in an Integrated Hazard Display, and how such estimations should be measured. Twelve pilots viewed static images of traffic scenarios and then estimated the outside world locations of queried traffic represented in one of three display types (2D coplanar, 3D exocentric, and split-screen) and in one of four conditions (display present/blank crossed with outside world present/blank). Overall, the 2D coplanar display best supported both vertical (compared to 3D) and lateral (compared to split-screen) traffic position estimation performance. Costs of the 3D display were associated with perceptual ambiguity. Costs of the split screen display were inferred to result from inappropriate attention allocation. Furthermore, although pilots were faster in estimating traffic locations when relying on memory, accuracy was greatest when the display was available.

  7. Intraoperative C-arm fluoroscopy-based 3D navigation for intraventricular endoscopic intervention.

    PubMed

    Herbowski, L; Sagan, L; Szyłak, R; Sałapa, P; Harat, A

    2013-08-01

    The authors present the technique of retained ventricular catheter removal by means of fluoroscopy-guided neuronavigation. A disconnected free-floating intraventricular catheter is an unusual shunt complication, and in case of shunt infection it should be removed immediately. The operative procedure described here is the first such imaging technique and original approach to retained ventricular catheter endoscopic surgery. The real-time fluoroscopy-guided neuroendoscopy seems to make 3D intraoperative navigation possible.

  8. [3D-navigated high energy shockwave therapy and axis correction after failed distraction treatment of congenital tibial pseudarthrosis].

    PubMed

    Schatz, K D; Nehrer, S; Dorotka, R; Kotz, R

    2002-07-01

    The treatment of congenital tibial pseudarthrosis using a distraction procedure as described by Ilizarov is a standard surgical intervention. Nevertheless, there are problems in achieving bony stability in about 10% of cases even after repeated surgery as reported by Lammens et al. (2000). Traub et al. (1999) found a rate of 50% amputations in 33 cases treated since 1927. To prevent an Ilizarov procedure from resulting in a delayed union or nonunion, Paley et al. (1992) recommended autografting immediately after distraction. Based on the good results in the stimulation of osteogenesis in adults, we started to treat delayed bone union following distraction treatment with high-energy shock wave therapy also in children. In patients suffering from congenital tibial pseudarthrosis with a deviation of the bony axis, we combine this surgery-substituting therapy with fixation of a Taylor spatial frame in order to correct the axis. Using this new method of treatment, we were able to achieve stability in four children who previously had had nonunion even after multiple surgical interventions.

  9. Iso-C3D navigation assisted pedicle screw placement in deformities of the cervical and thoracic spine

    PubMed Central

    Rajan, Vinod V; Kamath, Vijay; Shetty, Ajoy Prasad; Rajasekaran, S

    2010-01-01

    Background: Pedicle screw instrumentation of the deformed cervical and thoracic spine is challenging to even the most experienced surgeon and associated with increased incidence of screw misplacement. Iso-C3D based navigation has been reported to improve the accuracy of pedicle screw placement, however, there are very few studies assessing its efficacy in the presence of deformity. We conducted a study to evaluate the accuracy of Iso-C3D based navigation in pedicle screw fixation in the deformed cervical and thoracic spine. Materials and Methods: We inserted 98 cervical pedicle screws (18 patients) and 242 thoracic pedicle screws (17 patients) using Iso-C3D based navigation for deformities of spine due to scoliosis, ankylosing spondylitis, post traumatic and degenerative disorders. Two independent observers determined and graded the accuracy of screw placement from postoperative computed tomography (CT) scans. Results: Postoperative CT scans of the cervical spine showed 90.8% perfectly placed screws with 7 (7%) grade I pedicle breaches, 2 (2%) grade II pedicle breaches and one anterior cortex penetration (< 2mm). Five lateral pedicle breaches violated the vertebral artery foramen and three medial pedicle breaches penetrated the spinal canal; however, no patient had any neurovascular complications. In the thoracic spine there were 92.2% perfectly placed screws with only six (2%) grade II pedicle breaches, eight (3%) grade I pedicle breaches and five screws (2%) penetrating the anterior or lateral cortex. No neuro-vascular complications were encountered. Conclusion: Iso-C3D based navigation improves the accuracy of pedicle screw placement in deformities of the cervical and thoracic spine. The low incidence of pedicle breach implies increased safety for the patient. PMID:20419003

  10. MSCT labelling for pre-operative planning in cardiac resynchronization therapy

    PubMed Central

    Rioual, Kristell; Unanua, Edurne; Laguitton, Soizic; Garreau, Mireille; Boulmier, Dominique; Haigron, Pascal; Leclercq, Christophe; Coatrieux, Jean-Louis

    2005-01-01

    The objective of this paper is twofold: (i) to show how Multislice Computed Tomography (MSCT) data sets bring the information required for Cardiac Resynchronisation Therapy (CRT) planning; (ii) to demonstrate the feasibility of 3-D navigation into the veins where Left Ventricular leads have to be placed. The former has been achieved by exploring and labelling the cardiac structures of concern, the latter has been performed by using the concept of virtual navigation with high resolution surface detection and estimation algorithms. PMID:16005608

  11. Low computation vision-based navigation for a Martian rover

    NASA Technical Reports Server (NTRS)

    Gavin, Andrew S.; Brooks, Rodney A.

    1994-01-01

    Construction and design details of the Mobot Vision System, a small, self-contained, mobile vision system, are presented. This system uses the view from the top of a small, roving, robotic vehicle to supply data that is processed in real-time to safely navigate the surface of Mars. A simple, low-computation algorithm for constructing a 3-D navigational map of the Martian environment to be used by the rover is discussed.

  12. Integrated multimedia electronic patient record and graph-based image information for cerebral tumors.

    PubMed

    Puentes, John; Batrancourt, Bénédicte; Atif, Jamal; Angelini, Elsa; Lecornu, Laurent; Zemirline, Abdelhamid; Bloch, Isabelle; Coatrieux, Gouenou; Roux, Christian

    2008-04-01

    Current electronic patient record (EPR) implementations do not incorporate medical images, nor structural information extracted from them, despite images increasing role for diagnosis. This paper presents an integration framework into EPRs of anatomical and pathological knowledge extracted from segmented magnetic resonance imaging (MRI), applying a graph of representation for anatomical and functional information for individual patients. Focusing on cerebral tumors examination and patient follow-up, multimedia EPRs were created and evaluated through a 3D navigation application, developed with open-source libraries and standards. Results suggest that the enhanced clinical information scheme could lead to original changes in the way medical experts utilize image-based information.

  13. Mackay campus of environmental education and digital cultural construction: the application of 3D virtual reality

    NASA Astrophysics Data System (ADS)

    Chien, Shao-Chi; Chung, Yu-Wei; Lin, Yi-Hsuan; Huang, Jun-Yi; Chang, Jhih-Ting; He, Cai-Ying; Cheng, Yi-Wen

    2012-04-01

    This study uses 3D virtual reality technology to create the "Mackay campus of the environmental education and digital cultural 3D navigation system" for local historical sites in the Tamsui (Hoba) area, in hopes of providing tourism information and navigation through historical sites using a 3D navigation system. We used Auto CAD, Sketch Up, and SpaceEyes 3D software to construct the virtual reality scenes and create the school's historical sites, such as the House of Reverends, the House of Maidens, the Residence of Mackay, and the Education Hall. We used this technology to complete the environmental education and digital cultural Mackay campus . The platform we established can indeed achieve the desired function of providing tourism information and historical site navigation. The interactive multimedia style and the presentation of the information will allow users to obtain a direct information response. In addition to showing the external appearances of buildings, the navigation platform can also allow users to enter the buildings to view lifelike scenes and textual information related to the historical sites. The historical sites are designed according to their actual size, which gives users a more realistic feel. In terms of the navigation route, the navigation system does not force users along a fixed route, but instead allows users to freely control the route they would like to take to view the historical sites on the platform.

  14. Dataspace: an automated visualization system for large databases

    NASA Astrophysics Data System (ADS)

    Petajan, Eric D.; Jean, Yves D.; Lieuwen, Dan; Anupam, Vinod

    1997-04-01

    DataSpace is a multi-platform software system for easily visualizing relational databases using a set of flexible 3D graphics tools. Typically, five attributes are selected for a given visualization session where two of the attributes are used to generate 2D plots and the other three attributes are used to position the 2D plots in a regular 3D lattice. Mouse-based 3D navigation with constraints allows the user to see the 'forest and the trees' without getting 'lost in space'. DataSpace uses the Standard Query Language to allow connection popular database systems. DataSpace also incorporates a variety of additional tools e.g., aggregation, data 'drill down', multidimensional scaling, variable transparency, query by example, and display of graphics from external applications. Labeling of node contents is automatic. 3D strokefonts are used to provide readable yet scalable text in a 3D environment. Since interactive 3D navigation is essential to DataSpace, we have incorporated several methods for adaptively reducing graphical detail without losing information when the host machine is overloaded. DataSpace has been sued to visualized databases containing over 1 million records with interactive performance. In particular, large databases containing stock price information and telecommunications customer profiles have been analyzed using DataSpace.

  15. Endoskopie, minimal invasive chirurgische und navigierte Verfahren in der Urologie

    NASA Astrophysics Data System (ADS)

    Grosse, Joachim; von Walter, Matthias; Jakse, Gerhard

    Betrachtet man die letzten 100 Jahre der Urologie in Deutschland seit Gründung ihrer Fachgesellschaft 1906 in Stuttgart, so sind sicherlich die letzten 25 Jahre von umfassenden Entwicklungen mit z. T. vollständigen Umwälzungen bisheriger Therapien und Methoden auf urologischen Fachgebiet gekennzeichnet. In erster Linie handelte es sich dabei um minimal invasive endoskopische Techniken wie perkutane Nierenchirurgie, Ureterorenoskopie, videoendoskopisch unterstütze transurethrale Elektroresektionen der Prostata und von Blasentumore sowie die Laparoskopie. Sie führten zu besseren operativen Ergebnissen und einer deutlichen Senkung der Morbidität der entsprechenden Behandlung urologischer Krankheitsbilder, mit der Konsequenz, dass einige bisher als Standard gültige offene Operationsverfahren abgelöst wurden.

  16. Sperm navigation along helical paths in 3D chemoattractant landscapes.

    PubMed

    Jikeli, Jan F; Alvarez, Luis; Friedrich, Benjamin M; Wilson, Laurence G; Pascal, René; Colin, Remy; Pichlo, Magdalena; Rennhack, Andreas; Brenker, Christoph; Kaupp, U Benjamin

    2015-01-01

    Sperm require a sense of direction to locate the egg for fertilization. They follow gradients of chemical and physical cues provided by the egg or the oviduct. However, the principles underlying three-dimensional (3D) navigation in chemical landscapes are unknown. Here using holographic microscopy and optochemical techniques, we track sea urchin sperm navigating in 3D chemoattractant gradients. Sperm sense gradients on two timescales, which produces two different steering responses. A periodic component, resulting from the helical swimming, gradually aligns the helix towards the gradient. When incremental path corrections fail and sperm get off course, a sharp turning manoeuvre puts sperm back on track. Turning results from an 'off' Ca(2+) response signifying a chemoattractant stimulation decrease and, thereby, a drop in cyclic GMP concentration and membrane voltage. These findings highlight the computational sophistication by which sperm sample gradients for deterministic klinotaxis. We provide a conceptual and technical framework for studying microswimmers in 3D chemical landscapes. PMID:26278469

  17. 3-D Maps and Compasses in the Brain.

    PubMed

    Finkelstein, Arseny; Las, Liora; Ulanovsky, Nachum

    2016-07-01

    The world has a complex, three-dimensional (3-D) spatial structure, but until recently the neural representation of space was studied primarily in planar horizontal environments. Here we review the emerging literature on allocentric spatial representations in 3-D and discuss the relations between 3-D spatial perception and the underlying neural codes. We suggest that the statistics of movements through space determine the topology and the dimensionality of the neural representation, across species and different behavioral modes. We argue that hippocampal place-cell maps are metric in all three dimensions, and might be composed of 2-D and 3-D fragments that are stitched together into a global 3-D metric representation via the 3-D head-direction cells. Finally, we propose that the hippocampal formation might implement a neural analogue of a Kalman filter, a standard engineering algorithm used for 3-D navigation. PMID:27442069

  18. Applying FastSLAM to Articulated Rovers

    NASA Astrophysics Data System (ADS)

    Hewitt, Robert Alexander

    This thesis presents the navigation algorithms designed for use on Kapvik, a 30 kg planetary micro-rover built for the Canadian Space Agency; the simulations used to test the algorithm; and novel techniques for terrain classification using Kapvik's LIDAR (Light Detection And Ranging) sensor. Kapvik implements a six-wheeled, skid-steered, rocker-bogie mobility system. This warrants a more complicated kinematic model for navigation than a typical 4-wheel differential drive system. The design of a 3D navigation algorithm is presented that includes nonlinear Kalman filtering and Simultaneous Localization and Mapping (SLAM). A neural network for terrain classification is used to improve navigation performance. Simulation is used to train the neural network and validate the navigation algorithms. Real world tests of the terrain classification algorithm validate the use of simulation for training and the improvement to SLAM through the reduction of extraneous LIDAR measurements in each scan.

  19. Efficient occlusion-free visualization for navigation in mountainous areas

    NASA Astrophysics Data System (ADS)

    Deng, Hao; Zhang, Liqiang; Han, Chunming; Ren, Yingchao; Zhang, Liang; Li, Jonathan

    2013-03-01

    In three-dimensional (3D) navigation, if mountainous terrain is displayed based on ordinary perspective projection, viewers often find that the features of interest are occluded, which prevents an overview of the features. This paper presents an approach for the automatic generation of consecutive non-perspective views of mountainous terrain. The proposed method can generate views without occlusions of important features, and allows viewers to navigate the landscape. The ray-tracing technique is employed to detect occlusions. The local elevations that occlude important features are transformed, while the resemblance and realism of the 3D landscape are maintained by solving global optimization problems. The approach maximizes the visibility of the features of interest on the deformed terrain. It also maintains a good balance between the elimination of occlusion and the preservation of resemblance. The occlusion-free visualization framework satisfies the demand for navigation and tour guidance in mountainous areas at interactive frame rates.

  20. 3D scintigraphic imaging and navigation in radioguided surgery: freehand SPECT technology and its clinical applications.

    PubMed

    Bluemel, Christina; Matthies, Philipp; Herrmann, Ken; Povoski, Stephen P

    2016-01-01

    Freehand SPECT (fhSPECT) is a technology platform for providing 3-dimensional (3D) navigation for radioguided surgical procedures, such as sentinel lymph node (SLN) biopsy (SLNB). In addition to the information provided by conventional handheld gamma detection probes, fhSPECT allows for direct visualization of the distribution of radioactivity in any given region of interest, allowing for improved navigation to radioactive target lesions and providing accurate lesion depth measurements. Herein, we will review the currently available clinical data on the use of fhSPECT: (i) for SLNB of various malignancies, including difficult-to-detect SLNs, and (ii) for radioguided localization of solid tumors. Moreover, the combination of fhSPECT with other technologies (e.g., small field-of-view gamma cameras, and diagnostic ultrasound) is discussed. These technical advances have the potential to greatly expand the clinical application of radioguided surgery in the future. PMID:26878667

  1. Sperm navigation along helical paths in 3D chemoattractant landscapes

    NASA Astrophysics Data System (ADS)

    Jikeli, Jan F.; Alvarez, Luis; Friedrich, Benjamin M.; Wilson, Laurence G.; Pascal, René; Colin, Remy; Pichlo, Magdalena; Rennhack, Andreas; Brenker, Christoph; Kaupp, U. Benjamin

    2015-08-01

    Sperm require a sense of direction to locate the egg for fertilization. They follow gradients of chemical and physical cues provided by the egg or the oviduct. However, the principles underlying three-dimensional (3D) navigation in chemical landscapes are unknown. Here using holographic microscopy and optochemical techniques, we track sea urchin sperm navigating in 3D chemoattractant gradients. Sperm sense gradients on two timescales, which produces two different steering responses. A periodic component, resulting from the helical swimming, gradually aligns the helix towards the gradient. When incremental path corrections fail and sperm get off course, a sharp turning manoeuvre puts sperm back on track. Turning results from an `off' Ca2+ response signifying a chemoattractant stimulation decrease and, thereby, a drop in cyclic GMP concentration and membrane voltage. These findings highlight the computational sophistication by which sperm sample gradients for deterministic klinotaxis. We provide a conceptual and technical framework for studying microswimmers in 3D chemical landscapes.

  2. The evolution of image-guided lumbosacral spine surgery

    PubMed Central

    Faulkner, Austin R.; Pasciak, Alexander S.; Bradley, Yong C.

    2015-01-01

    Techniques and approaches of spinal fusion have considerably evolved since their first description in the early 1900s. The incorporation of pedicle screw constructs into lumbosacral spine surgery is among the most significant advances in the field, offering immediate stability and decreased rates of pseudarthrosis compared to previously described methods. However, early studies describing pedicle screw fixation and numerous studies thereafter have demonstrated clinically significant sequelae of inaccurate surgical fusion hardware placement. A number of image guidance systems have been developed to reduce morbidity from hardware malposition in increasingly complex spine surgeries. Advanced image guidance systems such as intraoperative stereotaxis improve the accuracy of pedicle screw placement using a variety of surgical approaches, however their clinical indications and clinical impact remain debated. Beginning with intraoperative fluoroscopy, this article describes the evolution of image guided lumbosacral spinal fusion, emphasizing two-dimensional (2D) and three-dimensional (3D) navigational methods. PMID:25992368

  3. Accuracy analysis of an image-guided system for vertebroplasty spinal therapy based on electromagnetic tracking of instruments

    NASA Astrophysics Data System (ADS)

    Ding, Jienan; Khan, Noureen; Cheng, Patrick; Wilson, Emmanuel; Watson, Vance; Cleary, Kevin; Yaniv, Ziv

    2008-03-01

    Vertebroplasty is a minimally invasive procedure in which bone cement is pumped into a fractured vertebral body that has been weakened by osteoporosis, long-term steroid use, or cancer. In this therapy, a trocar (large bore hollow needle) is inserted through the pedicle of the vertebral body which is a narrow passage and requires great skill on the part of the physician to avoid going outside of the pathway. In clinical practice, this procedure is typically done using 2D X-ray fluoroscopy. To investigate the feasibility of providing 3D image guidance, we developed an image-guided system based on electromagnetic tracking and our open source software platform the Image-Guided Surgery Toolkit (IGSTK). The system includes path planning, interactive 3D navigation, and dynamic referencing. This paper will describe the system and our initial evaluation.

  4. 3D image-guided surgery on the example of the 5,300-year-old Innsbruck Iceman.

    PubMed

    Thumfart, W F; Freysinger, W; Gunkel, A R; Truppe, M J

    1997-03-01

    Interventional Video Tomography (IVT) is regularly used for computer-assisted 3D navigation in ear-, nose, throat, and head & neck surgery in our clinic. We present the technology and its application to collect biopsies of a 5,300 year old, completely conserved male cadaver, the Iceman. IVT links intraoperative live video with medical imaging data sets, realizing real-time surgical guidance in the live video and/or in the medical images. The IVT data contain the video images and the spatial sensor information; this has a large potential for documentation, training, teaching, and telepresence. IVT allowed us to sample the Iceman's mucosa by the minimally invasive endoscopic approach of the maxillary sinus, the nasal cavity, and the larynx, minimizing tissue damage. Visual inspection of the sinuses and the mucosa revealed the typical mucosa of a fresh cadaver, albeit originating from the stone-age.

  5. Real-time three-dimensional color doppler evaluation of the flow convergence zone for quantification of mitral regurgitation: Validation experimental animal study and initial clinical experience

    NASA Technical Reports Server (NTRS)

    Sitges, Marta; Jones, Michael; Shiota, Takahiro; Qin, Jian Xin; Tsujino, Hiroyuki; Bauer, Fabrice; Kim, Yong Jin; Agler, Deborah A.; Cardon, Lisa A.; Zetts, Arthur D.; Panza, Julio A.; Thomas, James D.

    2003-01-01

    BACKGROUND: Pitfalls of the flow convergence (FC) method, including 2-dimensional imaging of the 3-dimensional (3D) geometry of the FC surface, can lead to erroneous quantification of mitral regurgitation (MR). This limitation may be mitigated by the use of real-time 3D color Doppler echocardiography (CE). Our objective was to validate a real-time 3D navigation method for MR quantification. METHODS: In 12 sheep with surgically induced chronic MR, 37 different hemodynamic conditions were studied with real-time 3DCE. Using real-time 3D navigation, the radius of the largest hemispherical FC zone was located and measured. MR volume was quantified according to the FC method after observing the shape of FC in 3D space. Aortic and mitral electromagnetic flow probes and meters were balanced against each other to determine reference MR volume. As an initial clinical application study, 22 patients with chronic MR were also studied with this real-time 3DCE-FC method. Left ventricular (LV) outflow tract automated cardiac flow measurement (Toshiba Corp, Tokyo, Japan) and real-time 3D LV stroke volume were used to quantify the reference MR volume (MR volume = 3DLV stroke volume - automated cardiac flow measurement). RESULTS: In the sheep model, a good correlation and agreement was seen between MR volume by real-time 3DCE and electromagnetic (y = 0.77x + 1.48, r = 0.87, P <.001, delta = -0.91 +/- 2.65 mL). In patients, real-time 3DCE-derived MR volume also showed a good correlation and agreement with the reference method (y = 0.89x - 0.38, r = 0.93, P <.001, delta = -4.8 +/- 7.6 mL). CONCLUSIONS: real-time 3DCE can capture the entire FC image, permitting geometrical recognition of the FC zone geometry and reliable MR quantification.

  6. Tightly coupled low cost 3D RISS/GPS integration using a mixture particle filter for vehicular navigation.

    PubMed

    Georgy, Jacques; Noureldin, Aboelmagd

    2011-01-01

    Satellite navigation systems such as the global positioning system (GPS) are currently the most common technique used for land vehicle positioning. However, in GPS-denied environments, there is an interruption in the positioning information. Low-cost micro-electro mechanical system (MEMS)-based inertial sensors can be integrated with GPS and enhance the performance in denied GPS environments. The traditional technique for this integration problem is Kalman filtering (KF). Due to the inherent errors of low-cost MEMS inertial sensors and their large stochastic drifts, KF, with its linearized models, has limited capabilities in providing accurate positioning. Particle filtering (PF) was recently suggested as a nonlinear filtering technique to accommodate for arbitrary inertial sensor characteristics, motion dynamics and noise distributions. An enhanced version of PF called the Mixture PF is utilized in this study to perform tightly coupled integration of a three dimensional (3D) reduced inertial sensors system (RISS) with GPS. In this work, the RISS consists of one single-axis gyroscope and a two-axis accelerometer used together with the vehicle's odometer to obtain 3D navigation states. These sensors are then integrated with GPS in a tightly coupled scheme. In loosely-coupled integration, at least four satellites are needed to provide acceptable GPS position and velocity updates for the integration filter. The advantage of the tightly-coupled integration is that it can provide GPS measurement update(s) even when the number of visible satellites is three or lower, thereby improving the operation of the navigation system in environments with partial blockages by providing continuous aiding to the inertial sensors even during limited GPS satellite availability. To effectively exploit the capabilities of PF, advanced modeling for the stochastic drift of the vertically aligned gyroscope is used. In order to benefit from measurement updates for such drift, which are

  7. Building a virtual archive using brain architecture and Web 3D to deliver neuropsychopharmacology content over the Internet.

    PubMed

    Mongeau, R; Casu, M A; Pani, L; Pillolla, G; Lianas, L; Giachetti, A

    2008-05-01

    The vast amount of heterogeneous data generated in various fields of neurosciences such as neuropsychopharmacology can hardly be classified using traditional databases. We present here the concept of a virtual archive, spatially referenced over a simplified 3D brain map and accessible over the Internet. A simple prototype (available at http://aquatics.crs4.it/neuropsydat3d) has been realized using current Web-based virtual reality standards and technologies. It illustrates how primary literature or summary information can easily be retrieved through hyperlinks mapped onto a 3D schema while navigating through neuroanatomy. Furthermore, 3D navigation and visualization techniques are used to enhance the representation of brain's neurotransmitters, pathways and the involvement of specific brain areas in any particular physiological or behavioral functions. The system proposed shows how the use of a schematic spatial organization of data, widely exploited in other fields (e.g. Geographical Information Systems) can be extremely useful to develop efficient tools for research and teaching in neurosciences. PMID:18262677

  8. In vivo cell tracking and quantification method in adult zebrafish

    NASA Astrophysics Data System (ADS)

    Zhang, Li; Alt, Clemens; Li, Pulin; White, Richard M.; Zon, Leonard I.; Wei, Xunbin; Lin, Charles P.

    2012-03-01

    Zebrafish have become a powerful vertebrate model organism for drug discovery, cancer and stem cell research. A recently developed transparent adult zebrafish using double pigmentation mutant, called casper, provide unparalleled imaging power in in vivo longitudinal analysis of biological processes at an anatomic resolution not readily achievable in murine or other systems. In this paper we introduce an optical method for simultaneous visualization and cell quantification, which combines the laser scanning confocal microscopy (LSCM) and the in vivo flow cytometry (IVFC). The system is designed specifically for non-invasive tracking of both stationary and circulating cells in adult zebrafish casper, under physiological conditions in the same fish over time. The confocal imaging part in this system serves the dual purposes of imaging fish tissue microstructure and a 3D navigation tool to locate a suitable vessel for circulating cell counting. The multi-color, multi-channel instrument allows the detection of multiple cell populations or different tissues or organs simultaneously. We demonstrate initial testing of this novel instrument by imaging vasculature and tracking circulating cells in CD41: GFP/Gata1: DsRed transgenic casper fish whose thrombocytes/erythrocytes express the green and red fluorescent proteins. Circulating fluorescent cell incidents were recorded and counted repeatedly over time and in different types of vessels. Great application opportunities in cancer and stem cell researches are discussed.

  9. Comparison of Isocentric C-Arm 3-Dimensional Navigation and Conventional Fluoroscopy for Percutaneous Retrograde Screwing for Anterior Column Fracture of Acetabulum

    PubMed Central

    He, Jiliang; Tan, Guoqing; Zhou, Dongsheng; Sun, Liang; Li, Qinghu; Yang, Yongliang; Liu, Ping

    2016-01-01

    Abstract Percutaneous screw insertion for minimally displaced or reducible acetabular fracture using x-ray fluoroscopy and computer-assisted navigation system has been advocated by some authors. The purpose of this study was to compare intraoperative conditions and clinical results between isocentric C-arm 3-dimensional (Iso-C 3D) fluoroscopy and conventional fluoroscopy for percutaneous retrograde screwing of acetabular anterior column fracture. A prospective cohort study was conducted. A total of 22 patients were assigned to 2 different groups: 10 patients in the Iso-C 3D navigation group and 12 patients in the conventional group. The operative time, fluoroscopic time, time of screw insertion, blood loss, and accuracy were analyzed between the 2 groups. There were significant differences in operative time, screw insertion time, fluoroscopy time, and mean blood loss between the 2 groups. Totally 2 of 12 (16.7%) screws were misplaced in the conventional fluoroscopy group, and all 10 screws were in safe zones in the navigation group. Percutaneous screw fixation using the Iso-C 3D computer-assisted navigation system significantly reduced the intraoperative fluoroscopy time and blood loss in percutaneous screwing for acetabular anterior column fracture. The Iso-C 3D computer-assisted navigation system provided a reliable and effective method for percutaneous screw insertion in acetabular anterior column fractures compared to conventional fluoroscopy. PMID:26765448

  10. Real-Time Correction of Rigid-Body-Motion-Induced Phase Errors for Diffusion-Weighted Steady State Free Precession Imaging

    PubMed Central

    O’Halloran, R; Aksoy, M; Aboussouan, E; Peterson, E; Van, A; Bammer, R

    2014-01-01

    Purpose Diffusion contrast in diffusion-weighted steady state free precession MRI is generated through the constructive addition of signal from many coherence pathways. Motion-induced phase causes destructive interference which results in loss of signal magnitude and diffusion contrast. In this work, a 3D navigator-based real-time correction of the rigid-body-motion-induced phase errors is developed for diffusion-weighted steady state free precession MRI. Methods The efficacy of the real-time prospective correction method in preserving phase coherence of the steady-state is tested in 3D phantom experiments and 3D scans of healthy human subjects. Results In nearly all experiments, the signal magnitude in images obtained with proposed prospective correction was higher than the signal magnitude in images obtained with no correction. In the human subjects the mean magnitude signal in the data was up to 30 percent higher with prospective motion correction than without. Prospective correction never resulted in a decrease in mean signal magnitude in either the data or in the images. Conclusions The proposed prospective motion correction method is shown to preserve the phase coherence of the steady state in diffusion-weighted steady state free precession MRI, thus mitigating signal magnitude losses that would confound the desired diffusion contrast. PMID:24715414

  11. Development of fluoroscopic registration in spinal neuronavigation

    NASA Astrophysics Data System (ADS)

    Abbasi, Hamid R.; Grzeszczuk, Robert; Chin, Shao; Holz, H.; Hariri, Sanaz; Badr, Rana; Kim, Daniel; Adler, John R.; Shahidi, Ramin

    2001-05-01

    We present a system involving a computer-instrumented fluoroscope for the purpose of 3D navigation and guidance using pre-operative diagnostic scans as a reference. The goal of the project is to devise a computer-assisted tool that will improve the accuracy, reduce risk, minimize the invasiveness, and shorten the time it takes to perform a variety of neurosurgical and orthopedic procedures of the spine. For this purpose we propose an apparatus that will track surgical tools and localize them with respect to the patient's 3D anatomy and pre-operative 3D diagnostic scans using intraoperative fluoroscopy for in situ registration and localization of embedded fiducials. Preliminary studies have found a fiducial registration error (FRE) of 1.41 mm and a Target Localization Error (TLE) of 0.48 mm. The resulting system leverages equipment already commonly available in the operating room (OR), providing an important new functionality that is free of many current limitations, such as the inadequacy of skin fiducials for spinal neuronavigation, while keeping costs contained.

  12. Allen Brain Atlas: an integrated spatio-temporal portal for exploring the central nervous system.

    PubMed

    Sunkin, Susan M; Ng, Lydia; Lau, Chris; Dolbeare, Tim; Gilbert, Terri L; Thompson, Carol L; Hawrylycz, Michael; Dang, Chinh

    2013-01-01

    The Allen Brain Atlas (http://www.brain-map.org) provides a unique online public resource integrating extensive gene expression data, connectivity data and neuroanatomical information with powerful search and viewing tools for the adult and developing brain in mouse, human and non-human primate. Here, we review the resources available at the Allen Brain Atlas, describing each product and data type [such as in situ hybridization (ISH) and supporting histology, microarray, RNA sequencing, reference atlases, projection mapping and magnetic resonance imaging]. In addition, standardized and unique features in the web applications are described that enable users to search and mine the various data sets. Features include both simple and sophisticated methods for gene searches, colorimetric and fluorescent ISH image viewers, graphical displays of ISH, microarray and RNA sequencing data, Brain Explorer software for 3D navigation of anatomy and gene expression, and an interactive reference atlas viewer. In addition, cross data set searches enable users to query multiple Allen Brain Atlas data sets simultaneously. All of the Allen Brain Atlas resources can be accessed through the Allen Brain Atlas data portal.

  13. Total 3D Airo® Navigation for Minimally Invasive Transforaminal Lumbar Interbody Fusion.

    PubMed

    Lian, Xiaofeng; Navarro-Ramirez, Rodrigo; Berlin, Connor; Jada, Ajit; Moriguchi, Yu; Zhang, Qiwei; Härtl, Roger

    2016-01-01

    Introduction. A new generation of iCT scanner, Airo®, has been introduced. The purpose of this study is to describe how Airo facilitates minimally invasive transforaminal lumbar interbody fusion (MIS-TLIF). Method. We used the latest generation of portable iCT in all cases without the assistance of K-wires. We recorded the operation time, number of scans, and pedicle screw accuracy. Results. From January 2015 to December 2015, 33 consecutive patients consisting of 17 men and 16 women underwent single-level or two-level MIS-TLIF operations in our institution. The ages ranged from 23 years to 86 years (mean, 66.6 years). We treated all the cases in MIS fashion. In four cases, a tubular laminectomy at L1/2 was performed at the same time. The average operation time was 192.8 minutes and average time of placement per screw was 2.6 minutes. No additional fluoroscopy was used. Our screw accuracy rate was 98.6%. No complications were encountered. Conclusions. Airo iCT MIS-TLIF can be used for initial planning of the skin incision, precise screw, and cage placement, without the need for fluoroscopy. "Total navigation" (complete intraoperative 3D navigation without fluoroscopy) can be achieved by combining Airo navigation with navigated guide tubes for screw placement.

  14. Extraction of the 3D Free Space from Building Models for Indoor Navigation

    NASA Astrophysics Data System (ADS)

    Diakité, A. A.; Zlatanova, S.

    2016-10-01

    For several decades, indoor navigation has been exclusively investigated in a 2D perspective, based on floor plans, projection and other 2D representations of buildings. Nevertheless, 3D representations are closer to our reality and offer a more intuitive description of the space configuration. Thanks to recent advances in 3D modelling, 3D navigation is timidly but increasingly gaining in interest through the indoor applications. But, because the structure of indoor environment is often more complex than outdoor, very simplified models are used and obstacles are not considered for indoor navigation leading to limited possibilities in complex buildings. In this paper we consider the entire configuration of the indoor environment in 3D and introduce a method to extract from it the actual navigable space as a network of connected 3D spaces (volumes). We describe how to construct such 3D free spaces from semantically rich and furnished IFC models. The approach combines the geometric, the topological and the semantic information available in a 3D model to isolate the free space from the rest of the components. Furthermore, the extraction of such navigable spaces in building models lacking of semantic information is also considered. A data structure named combinatorial maps is used to support the operations required by the process while preserving the topological and semantic information of the input models.

  15. An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database.

    PubMed

    Li, Yan; Hu, Qingwu; Wu, Meng; Gao, Yang

    2016-01-28

    In determining position and attitude, vision navigation via real-time image processing of data collected from imaging sensors is advanced without a high-performance global positioning system (GPS) and an inertial measurement unit (IMU). Vision navigation is widely used in indoor navigation, far space navigation, and multiple sensor-integrated mobile mapping. This paper proposes a novel vision navigation approach aided by imaging sensors and that uses a high-accuracy geo-referenced image database (GRID) for high-precision navigation of multiple sensor platforms in environments with poor GPS. First, the framework of GRID-aided vision navigation is developed with sequence images from land-based mobile mapping systems that integrate multiple sensors. Second, a highly efficient GRID storage management model is established based on the linear index of a road segment for fast image searches and retrieval. Third, a robust image matching algorithm is presented to search and match a real-time image with the GRID. Subsequently, the image matched with the real-time scene is considered to calculate the 3D navigation parameter of multiple sensor platforms. Experimental results show that the proposed approach retrieves images efficiently and has navigation accuracies of 1.2 m in a plane and 1.8 m in height under GPS loss in 5 min and within 1500 m.

  16. ANTS2 package: simulation and experimental data processing for Anger camera type detectors

    NASA Astrophysics Data System (ADS)

    Morozov, A.; Solovov, V.; Martins, R.; Neves, F.; Domingos, V.; Chepel, V.

    2016-04-01

    ANTS2 is a simulation and data processing package developed for position sensitive detectors with Anger camera type readout. The simulation module of ANTS2 is based on ROOT package from CERN, which is used to store the detector geometry and to perform 3D navigation. The module is capable of simulating particle sources, performing particle tracking, generating photons of primary and secondary scintillation, tracing optical photons and generating photosensor signals. The reconstruction module features several position reconstruction methods based on the statistical reconstruction algorithms (including GPU-based implementations), artificial neural networks and k-NN searches. The module can process simulated as well as imported experimental data containing photosensor signals. A custom library for B-spline parameterization of spatial response of photosensors is implemented which can be used to calculate and parameterize the spatial response of a detector. The package includes a graphical user interface with an extensive set of configuration, visualization and analysis tools. ANTS2 is being developed with the focus on the iterative (adaptive) reconstruction of the detector response using flood field irradiation data. The package is implemented in C++ programming language and it is a multiplatform, open source project.

  17. Total 3D Airo® Navigation for Minimally Invasive Transforaminal Lumbar Interbody Fusion.

    PubMed

    Lian, Xiaofeng; Navarro-Ramirez, Rodrigo; Berlin, Connor; Jada, Ajit; Moriguchi, Yu; Zhang, Qiwei; Härtl, Roger

    2016-01-01

    Introduction. A new generation of iCT scanner, Airo®, has been introduced. The purpose of this study is to describe how Airo facilitates minimally invasive transforaminal lumbar interbody fusion (MIS-TLIF). Method. We used the latest generation of portable iCT in all cases without the assistance of K-wires. We recorded the operation time, number of scans, and pedicle screw accuracy. Results. From January 2015 to December 2015, 33 consecutive patients consisting of 17 men and 16 women underwent single-level or two-level MIS-TLIF operations in our institution. The ages ranged from 23 years to 86 years (mean, 66.6 years). We treated all the cases in MIS fashion. In four cases, a tubular laminectomy at L1/2 was performed at the same time. The average operation time was 192.8 minutes and average time of placement per screw was 2.6 minutes. No additional fluoroscopy was used. Our screw accuracy rate was 98.6%. No complications were encountered. Conclusions. Airo iCT MIS-TLIF can be used for initial planning of the skin incision, precise screw, and cage placement, without the need for fluoroscopy. "Total navigation" (complete intraoperative 3D navigation without fluoroscopy) can be achieved by combining Airo navigation with navigated guide tubes for screw placement. PMID:27529069

  18. An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database

    PubMed Central

    Li, Yan; Hu, Qingwu; Wu, Meng; Gao, Yang

    2016-01-01

    In determining position and attitude, vision navigation via real-time image processing of data collected from imaging sensors is advanced without a high-performance global positioning system (GPS) and an inertial measurement unit (IMU). Vision navigation is widely used in indoor navigation, far space navigation, and multiple sensor-integrated mobile mapping. This paper proposes a novel vision navigation approach aided by imaging sensors and that uses a high-accuracy geo-referenced image database (GRID) for high-precision navigation of multiple sensor platforms in environments with poor GPS. First, the framework of GRID-aided vision navigation is developed with sequence images from land-based mobile mapping systems that integrate multiple sensors. Second, a highly efficient GRID storage management model is established based on the linear index of a road segment for fast image searches and retrieval. Third, a robust image matching algorithm is presented to search and match a real-time image with the GRID. Subsequently, the image matched with the real-time scene is considered to calculate the 3D navigation parameter of multiple sensor platforms. Experimental results show that the proposed approach retrieves images efficiently and has navigation accuracies of 1.2 m in a plane and 1.8 m in height under GPS loss in 5 min and within 1500 m. PMID:26828496

  19. Direct navigation on 3D rotational x-ray data acquired with a mobile propeller C-arm: accuracy and application in functional endoscopic sinus surgery

    NASA Astrophysics Data System (ADS)

    van de Kraats, Everine B.; Carelsen, Bart; Fokkens, Wytske J.; Boon, Sjirk N.; Noordhoek, Niels; Niessen, Wiro J.; van Walsum, Theo

    2005-12-01

    Recently, three-dimensional (3D) rotational x-ray imaging has been combined with navigation technology, enabling direct 3D navigation for minimally invasive image guided interventions. In this study, phantom experiments are used to determine the accuracy of such a navigation set-up for a mobile C-arm with propeller motion. After calibration of the C-arm system, the accuracy is evaluated by pinpointing divots on a special-purpose phantom with known geometry. This evaluation is performed both with and without C-arm motion in between calibration and registration for navigation. The variation caused by each of the individual transformations in the calibration and registration process is also studied. The feasibility of direct navigation on 3D rotational x-ray images for functional endoscopic sinus surgery has been evaluated in a cadaver navigation experiment. Navigation accuracy was approximately 1.0 mm, which is sufficient for functional endoscopic sinus surgery. C-arm motion in between calibration and registration slightly degraded the registration accuracy by approximately 0.3 mm. Standard deviations of each of the transformations were in the range 0.15-0.31 mm. In the cadaver experiment, the navigation images were considered in good correspondence with the endoscopic images by an experienced ENT surgeon. Availability of 3D localization information provided by the navigation system was considered valuable by the ENT surgeon.

  20. Total 3D Airo® Navigation for Minimally Invasive Transforaminal Lumbar Interbody Fusion

    PubMed Central

    Lian, Xiaofeng; Berlin, Connor; Moriguchi, Yu; Zhang, Qiwei; Härtl, Roger

    2016-01-01

    Introduction. A new generation of iCT scanner, Airo®, has been introduced. The purpose of this study is to describe how Airo facilitates minimally invasive transforaminal lumbar interbody fusion (MIS-TLIF). Method. We used the latest generation of portable iCT in all cases without the assistance of K-wires. We recorded the operation time, number of scans, and pedicle screw accuracy. Results. From January 2015 to December 2015, 33 consecutive patients consisting of 17 men and 16 women underwent single-level or two-level MIS-TLIF operations in our institution. The ages ranged from 23 years to 86 years (mean, 66.6 years). We treated all the cases in MIS fashion. In four cases, a tubular laminectomy at L1/2 was performed at the same time. The average operation time was 192.8 minutes and average time of placement per screw was 2.6 minutes. No additional fluoroscopy was used. Our screw accuracy rate was 98.6%. No complications were encountered. Conclusions. Airo iCT MIS-TLIF can be used for initial planning of the skin incision, precise screw, and cage placement, without the need for fluoroscopy. “Total navigation” (complete intraoperative 3D navigation without fluoroscopy) can be achieved by combining Airo navigation with navigated guide tubes for screw placement. PMID:27529069

  1. Comparison of Isocentric C-Arm 3-Dimensional Navigation and Conventional Fluoroscopy for Percutaneous Retrograde Screwing for Anterior Column Fracture of Acetabulum: An Observational Study.

    PubMed

    He, Jiliang; Tan, Guoqing; Zhou, Dongsheng; Sun, Liang; Li, Qinghu; Yang, Yongliang; Liu, Ping

    2016-01-01

    Percutaneous screw insertion for minimally displaced or reducible acetabular fracture using x-ray fluoroscopy and computer-assisted navigation system has been advocated by some authors. The purpose of this study was to compare intraoperative conditions and clinical results between isocentric C-arm 3-dimensional (Iso-C 3D) fluoroscopy and conventional fluoroscopy for percutaneous retrograde screwing of acetabular anterior column fracture.A prospective cohort study was conducted. A total of 22 patients were assigned to 2 different groups: 10 patients in the Iso-C 3D navigation group and 12 patients in the conventional group. The operative time, fluoroscopic time, time of screw insertion, blood loss, and accuracy were analyzed between the 2 groups.There were significant differences in operative time, screw insertion time, fluoroscopy time, and mean blood loss between the 2 groups. Totally 2 of 12 (16.7%) screws were misplaced in the conventional fluoroscopy group, and all 10 screws were in safe zones in the navigation group. Percutaneous screw fixation using the Iso-C 3D computer-assisted navigation system significantly reduced the intraoperative fluoroscopy time and blood loss in percutaneous screwing for acetabular anterior column fracture.The Iso-C 3D computer-assisted navigation system provided a reliable and effective method for percutaneous screw insertion in acetabular anterior column fractures compared to conventional fluoroscopy.

  2. An Imaging Sensor-Aided Vision Navigation Approach that Uses a Geo-Referenced Image Database.

    PubMed

    Li, Yan; Hu, Qingwu; Wu, Meng; Gao, Yang

    2016-01-01

    In determining position and attitude, vision navigation via real-time image processing of data collected from imaging sensors is advanced without a high-performance global positioning system (GPS) and an inertial measurement unit (IMU). Vision navigation is widely used in indoor navigation, far space navigation, and multiple sensor-integrated mobile mapping. This paper proposes a novel vision navigation approach aided by imaging sensors and that uses a high-accuracy geo-referenced image database (GRID) for high-precision navigation of multiple sensor platforms in environments with poor GPS. First, the framework of GRID-aided vision navigation is developed with sequence images from land-based mobile mapping systems that integrate multiple sensors. Second, a highly efficient GRID storage management model is established based on the linear index of a road segment for fast image searches and retrieval. Third, a robust image matching algorithm is presented to search and match a real-time image with the GRID. Subsequently, the image matched with the real-time scene is considered to calculate the 3D navigation parameter of multiple sensor platforms. Experimental results show that the proposed approach retrieves images efficiently and has navigation accuracies of 1.2 m in a plane and 1.8 m in height under GPS loss in 5 min and within 1500 m. PMID:26828496

  3. Analysis of biomedical data with multilevel glyphs

    PubMed Central

    2014-01-01

    Background This paper presents multilevel data glyphs optimized for the interactive knowledge discovery and visualization of large biomedical data sets. Data glyphs are three- dimensional objects defined by multiple levels of geometric descriptions (levels of detail) combined with a mapping of data attributes to graphical elements and methods, which specify their spatial position. Methods In the data mapping phase, which is done by a biomedical expert, meta information about the data attributes (scale, number of distinct values) are compared with the visual capabilities of the graphical elements in order to give a feedback to the user about the correctness of the variable mapping. The spatial arrangement of glyphs is done in a dimetric view, which leads to high data density, a simplified 3D navigation and avoids perspective distortion. Results We show the usage of data glyphs in the disease analyser a visual analytics application for personalized medicine and provide an outlook to a biomedical web visualization scenario. Conclusions Data glyphs can be successfully applied in the disease analyser for the analysis of big medical data sets. Especially the automatic validation of the data mapping, selection of subgroups within histograms and the visual comparison of the value distributions were seen by experts as an important functionality. PMID:25079119

  4. 3D segmentation of the true and false lumens on CT aortic dissection images

    NASA Astrophysics Data System (ADS)

    Fetnaci, Nawel; Łubniewski, Paweł; Miguel, Bruno; Lohou, Christophe

    2013-03-01

    Our works are related to aortic dissections which are a medical emergency and can quickly lead to death. In this paper, we want to retrieve in CT images the false and the true lumens which are aortic dissection features. Our aim is to provide a 3D view of the lumens that we can difficultly obtain either by volume rendering or by another visualization tool which only directly gives the outer contour of the aorta; or by other segmentation methods because they mainly directly segment either only the outer contour of the aorta or other connected arteries and organs both. In our work, we need to segment the two lumens separately; this segmentation will allow us to: distinguish them automatically, facilitate the landing of the aortic prosthesis, propose a virtual 3d navigation and do quantitative analysis. We chose to segment these data by using a deformable model based on the fast marching method. In the classical fast marching approach, a speed function is used to control the front propagation of a deforming curve. The speed function is only based on the image gradient. In our CT images, due to the low resolution, with the fast marching the front propagates from a lumen to the other; therefore, the gradient data is insufficient to have accurate segmentation results. In the paper, we have adapted the fast marching method more particularly by modifying the speed function and we succeed in segmenting the two lumens separately.

  5. Mechanically assisted 3D prostate ultrasound imaging and biopsy needle-guidance system

    NASA Astrophysics Data System (ADS)

    Bax, Jeffrey; Williams, Jackie; Cool, Derek; Gardi, Lori; Montreuil, Jacques; Karnik, Vaishali; Sherebrin, Shi; Romagnoli, Cesare; Fenster, Aaron

    2010-02-01

    Prostate biopsy procedures are currently limited to using 2D transrectal ultrasound (TRUS) imaging to guide the biopsy needle. Being limited to 2D causes ambiguity in needle guidance and provides an insufficient record to allow guidance to the same suspicious locations or avoid regions that are negative during previous biopsy sessions. We have developed a mechanically assisted 3D ultrasound imaging and needle tracking system, which supports a commercially available TRUS probe and integrated needle guide for prostate biopsy. The mechanical device is fixed to a cart and the mechanical tracking linkage allows its joints to be manually manipulated while fully supporting the weight of the ultrasound probe. The computer interface is provided in order to track the needle trajectory and display its path on a corresponding 3D TRUS image, allowing the physician to aim the needle-guide at predefined targets within the prostate. The system has been designed for use with several end-fired transducers that can be rotated about the longitudinal axis of the probe in order to generate 3D image for 3D navigation. Using the system, 3D TRUS prostate images can be generated in approximately 10 seconds. The system reduces most of the user variability from conventional hand-held probes, which make them unsuitable for precision biopsy, while preserving some of the user familiarity and procedural workflow. In this paper, we describe the 3D TRUS guided biopsy system and report on the initial clinical use of this system for prostate biopsy.

  6. Robot navigation in cluttered 3-D environments using preference-based fuzzy behaviors.

    PubMed

    Shi, Dongqing; Collins, Emmanuel G; Dunlap, Damion

    2007-12-01

    Autonomous navigation systems for mobile robots have been successfully deployed for a wide range of planar ground-based tasks. However, very few counterparts of previous planar navigation systems were developed for 3-D motion, which is needed for both unmanned aerial and underwater vehicles. A novel fuzzy behavioral scheme for navigating an unmanned helicopter in cluttered 3-D spaces is developed. The 3-D navigation problem is decomposed into several identical 2-D navigation subproblems, each of which is solved by using preference-based fuzzy behaviors. Due to the shortcomings of vector summation during the fusion of the 2-D subproblems, instead of directly outputting steering subdirections by their own defuzzification processes, the intermediate preferences of the subproblems are fused to create a 3-D solution region, representing degrees of preference for the robot movement. A new defuzzification algorithm that steers the robot by finding the centroid of a 3-D convex region of maximum volume in the 3-D solution region is developed. A fuzzy speed-control system is also developed to ensure efficient and safe navigation. Substantial simulations have been carried out to demonstrate that the proposed algorithm can smoothly and effectively guide an unmanned helicopter through unknown and cluttered urban and forest environments.

  7. Building a virtual archive using brain architecture and Web 3D to deliver neuropsychopharmacology content over the Internet.

    PubMed

    Mongeau, R; Casu, M A; Pani, L; Pillolla, G; Lianas, L; Giachetti, A

    2008-05-01

    The vast amount of heterogeneous data generated in various fields of neurosciences such as neuropsychopharmacology can hardly be classified using traditional databases. We present here the concept of a virtual archive, spatially referenced over a simplified 3D brain map and accessible over the Internet. A simple prototype (available at http://aquatics.crs4.it/neuropsydat3d) has been realized using current Web-based virtual reality standards and technologies. It illustrates how primary literature or summary information can easily be retrieved through hyperlinks mapped onto a 3D schema while navigating through neuroanatomy. Furthermore, 3D navigation and visualization techniques are used to enhance the representation of brain's neurotransmitters, pathways and the involvement of specific brain areas in any particular physiological or behavioral functions. The system proposed shows how the use of a schematic spatial organization of data, widely exploited in other fields (e.g. Geographical Information Systems) can be extremely useful to develop efficient tools for research and teaching in neurosciences.

  8. Visual feedback mounted on surgical tool: proof of concept

    NASA Astrophysics Data System (ADS)

    Carter, K.; Vaughan, T.; Holden, M.; Gauvin, G.; Pezeshki, P.; Lasso, A.; Ungi, T.; Morin, E.; Rudan, J.; Engel, C. J.; Fichtinger, G.

    2016-03-01

    PURPOSE: When using surgical navigation systems in the operating room, feedback is typically displayed on a computer monitor. The surgeon's attention is usually focused on the tool and the surgical site, so the display is typically out of the direct line of sight. The purpose is to develop a visual feedback device mounted on an electromagnetically tracked electrosurgical cauterizer which will provide navigation information for the surgeon in their field of view. METHODS: A study was conducted to determine the usefulness of the visual feedback in adjunct to the navigation system currently in use. Subjects were asked to follow tumor contours with the tracked cauterizer using 3D screen navigation with the mounted visual feedback and the 3D navigation screen alone. The movements of the cauterizer were recorded. RESULTS: The study showed a significant decrease in the subjects' distance from the tumor margin, a significant increase in the subjects' confidence to avoid cutting the tumor and a statistically significant reduction in the subjects' perception of the need to look at the screen when using the visual feedback device compared to without. DISCUSSION: The LED feedback device helped the subjects feel confident in their ability to identify safe margins and minimize the amount of healthy tissue removed in the tumor resection. CONCLUSION: Good potential for the visual LED feedback has been shown. With additional training, this approach promises to lead to improved resection technique, with fewer cuts into the tumor and less healthy tissue removed.

  9. Endovascular navigation based on real/virtual environments cooperation for computer-assisted TEAM procedures

    NASA Astrophysics Data System (ADS)

    Goksu, Cemil; Haigron, Pascal; Acosta, Oscar; Lucas, Antoine

    2004-05-01

    Transfemoral Endovascular Aneurysm Management, the less invasive treatment of Aortic Abdominal Aneurysms (AAA), is a highly specialized procedure, using advanced devices and requiring a high degree of clinical expertise. There is a great need for a navigation guidance system able to make this procedure safer and more precise. In this context of computer-assisted minimally invasive interventional procedures, we propose a new framework based on the cooperation between the real environment where the intervention takes place and a patient-specific virtual environment, which contains a virtual operating room including a C-arm model as well as the 3D preoperative patient data. This approach aims to deal with the problem of lack of knowledge about soft tissue behavior by better exploiting available information before and during the intervention through a cooperative approach. In order to assist the TEAM procedure in standard interventional conditions, we applied this framework to design a 3D navigation guidance system, which has been successfully used during three TEAM interventions in the operating room. Intra-operatively, anatomical feature-based 2D/3D registration between a single 2D fluoroscopic view, reproduced from the pose planned in the virtual environment, and the preoperative CT volume, is performed by means of a chamfer distance map. The 3D localization of the endovascular devices (sheath, guide wire, prosthesis) tracked either interactively or automatically on 2D sequences, is constrained to either the 3D vascular tree or a 3D device model. Moreover, we propose a first solution to take into account the tissue deformations during this particular intervention and to update the virtual environment with the intraoperative data.

  10. Mechanically assisted 3D ultrasound guided prostate biopsy system.

    PubMed

    Bax, Jeffrey; Cool, Derek; Gardi, Lori; Knight, Kerry; Smith, David; Montreuil, Jacques; Sherebrin, Shi; Romagnoli, Cesare; Fenster, Aaron

    2008-12-01

    There are currently limitations associated with the prostate biopsy procedure, which is the most commonly used method for a definitive diagnosis of prostate cancer. With the use of two-dimensional (2D) transrectal ultrasound (TRUS) for needle-guidance in this procedure, the physician has restricted anatomical reference points for guiding the needle to target sites. Further, any motion of the physician's hand during the procedure may cause the prostate to move or deform to a prohibitive extent. These variations make it difficult to establish a consistent reference frame for guiding a needle. We have developed a 3D navigation system for prostate biopsy, which addresses these shortcomings. This system is composed of a 3D US imaging subsystem and a passive mechanical arm to minimize prostate motion. To validate our prototype, a series of experiments were performed on prostate phantoms. The 3D scan of the string phantom produced minimal geometric distortions, and the geometric error of the 3D imaging subsystem was 0.37 mm. The accuracy of 3D prostate segmentation was determined by comparing the known volume in a certified phantom to a reconstructed volume generated by our system and was shown to estimate the volume with less then 5% error. Biopsy needle guidance accuracy tests in agar prostate phantoms showed that the mean error was 2.1 mm and the 3D location of the biopsy core was recorded with a mean error of 1.8 mm. In this paper, we describe the mechanical design and validation of the prototype system using an in vitro prostate phantom. Preliminary results from an ongoing clinical trial show that prostate motion is small with an in-plane displacement of less than 1 mm during the biopsy procedure.

  11. Three-dimensional spatial representation in freely swimming fish.

    PubMed

    Burt de Perera, Theresa; Holbrook, Robert I

    2012-08-01

    Research on spatial cognition has focused on how animals encode the horizontal component of space. However, most animals travel vertically within their environments, particularly those that fly or swim. Pelagic fish move with six degrees of freedom and must integrate these components to navigate accurately--how do they do this? Using an assay based on associative learning of the vertical and horizontal components of space within a rotating Y-maze, we found that fish (Astyanax fasciatus) learned and remembered information from both horizontal and vertical axes when they were presented either separately or as an integrated three-dimensional unit. When information from the two components conflicted, the fish used the previously learned vertical information in preference to the horizontal. This not only demonstrates that the horizontal and vertical components are stored separately in the fishes' representation of space (simplifying the problem of 3D navigation), but also suggests that the vertical axis contains particularly salient spatial cues--presumably including hydrostatic pressure. To explore this latter possibility, we developed a physical theoretical model that shows how fish could determine their absolute depth using pressure. We next considered full volumetric spatial cognition. Astyanax were trained to swim towards a reward in a Y-maze that could be rotated, before the arms were removed during probe trials. The subjects were tracked in three dimensions as they swam freely through the surrounding cubic tank. The results revealed that fish are able to accurately encode metric information in a volume, and that the error accrued in the horizontal and vertical axes whilst swimming in probe trials was similar. Together, these experiments demonstrate that unlike in surface-bound rats, the vertical component of the representation of space is vitally important to fishes. We hypothesise that the representation of space in the brain of vertebrates could ultimately be

  12. Electromagnetically navigated laparoscopic ultrasound.

    PubMed

    Wilheim, Dirk; Feussner, Hubertus; Schneider, Armin; Harms, Jens

    2003-01-01

    A three-dimensional (3D) representation of laparoscopic ultrasound examinations could be helpful in diagnostic and therapeutic laparoscopy, but has not yet been realised with flexible laparoscopic ultrasound probes. Therefore, an electromagnetic navigation system was integrated into the tip of a conventional laparoscopic ultrasound probe. Navigated 3D laparoscopic ultrasound was compared with the imaging data of 3D navigated transcutaneous ultrasound and 3D computed tomography (CT) scan. The 3D CT scan served as the "gold standard". Clinical applicability in standardized operating room (OR) settings, imaging quality, diagnostic potential, and accuracy in volumetric assessment of various well-defined hepatic lesions were analyzed. Navigated 3D laparoscopic ultrasound facilitates exact definition of tumor location and margins. As compared with the "gold standard" of the 3D CT scans, 3D laparoscopic ultrasound has a tendency to underestimate the volume of the region of interest (ROI) (Delta3.1%). A comparison of 3D laparoscopy and transcutaneous 3D ultrasonography demonstrated clearly that the former is more accurate for volumetric assessment of the ROI and facilitates a more detailed display of the lesions. 3D laparoscopic ultrasound imaging with a navigated probe is technically feasible. The technique facilitates detailed ultrasound evaluation of laparoscopic procedures that involve visual, in-depth, and volumetric perception of complex liver pathologies. Navigated 3D laparoscopic ultrasound may have the potential to promote the practical role of laparoscopic ultrasonography, and become a valuable tool for local ablative therapy. In this article, our clinical experiences with a certified prototype of a 3D laparoscopic ultrasound probe, as well as its in vitro and in vivo evaluation, is reported.

  13. Real-time synthetic vision cockpit display for general aviation

    NASA Astrophysics Data System (ADS)

    Hansen, Andrew J.; Smith, W. Garth; Rybacki, Richard M.

    1999-07-01

    Low cost, high performance graphics solutions based on PC hardware platforms are now capable of rendering synthetic vision of a pilot's out-the-window view during all phases of flight. When coupled to a GPS navigation payload the virtual image can be fully correlated to the physical world. In particular, differential GPS services such as the Wide Area Augmentation System WAAS will provide all aviation users with highly accurate 3D navigation. As well, short baseline GPS attitude systems are becoming a viable and inexpensive solution. A glass cockpit display rendering geographically specific imagery draped terrain in real-time can be coupled with high accuracy (7m 95% positioning, sub degree pointing), high integrity (99.99999% position error bound) differential GPS navigation/attitude solutions to provide both situational awareness and 3D guidance to (auto) pilots throughout en route, terminal area, and precision approach phases of flight. This paper describes the technical issues addressed when coupling GPS and glass cockpit displays including the navigation/display interface, real-time 60 Hz rendering of terrain with multiple levels of detail under demand paging, and construction of verified terrain databases draped with geographically specific satellite imagery. Further, on-board recordings of the navigation solution and the cockpit display provide a replay facility for post-flight simulation based on live landings as well as synchronized multiple display channels with different views from the same flight. PC-based solutions which integrate GPS navigation and attitude determination with 3D visualization provide the aviation community, and general aviation in particular, with low cost high performance guidance and situational awareness in all phases of flight.

  14. Geomatics techniques applied to time series of aerial images for multitemporal geomorphological analysis of the Miage Glacier (Mont Blanc).

    NASA Astrophysics Data System (ADS)

    Perotti, Luigi; Carletti, Roberto; Giardino, Marco; Mortara, Giovanni

    2010-05-01

    The Miage glacier is the major one in the Italian side of the Mont Blanc Massif, the third by area and the first by longitudinal extent among Italian glaciers. It is a typical debris covered glacier, since the end of the L.I.A. The debris coverage reduces ablation, allowing a relative stability of the glacier terminus, which is characterized by a wide and articulated moraine apparatus. For its conservative landforms, the Miage Glacier has a great importance for the analysis of the geomorphological response to recent climatic changes. Thanks to an organized existing archive of multitemporal aerial images (1935 to present) a photogrammetric approach has been applied to detect recent geomorphological changes in the Miage glacial basin. The research team provided: a) to digitize all the available images (still in analogic form) through photogrammetric scanners (very low image distortions devices) taking care of correctly defining the resolution of the acquisition compared to the scale mapping images are suitable for; b) to import digitized images into an appropriate digital photogrammetry software environment; c) to manage images in order, where possible, to carried out the stereo models orientation necessary for 3D navigation and plotting of critical geometric features of the glacier. Recognized geometric feature, referring to different periods, can be transferred to vector layers and imported in a GIS for further comparisons and investigations; d) to produce multi-temporal Digital Elevation Models for glacier volume changes; e) to perform orthoprojection of such images to obtain multitemporal orthoimages useful for areal an planar terrain evaluation and thematic analysis; f) to evaluate both planimetric positioning and height determination accuracies reachable through the photogrammetric process. Users have to known reliability of the measures they can do over such products. This can drive them to define the applicable field of this approach and this can help them to

  15. Aerial robot navigation in cluttered urban environments

    NASA Astrophysics Data System (ADS)

    Shi, Dongqing

    Autonomous navigation systems for mobile robots have been successfully deployed for a wide range of planar ground-based tasks. However, very few counterparts of the previous planar navigation systems were developed for three-dimensional (3-D) motion, which is needed for unmanned aerial vehicles (UAVs). Safe maneuvering in complex environments is a major challenge for UAVs. Future urban reconnaissance and search missions will require UAVs to autonomously navigate through cluttered urban spaces. This research proposes two approaches for unmanned helicopter navigation in cluttered urban environments: a 3-D fuzzy behavioral approach and a 3-D vector field histogram (VFH) approach. Behavior-based control has been very successful for planar mobile robots navigation in unknown environments. A novel fuzzy behavioral scheme for navigating an unmanned helicopter in cluttered 3-D spaces is developed. The 3-D navigation problem is decomposed into several identical two-dimensional (2-D) navigation sub-problems, each of which is solved by using preference-based fuzzy behaviors. Due to the shortcomings of vector summation during the fusion of the 2-D sub-problems, instead of directly outputting steering subdirections by their own defuzzification processes, the undefuzzified intermediate results of the sub-problems are fused to a 3-D solution region, representing degrees of preference for the robot movement. A new defuzzification algorithm that steers the robot by finding the centroid of a 3-D convex region of maximum volume in the 3-D solution region is developed. A fuzzy speed control system is also developed to ensure the efficiency and safety of the navigation. The VFH approach is very popular for planar mobile robots. A 3-D VFH approach to UAV navigation in cluttered urban environments is developed. A 3-D laser measurement system is used to obtain the obstacle distribution in this method. Instead of a 2-D Cartesian histogram grid as a world model, a 3-D spherical histogram

  16. Releasing the digital elevation model for the whole Italian territory: a case study reporting two years of core-data dissemination for Earth Sciences communities and other stakeholders

    NASA Astrophysics Data System (ADS)

    Tarquini, Simone; Nannipieri, Luca

    2014-05-01

    EPOS (European Plate Observing System) is the European initiative for the implementation and integration of European Research Infrastructures in the field of Solid Earth Sciences. In particular, EPOS is aimed at creating a common environment for data exchange for both the scientific community and relevant stakeholders interested in Earth Sciences. In such a context, a service providing access to the complete topography of one of the countries participating in EPOS represents a step forward towards the realization of the EPOS mission. Here we report about two years of activity of a data dissemination service which released (for free) a digital elevation model (DEM) of the whole Italian territory at 10 m-resolution named TINTALY/01. The new TINITALY/01 DEM for the whole Italian territory was completed and presented by INGV in 2007. This DEM was the final result of a project funded by the Italian Ministry of the Environment. TINITALY/01 was completed in two phases: in a first phase, independent elevation models for single regions were derived, and in a second phase, all the regional models were merged into a single, seamless model covering the whole territory of Italy. In early 2012, a web portal was published (http://tinitaly.pi.ingv.it/) through which the above DEM is open for a full web-GIS navigation (3-D navigation in anaglyph mode or standard 2-D hillshade), and where internet navigators can ask for the download of the DEM dataset (in grid format, 10 m-resolution) through the compilation of an online form (http://tinitaly.pi.ingv.it/account_request_form.html). Submission of the form implies stating the destination of use for the data, and acceptance of the policy of use (i.e. no-profit use). After nearly two years from the opening of the portal, the DEM is still browsed by up to 10-20 users per day (about 3000 visits throughout 2013). As of 31 December 2013, about 220 users affiliated to nearly 150 different institutions or associations (i.e. universities

  17. The Engelbourg's ruins: from 3D TLS point cloud acquisition to 3D virtual and historic models

    NASA Astrophysics Data System (ADS)

    Koehl, Mathieu; Berger, Solveig; Nobile, Sylvain

    2014-05-01

    . The 3D model integrated into a GIS is now a precious means of communication for the valuation of the site. Accessible to all, including to the distant people, he allows discover the castle and his history in an educational and relevant way. From an archaeological point of view, the 3D model brings an overall view and a backward movement on the constitution of the site, which a 2D document cannot easily offer. The 3D navigation and the integration of 2D data in the model allow analyze vestiges in another way, contributing to the faster establishment of new hypotheses. Complementary to other methods already exploited in archaeology, the analysis by the 3D vision is, for the scientists, a significant saving of time which they can so dedicate to the more thorough study of certain put aside hypotheses. In parallel, we created several panoramas, and set up a virtual and interactive visit of the site. In the optics to perpetuate this project, and to offer to the future users the ways to continue and to update this study, we tested and set up the methodologies of processing. We were so able to release procedures clear, orderly and applicable as well to the case of Engelbourg as to other similar studies. At least, some hypotheses permits to reconstruct virtually first versions of the original state of the castle.