Virtual bronchoscopic navigation without X-ray fluoroscopy to diagnose peripheral pulmonary lesions: a randomized trial.

PubMed

Asano, Fumihiro; Ishida, Takashi; Shinagawa, Naofumi; Sukoh, Noriaki; Anzai, Masaki; Kanazawa, Kenya; Tsuzuku, Akifumi; Morita, Satoshi

2017-12-11

Transbronchial biopsy for peripheral pulmonary lesions is generally performed under X-ray fluoroscopy. Virtual bronchoscopic navigation (VBN) is a method in which virtual images of the bronchial route to the lesion are produced based on CT images obtained before VBN, and the bronchoscope is guided using these virtual images, improving the diagnostic yield of peripheral pulmonary lesions. VBN has the possibility of eliminating the need for X-ray fluoroscopy in the bronchoscopic diagnosis of peripheral lesions. To determine whether VBN can be a substitute for X-ray fluoroscopy, a randomized multicenter trial (non-inferiority trial) was performed in VBN and X-ray fluoroscopy (XRF) -assisted groups. The non-inferiority margin in the VBN-assisted group compared with the XRF-assisted group was set at 15%. The subjects consisted of 140 patients with peripheral pulmonary lesions with a mean diameter > 3 cm. In the VBN-assisted group, the bronchoscope was guided to the lesion using a VBN system without X-ray fluoroscopy. In the XRF-assisted group, the same bronchoscope was guided to the lesion under X-ray fluoroscopy. Subsequently, in both groups, the lesion was visualized using endobronchial ultrasonography with a guide sheath (EBUS/GS), and biopsy was performed. In this serial procedure, X-ray fluoroscopy was not used in the VBNA group. The subjects of analysis consisted of 129 patients. The diagnostic yield was 76.9% (50/65) in the VBN-assisted group and 85.9% (55/64) in the XRF-assisted group. The difference in the diagnostic yield between the two groups was -9.0% (95% confidence interval: -22.3% ~ 4.3%). The non-inferiority of the VBN-assisted group could not be confirmed. The rate of visualizing lesions by EBUS was 95.4% (62/65) in the VBN-assisted group and 96.9% (62/64) in the XRF-assisted group, being high in both groups. On EBUS/GS, a bronchoscope and biopsy instruments may be guided to the lesions using VBN without X-ray fluoroscopy, but X-ray fluoroscopy is necessary to improve the accuracy of sample collection from lesions. During transbronchial biopsy for peripheral pulmonary lesions, VBN cannot be a substitute for X-ray fluoroscopy. UMIN-CTR (UMIN000001710); registered 16 February 2009.

[New ultrasound navigational system in extracorporeal lithotripsy: decreased fluoroscopy and radiation].

PubMed

Abid, N; Ravier, E; Codas, R; Crouzet, S; Martin, X

2013-09-01

Extracorporeal shock wave lithotripsy is the most common method of treatment for kidney stones. Both fluoroscopy and ultrasound imaging can be used to locate stones, but fluoroscopy is more frequently employed. Evaluation of a new stereotaxic navigational system: the stone was located using an ultrasound probe, and its 3D location was saved. The table automatically moved to position the stone at the focal point. A real-time follow-up was possible during treatment. Our objective was to demonstrate a decrease in the use of fluoroscopy to locate kidney stones for extracorporeal shock wave lithotripsy through the use of a 3D ultrasound stone locking system. Prospective analysis of the case records of the 20 patients preceding and the 20 patients succeeding the arrival of the ultrasound stone locking system Visio-Track (EDAP-TMS). We used a Student test to compare age, BMI, kidney stone size, number of shock waves and administered energy. Patient characteristics were comparable. The average age was 55 years old and the average kidney stone size was 10.7 mm. Radiation duration was 174.8 seconds in the group without Visio-Track versus 57.1 seconds in the group with it (P<0.0001). A similar result was observed for radiation doses: 5197.25 mGy x cm2 for the group without versus 1987.6 mGy x cm2 for the group with Visio-Track (P=0.0033). The stone locking system Visio-Track reduced fluoroscopy in our first group of patients, which decreased the patient's individual absorbed irradiation dose. Copyright © 2013 Elsevier Masson SAS. All rights reserved.

Towards image-guided atrial septal defect repair: an ex vivo analysis

NASA Astrophysics Data System (ADS)

Kwartowitz, David M.; Mefleh, Fuad N.; Baker, George H.

2012-02-01

The use of medical images in the operating room for navigation and planning is well established in many clinical disciplines. In cardiology, the use of fluoroscopy for the placement of catheters within the heart has become the standard of care. While fluoroscopy provides a live video sequence with the current location, it poses risks the patient and clinician through exposure to radiation. Radiation dose is cumulative and thus children are at even greater risk from exposure. To reduce the use of radiation, and improve surgical technique we have begun development of an image-guided navigation system, which can deliver therapeutic devices via catheter. In this work we have demonstrated the intrinsic properties of our imaging system, which have led to the development of a phantom emulating a childs heart with an ASD. Further investigation into the use of this information, in a series of mock clinical experiments, will be performed to design procedures for inserting devices into the heart while minimizing fluoroscopy use.

Placement of iliosacral screws using 3D image-guided (O-Arm) technology and Stealth Navigation: comparison with traditional fluoroscopy.

PubMed

Theologis, A A; Burch, S; Pekmezci, M

2016-05-01

We compared the accuracy, operating time and radiation exposure of the introduction of iliosacral screws using O-arm/Stealth Navigation and standard fluoroscopy. Iliosacral screws were introduced percutaneously into the first sacral body (S1) of ten human cadavers, four men and six women. The mean age was 77 years (58 to 85). Screws were introduced using a standard technique into the left side of S1 using C-Arm fluoroscopy and then into the right side using O-Arm/Stealth Navigation. The radiation was measured on the surgeon by dosimeters placed under a lead thyroid shield and apron, on a finger, a hat and on the cadavers. There were no neuroforaminal breaches in either group. The set-up time for the O-Arm was significantly longer than for the C-Arm, while total time for placement of the screws was significantly shorter for the O-Arm than for the C-Arm (p = 0.001). The mean absorbed radiation dose during fluoroscopy was 1063 mRad (432.5 mRad to 4150 mRad). No radiation was detected on the surgeon during fluoroscopy, or when he left the room during the use of the O-Arm. The mean radiation detected on the cadavers was significantly higher in the O-Arm group (2710 mRem standard deviation (sd) 1922) than during fluoroscopy (11.9 mRem sd 14.8) (p < 0.01). O-Arm/Stealth Navigation allows for faster percutaneous placement of iliosacral screws in a radiation-free environment for surgeons, albeit with the same accuracy and significantly more radiation exposure to cadavers, when compared with standard fluoroscopy. Placement of iliosacral screws with O-Arm/Stealth Navigation can be performed safely and effectively. Cite this article: Bone Joint J 2016;98-B:696-702. ©2016 The British Editorial Society of Bone & Joint Surgery.

[Assessment of the surgeon radiation exposure during a minimally invasive TLIF: Comparison between fluoroscopy and O-arm system].

PubMed

Grelat, M; Zairi, F; Quidet, M; Marinho, P; Allaoui, M; Assaker, R

2015-08-01

Transforaminal lumbar interbody fusion with a minimally invasive approach (MIS TLIF) has become a very popular technique in the treatment of degenerative diseases of the lumbar spine, as it allows a decrease in muscle iatrogenic. However, iterative radiological controls inherent to this technique are responsible for a significant increase in exposure to ionizing radiation for the surgeon. New techniques for radiological guidance (O-arm navigation-assisted) would overcome this drawback, but this remains unproven. To analyze the exposure of the surgeon to intraoperative X-ray during a MIS TLIF under fluoroscopy and under O-arm navigation-assisted. This prospective study was conducted at the University Hospital of Lille from February to May 2013. Twelve patients underwent a MIS TLIF for the treatment of low-grade spondylolisthesis; six under standard fluoroscopy (group 1) and six under O-arm system (group 2). Passive dosimeters (rings and glasses) and active dosimeters for thorax were used to measure the radiation exposure of the surgeon. For group 1, the average time of fluoroscopy was 3.718 minutes (3.13-4.56) while no radioscopy was perform on group 2. For the first group, the average exposure dose was 12 μSv (5-20 μSv) on the thorax, 1168 μSv (510-2790 μSv) on the main hand and 179 μSv (103-486 μSv) on the lens. The exposure dose was measured zero on the second group. The maximum recommended doses can be reached, mainly for the lens. In addition to the radioprotection measures, O-arm navigation systems are safe alternatives to significantly reduce surgeon exposure. Copyright © 2015 Elsevier Masson SAS. All rights reserved.

Patient and surgeon radiation exposure during spinal instrumentation using intraoperative computed tomography-based navigation.

PubMed

Mendelsohn, Daniel; Strelzow, Jason; Dea, Nicolas; Ford, Nancy L; Batke, Juliet; Pennington, Andrew; Yang, Kaiyun; Ailon, Tamir; Boyd, Michael; Dvorak, Marcel; Kwon, Brian; Paquette, Scott; Fisher, Charles; Street, John

2016-03-01

Imaging modalities used to visualize spinal anatomy intraoperatively include X-ray studies, fluoroscopy, and computed tomography (CT). All of these emit ionizing radiation. Radiation emitted to the patient and the surgical team when performing surgeries using intraoperative CT-based spine navigation was compared. This is a retrospective cohort case-control study. Seventy-three patients underwent CT-navigated spinal instrumentation and 73 matched controls underwent spinal instrumentation with conventional fluoroscopy. Effective doses of radiation to the patient when the surgical team was inside and outside of the room were analyzed. The number of postoperative imaging investigations between navigated and non-navigated cases was compared. Intraoperative X-ray imaging, fluoroscopy, and CT dosages were recorded and standardized to effective doses. The number of postoperative imaging investigations was compared with the matched cohort of surgical cases. A literature review identified historical radiation exposure values for fluoroscopic-guided spinal instrumentation. The 73 navigated operations involved an average of 5.44 levels of instrumentation. Thoracic and lumbar instrumentations had higher radiation emission from all modalities (CT, X-ray imaging, and fluoroscopy) compared with cervical cases (6.93 millisievert [mSv] vs. 2.34 mSv). Major deformity and degenerative cases involved more radiation emission than trauma or oncology cases (7.05 mSv vs. 4.20 mSv). On average, the total radiation dose to the patient was 8.7 times more than the radiation emitted when the surgical team was inside the operating room. Total radiation exposure to the patient was 2.77 times the values reported in the literature for thoracolumbar instrumentations performed without navigation. In comparison, the radiation emitted to the patient when the surgical team was inside the operating room was 2.50 lower than non-navigated thoracolumbar instrumentations. The average total radiation exposure to the patient was 5.69 mSv, a value less than a single routine lumbar CT scan (7.5 mSv). The average radiation exposure to the patient in the present study was approximately one quarter the recommended annual occupational radiation exposure. Navigation did not reduce the number of postoperative X-rays or CT scans obtained. Intraoperative CT navigation increases the radiation exposure to the patient and reduces the radiation exposure to the surgeon when compared with values reported in the literature. Intraoperative CT navigation improves the accuracy of spine instrumentation with acceptable patient radiation exposure and reduced surgical team exposure. Surgeons should be aware of the implications of radiation exposure to both the patient and the surgical team when using intraoperative CT navigation. Copyright © 2016 Elsevier Inc. All rights reserved.

Accuracy assessment of fluoroscopy-transesophageal echocardiography registration

NASA Astrophysics Data System (ADS)

Lang, Pencilla; Seslija, Petar; Bainbridge, Daniel; Guiraudon, Gerard M.; Jones, Doug L.; Chu, Michael W.; Holdsworth, David W.; Peters, Terry M.

2011-03-01

This study assesses the accuracy of a new transesophageal (TEE) ultrasound (US) fluoroscopy registration technique designed to guide percutaneous aortic valve replacement. In this minimally invasive procedure, a valve is inserted into the aortic annulus via a catheter. Navigation and positioning of the valve is guided primarily by intra-operative fluoroscopy. Poor anatomical visualization of the aortic root region can result in incorrect positioning, leading to heart valve embolization, obstruction of the coronary ostia and acute kidney injury. The use of TEE US images to augment intra-operative fluoroscopy provides significant improvements to image-guidance. Registration is achieved using an image-based TEE probe tracking technique and US calibration. TEE probe tracking is accomplished using a single-perspective pose estimation algorithm. Pose estimation from a single image allows registration to be achieved using only images collected in standard OR workflow. Accuracy of this registration technique is assessed using three models: a point target phantom, a cadaveric porcine heart with implanted fiducials, and in-vivo porcine images. Results demonstrate that registration can be achieved with an RMS error of less than 1.5mm, which is within the clinical accuracy requirements of 5mm. US-fluoroscopy registration based on single-perspective pose estimation demonstrates promise as a method for providing guidance to percutaneous aortic valve replacement procedures. Future work will focus on real-time implementation and a visualization system that can be used in the operating room.

Radiation- and reference base-free navigation procedure for placement of instruments and implants: application to retrograde drilling of osteochondral lesions of the knee joint.

PubMed

Müller, Matthias; Gras, Florian; Marintschev, Ivan; Mückley, Thomas; Hofmann, Gunter O

2009-01-01

A novel, radiation- and reference base-free procedure for placement of navigated instruments and implants was developed and its practicability and precision in retrograde drillings evaluated in an experimental setting. Two different guidance techniques were used: One experimental group was operated on using the radiation- and reference base-free navigation technique (Fluoro Free), and the control group was operated on using standard fluoroscopy for guidance. For each group, 12 core decompressions were simulated by retrograde drillings in different artificial femurs following arthroscopic determination of the osteochondral lesions. The final guide-wire position was evaluated by postoperative CT analysis using vector calculation. High precision was achieved in both groups, but operating time was significantly reduced in the navigated group as compared to the control group. This was due to a 100% first-pass accuracy of drilling in the navigated group; in the control group a mean of 2.5 correction maneuvers per drilling were necessary. Additionally, the procedure was free of radiation in the navigated group, whereas 17.2 seconds of radiation exposure time were measured in the fluoroscopy-guided group. The developed Fluoro Free procedure is a promising and simplified approach to navigating different instruments as well as implants in relation to visually or tactilely placed pointers or objects without the need for radiation exposure or invasive fixation of a dynamic reference base in the bone.

SU-F-P-42: “To Navigate, Or Not to Navigate: HDR BT in Recurrent Spine Lesions”

DOE Office of Scientific and Technical Information (OSTI.GOV)

Voros, L; Cohen, G; Zaider, M

Purpose: We compare the accuracy of HDR catheter placement for paraspinal lesions using O-arm CBCT imaging combined with StealthStation navigation and traditional fluoroscopically guided catheter placement. Methods: CT and MRI scans were acquired pre-treatment to outline the lesions and design treatment plans (pre-plans) to meet dosimetric constrains. The pre-planned catheter trajectories were transferred into the StealthStation Navigation system prior to the surgery. The StealthStation is an infra red (IR) optical navigation system used for guidance of surgical instruments. An intraoperative CBCT scan (O-arm) was acquired with reference IR optical fiducials anchored onto the patient and registered with the preplan imagemore » study to guide surgical instruments in relation to the patients’ anatomy and to place the brachytherapy catheters along the pre-planned trajectories. The final treatment plan was generated based on a 2nd intraoperative CBCT scan reflecting achieved implant geometry. The 2nd CBCT was later registered with the initial CT scan to compare the preplanned dwell positions with actual dwell positions (catheter placements). Similar workflow was used in placement of 8 catheters (1 patient) without navigation, but under fluoroscopy guidance in an interventional radiology suite. Results: A total of 18 catheters (3 patients) were placed using navigation assisted surgery. Average displacement of 0.66 cm (STD=0.37cm) was observed between the pre-plan source positions and actual source positions in the 3 dimensional space. This translates into an average 0.38 cm positioning error in one direction including registration errors, digitization errors, and the surgeons ability to follow the planned trajectory. In comparison, average displacement of non-navigated catheters was 0.50 cm (STD=0.22cm). Conclusion: Spinal lesion HDR brachytherapy planning is a difficult task. Catheter placement has a direct impact on target coverage and dose to critical structures. While limited to a handful of patients, our experience shows navigation and fluoroscopy guided placement yield similar results.« less

Zero-fluoroscopy permanent pacemaker implantation using Ensite NavX system: Clinical viability or fanciful technique?

PubMed

Guo, Ping; Qiu, Jie; Wang, Yan; Chen, Guangzhi; Proietti, Riccardo; Fadhle, Al-Selmi; Zhao, Chunxia; Wen Wang, Dao

2018-02-01

Fluoroscopy is the imaging modality routinely used for cardiac device implantation and electrophysiological procedures. Due to the rising concern regarding the harmful effects of radiation exposure to both the patients and operation staffs, novel 3D mapping systems have been developed and implemented in electrophysiological procedure for the navigation of catheters inside the heart chambers. Their applicability in cardiac device implantation has been rarely reported. Our aim is to evaluate the feasibility and safety of permanent pacemaker implantation without fluoroscopy. From January 2012 to June 2016, six patients (50 ± 15 years, four of six were female, one of who was at the 25th week of gestation) who underwent permanent pacemaker implantation were included (zero-fluoroscopy group). Data from 20 consecutive cases of implantation performed under fluoroscopy guidance were chosen as a control group (fluoroscopy group). Total implantation procedure time for single-chamber pacemaker was 51.3 ± 13.1 minutes in the zero-fluoroscopy group and 42.6 ± 7.4 minutes in the fluoroscopy group (P  =  0.155). The implantation procedural time for a dual-chamber pacemaker was 88.3 ± 19.6 minutes and 67.3 ± 7.6 minutes in the zero-fluoroscopy and fluoroscopy groups (P  =  0.013), respectively. No complications were observed during the procedure and the follow-up in the two groups, and all pacemakers worked with satisfactory parameters. Ensite NavX system can be used as a reliable and safe zero-fluoroscopy approach for the implantation of single- or dual-chamber permanent pacemakers in specific patients, such as pregnant women or in extreme situations when the x-ray machine is not available. © 2017 The Authors. Pacing and Clinical Electrophysiology published by Wiley Periodicals, Inc.

Navigational Guidance and Ablation Planning Tools for Interventional Radiology.

PubMed

Sánchez, Yadiel; Anvari, Arash; Samir, Anthony E; Arellano, Ronald S; Prabhakar, Anand M; Uppot, Raul N

Image-guided biopsy and ablation relies on successful identification and targeting of lesions. Currently, image-guided procedures are routinely performed under ultrasound, fluoroscopy, magnetic resonance imaging, or computed tomography (CT) guidance. However, these modalities have their limitations including inadequate visibility of the lesion, lesion or organ or patient motion, compatibility of instruments in an magnetic resonance imaging field, and, for CT and fluoroscopy cases, radiation exposure. Recent advances in technology have resulted in the development of a new generation of navigational guidance tools that can aid in targeting lesions for biopsy or ablations. These navigational guidance tools have evolved from simple hand-held trajectory guidance tools, to electronic needle visualization, to image fusion, to the development of a body global positioning system, to growth in cone-beam CT, and to ablation volume planning. These navigational systems are promising technologies that not only have the potential to improve lesion targeting (thereby increasing diagnostic yield of a biopsy or increasing success of tumor ablation) but also have the potential to decrease radiation exposure to the patient and staff, decrease procedure time, decrease the sedation requirements, and improve patient safety. The purpose of this article is to describe the challenges in current standard image-guided techniques, provide a definition and overview for these next-generation navigational devices, and describe the current limitations of these, still evolving, next-generation navigational guidance tools. Copyright © 2017 Elsevier Inc. All rights reserved.

Remote magnetic navigation for mapping and ablating right ventricular outflow tract tachycardia.

PubMed

Thornton, Andrew S; Jordaens, Luc J

2006-06-01

Navigation, mapping, and ablation in the right ventricular outflow tract (RVOT) can be difficult. Catheter navigation using external magnetic fields may allow more accurate mapping and ablation. The purpose of this study was to assess the feasibility of RVOT tachycardia ablation using remote magnetic navigation. Mapping and ablation were performed in eight patients with outflow tract ventricular arrhythmias. Tachycardia mapping was undertaken with a 64-polar basket catheter, followed by remote activation and pace-mapping using a magnetically enabled catheter. The area of interest was localized on the basket catheter in seven patients in whom an RVOT arrhythmia was identified. Remote navigation of the magnetic catheter to this area was followed by pace-mapping. Ablation was performed at the site of perfect pace-mapping, with earliest activation if possible. Acute success was achieved in all patients (median four applications). Median procedural time was 144 minutes, with 13.4 minutes of patient fluoroscopy time and 3.8 minutes of physician fluoroscopy time. No complications occurred. One recurrence occurred during follow-up (mean 366 days). RVOT tachycardias can be mapped and ablated using remote magnetic navigation, initially guided by a basket catheter. Precise activation and pace-mapping are possible. Remote magnetic navigation permitted low fluoroscopy exposure for the physician. Long-term results are promising.

The Evolution of Computer-Assisted Total Hip Arthroplasty and Relevant Applications.

PubMed

Chang, Jun-Dong; Kim, In-Sung; Bhardwaj, Atul M; Badami, Ramachandra N

2017-03-01

In total hip arthroplasty (THA), the accurate positioning of implants is the key to achieve a good clinical outcome. Computer-assisted orthopaedic surgery (CAOS) has been developed for more accurate positioning of implants during the THA. There are passive, semi-active, and active systems in CAOS for THA. Navigation is a passive system that only provides information and guidance to the surgeon. There are 3 types of navigation: imageless navigation, computed tomography (CT)-based navigation, and fluoroscopy-based navigation. In imageless navigation system, a new method of registration without the need to register the anterior pelvic plane was introduced. CT-based navigation can be efficiently used for pelvic plane reference, the functional pelvic plane in supine which adjusts anterior pelvic plane sagittal tilt for targeting the cup orientation. Robot-assisted system can be either active or semi-active. The active robotic system performs the preparation for implant positioning as programmed preoperatively. It has been used for only femoral implant cavity preparation. Recently, program for cup positioning was additionally developed. Alternatively, for ease of surgeon acceptance, semi-active robot systems are developed. It was initially applied only for cup positioning. However, with the development of enhanced femoral workflows, this system can now be used to position both cup and stem. Though there have been substantial advancements in computer-assisted THA, its use can still be controversial at present due to the steep learning curve, intraoperative technical issues, high cost and etc. However, in the future, CAOS will certainly enable the surgeon to operate more accurately and lead to improved outcomes in THA as the technology continues to evolve rapidly.

Advanced electrophysiologic mapping systems: an evidence-based analysis.

PubMed

2006-01-01

To assess the effectiveness, cost-effectiveness, and demand in Ontario for catheter ablation of complex arrhythmias guided by advanced nonfluoroscopy mapping systems. Particular attention was paid to ablation for atrial fibrillation (AF). Tachycardia Tachycardia refers to a diverse group of arrhythmias characterized by heart rates that are greater than 100 beats per minute. It results from abnormal firing of electrical impulses from heart tissues or abnormal electrical pathways in the heart because of scars. Tachycardia may be asymptomatic, or it may adversely affect quality of life owing to symptoms such as palpitations, headaches, shortness of breath, weakness, dizziness, and syncope. Atrial fibrillation, the most common sustained arrhythmia, affects about 99,000 people in Ontario. It is associated with higher morbidity and mortality because of increased risk of stroke, embolism, and congestive heart failure. In atrial fibrillation, most of the abnormal arrhythmogenic foci are located inside the pulmonary veins, although the atrium may also be responsible for triggering or perpetuating atrial fibrillation. Ventricular tachycardia, often found in patients with ischemic heart disease and a history of myocardial infarction, is often life-threatening; it accounts for about 50% of sudden deaths. Treatment of Tachycardia The first line of treatment for tachycardia is antiarrhythmic drugs; for atrial fibrillation, anticoagulation drugs are also used to prevent stroke. For patients refractory to or unable to tolerate antiarrhythmic drugs, ablation of the arrhythmogenic heart tissues is the only option. Surgical ablation such as the Cox-Maze procedure is more invasive. Catheter ablation, involving the delivery of energy (most commonly radiofrequency) via a percutaneous catheter system guided by X-ray fluoroscopy, has been used in place of surgical ablation for many patients. However, this conventional approach in catheter ablation has not been found to be effective for the treatment of complex arrhythmias such as chronic atrial fibrillation or ventricular tachycardia. Advanced nonfluoroscopic mapping systems have been developed for guiding the ablation of these complex arrhythmias. Four nonfluoroscopic advanced mapping systems have been licensed by Health Canada: CARTO EP mapping System (manufactured by Biosense Webster, CA) uses weak magnetic fields and a special mapping/ablation catheter with a magnetic sensor to locate the catheter and reconstruct a 3-dimensional geometry of the heart superimposed with colour-coded electric potential maps to guide ablation. EnSite System (manufactured by Endocardial Solutions Inc., MN) includes a multi-electrode non-contact catheter that conducts simultaneous mapping. A processing unit uses the electrical data to computes more than 3,000 isopotential electrograms that are displayed on a reconstructed 3-dimensional geometry of the heart chamber. The navigational system, EnSite NavX, can be used separately with most mapping catheters. The LocaLisa Intracardiac System (manufactured by Medtronics Inc, MN) is a navigational system that uses an electrical field to locate the mapping catheter. It reconstructs the location of the electrodes on the mapping catheter in 3-dimensional virtual space, thereby enabling an ablation catheter to be directed to the electrode that identifies abnormal electric potential. Polar Constellation Advanced Mapping Catheter System (manufactured by Boston Scientific, MA) is a multielectrode basket catheter with 64 electrodes on 8 splines. Once deployed, each electrode is automatically traced. The information enables a 3-dimensional model of the basket catheter to be computed. Colour-coded activation maps are reconstructed online and displayed on a monitor. By using this catheter, a precise electrical map of the atrium can be obtained in several heartbeats. A systematic search of Cochrane, MEDLINE and EMBASE was conducted to identify studies that compared ablation guided by any of the advanced systems to fluoroscopy-guided ablation of tachycardia. English-language studies with sample sizes greater than or equal to 20 that were published between 2000 and 2005 were included. Observational studies on safety of advanced mapping systems and fluoroscopy were also included. Outcomes of interest were acute success, defined as termination of arrhythmia immediately following ablation; long-term success, defined as being arrhythmia free at follow-up; total procedure time; fluoroscopy time; radiation dose; number of radiofrequency pulses; complications; cost; and the cost-effectiveness ratio. Quality of the individual studies was assessed using established criteria. Quality of the overall evidence was determined by applying the GRADE evaluation system. (3) Qualitative synthesis of the data was performed. Quantitative analysis using Revman 4.2 was performed when appropriate. Quality of the Studies Thirty-four studies met the inclusion criteria. These comprised 18 studies on CARTO (4 randomized controlled trials [RCTs] and 14 non-RCTs), 3 RCTs on EnSite NavX, 4 studies on LocaLisa Navigational System (1 RCT and 3 non-RCTs), 2 studies on EnSite and CARTO, 1 on Polar Constellation basket catheter, and 7 studies on radiation safety. The quality of the studies ranged from moderate to low. Most of the studies had small sample sizes with selection bias, and there was no blinding of patients or care providers in any of the studies. Duration of follow-up ranged from 6 weeks to 29 months, with most having at least 6 months of follow-up. There was heterogeneity with respect to the approach to ablation, definition of success, and drug management before and after the ablation procedure. Evidence is based on a small number of small RCTS and non-RCTS with methodological flaws.Advanced nonfluoroscopy mapping/navigation systems provided real time 3-dimensional images with integration of anatomic and electrical potential information that enable better visualization of areas of interest for ablationAdvanced nonfluoroscopy mapping/navigation systems appear to be safe; they consistently shortened the fluoroscopy duration and radiation exposure.Evidence suggests that nonfluoroscopy mapping and navigation systems may be used as adjuncts to rather than replacements for fluoroscopy in guiding the ablation of complex arrhythmias.Most studies showed a nonsignificant trend toward lower overall failure rate for advanced mapping-guided ablation compared with fluoroscopy-guided mapping.Pooled analyses of small RCTs and non-RCTs that compared fluoroscopy- with nonfluoroscopy-guided ablation of atrial fibrillation and atrial flutter showed that advanced nonfluoroscopy mapping and navigational systems:Yielded acute success rates of 69% to 100%, not significantly different from fluoroscopy ablation.Had overall failure rates at 3 months to 19 months of 1% to 40% (median 25%).Resulted in a 10% relative reduction in overall failure rate for advanced mapping guided-ablation compared to fluoroscopy guided ablation for the treatment of atrial fibrillation.Yielded added benefit over fluoroscopy in guiding the ablation of complex arrhythmia. The advanced systems were shown to reduce the arrhythmia burden and the need for antiarrhythmic drugs in patients with complex arrhythmia who had failed fluoroscopy-guided ablationBased on predominantly observational studies, circumferential PV ablation guided by a nonfluoroscopy system was shown to do the following:Result in freedom from atrial fibrillation (with or without antiarrhythmic drug) in 75% to 95% of patients (median 79%). This effect was maintained up to 28 months.Result in freedom from atrial fibrillation without antiarrhythmic drugs in 47% to 95% of patients (median 63%).Improve patient survival at 28 months after the procedure as compared with drug therapy.Require special skills; patient outcomes are operator dependent, and there is a significant learning curve effect.Complication rates of pulmonary vein ablation guided by an advanced mapping/navigation system ranged from 0% to 10% with a median of 6% during a follow-up period of 6 months to 29 months.The complication rate of the study with the longest follow-up was 8%.The most common complications of advanced catheter-guided ablation were stroke, transient ischemic attack, cardiac tamponade, myocardial infarction, atrial flutter, congestive heart failure, and pulmonary vein stenosis. A small number of cases with fatal atrial-esophageal fistula had been reported and were attributed to the high radiofrequency energy used rather than to the advanced mapping systems. An Ontario-based economic analysis suggests that the cumulative incremental upfront costs of catheter ablation of atrial fibrillation guided by advanced nonfluoroscopy mapping could be recouped in 4.7 years through cost avoidance arising from less need for antiarrhythmic drugs and fewer hospitalization for stroke and heart failure. Expert Opinion Expert consultants to the Medical Advisory Secretariat noted the following: Nonfluoroscopy mapping is not necessary for simple ablation procedures (e.g., typical flutter). However, it is essential in the ablation of complex arrhythmias including these:Symptomatic, drug-refractory atrial fibrillationArrhythmias in people who have had surgery for congenital heart disease (e.g., macro re-entrant tachycardia in people who have had surgery for congenital heart disease).Ventricular tachycardia due to myocardial infarctionAtypical atrial flutterAdvanced mapping systems represent an enabling technology in the ablation of complex arrhythmias. The ablation of these complex cases would not have been feasible or advisable with fluoroscopy-guided ablation and, therefore, comparative studies would not be feasible or ethical in such cases. (ABSTRACT TRUNCATED)

Endoscopic bronchial occlusion for postoperative persistent bronchopleural fistula with computed tomography fluoroscopy guidance and virtual bronchoscopic navigation

PubMed Central

Yanagiya, Masahiro; Matsumoto, Jun; Nagano, Masaaki; Kusakabe, Masashi; Matsumoto, Yoko; Furukawa, Ryutaro; Ohara, Sayaka; Usui, Kazuhiro

2018-01-01

Abstract Rationale: The development of postoperative bronchopleural fistula (BPF) remains a challenge in thoracic surgery. We herein report a case of BPF successfully treated with endoscopic bronchial occlusion under computed tomography (CT) fluoroscopy and virtual bronchoscopic navigation (VBN). Patient concerns: A 63-year-old man underwent right upper lobectomy with concomitant S6a subsegmentectomy for lung adenocarcinoma. On postoperative day 24, he complained of shaking chills with high fever. Diagnoses: BPF with subsequent pneumonia and empyema. Interventions: Despite aggressive surgical interventions for the BPF, air leakage persisted postoperatively. On days 26 and 34 after the final operation, endobronchial occlusions were performed under CT fluoroscopy and VBN. Outcomes: The air leaks greatly decreased and the patient was discharged. Lessons: CT fluoroscopy and VBN can be useful techniques for endobronchial occlusion in the treatment of BPF. PMID:29443771

The Evolution of Computer-Assisted Total Hip Arthroplasty and Relevant Applications

PubMed Central

Kim, In-Sung; Bhardwaj, Atul M.; Badami, Ramachandra N.

2017-01-01

In total hip arthroplasty (THA), the accurate positioning of implants is the key to achieve a good clinical outcome. Computer-assisted orthopaedic surgery (CAOS) has been developed for more accurate positioning of implants during the THA. There are passive, semi-active, and active systems in CAOS for THA. Navigation is a passive system that only provides information and guidance to the surgeon. There are 3 types of navigation: imageless navigation, computed tomography (CT)-based navigation, and fluoroscopy-based navigation. In imageless navigation system, a new method of registration without the need to register the anterior pelvic plane was introduced. CT-based navigation can be efficiently used for pelvic plane reference, the functional pelvic plane in supine which adjusts anterior pelvic plane sagittal tilt for targeting the cup orientation. Robot-assisted system can be either active or semi-active. The active robotic system performs the preparation for implant positioning as programmed preoperatively. It has been used for only femoral implant cavity preparation. Recently, program for cup positioning was additionally developed. Alternatively, for ease of surgeon acceptance, semi-active robot systems are developed. It was initially applied only for cup positioning. However, with the development of enhanced femoral workflows, this system can now be used to position both cup and stem. Though there have been substantial advancements in computer-assisted THA, its use can still be controversial at present due to the steep learning curve, intraoperative technical issues, high cost and etc. However, in the future, CAOS will certainly enable the surgeon to operate more accurately and lead to improved outcomes in THA as the technology continues to evolve rapidly. PMID:28316957

Surgical Navigation Technology Based on Augmented Reality and Integrated 3D Intraoperative Imaging: A Spine Cadaveric Feasibility and Accuracy Study.

PubMed

Elmi-Terander, Adrian; Skulason, Halldor; Söderman, Michael; Racadio, John; Homan, Robert; Babic, Drazenko; van der Vaart, Nijs; Nachabe, Rami

2016-11-01

A cadaveric laboratory study. The aim of this study was to assess the feasibility and accuracy of thoracic pedicle screw placement using augmented reality surgical navigation (ARSN). Recent advances in spinal navigation have shown improved accuracy in lumbosacral pedicle screw placement but limited benefits in the thoracic spine. 3D intraoperative imaging and instrument navigation may allow improved accuracy in pedicle screw placement, without the use of x-ray fluoroscopy, and thus opens the route to image-guided minimally invasive therapy in the thoracic spine. ARSN encompasses a surgical table, a motorized flat detector C-arm with intraoperative 2D/3D capabilities, integrated optical cameras for augmented reality navigation, and noninvasive patient motion tracking. Two neurosurgeons placed 94 pedicle screws in the thoracic spine of four cadavers using ARSN on one side of the spine (47 screws) and free-hand technique on the contralateral side. X-ray fluoroscopy was not used for either technique. Four independent reviewers assessed the postoperative scans, using the Gertzbein grading. Morphometric measurements of the pedicles axial and sagittal widths and angles, as well as the vertebrae axial and sagittal rotations were performed to identify risk factors for breaches. ARSN was feasible and superior to free-hand technique with respect to overall accuracy (85% vs. 64%, P < 0.05), specifically significant increases of perfectly placed screws (51% vs. 30%, P < 0.05) and reductions in breaches beyond 4 mm (2% vs. 25%, P < 0.05). All morphometric dimensions, except for vertebral body axial rotation, were risk factors for larger breaches when performed with the free-hand method. ARSN without fluoroscopy was feasible and demonstrated higher accuracy than free-hand technique for thoracic pedicle screw placement. N/A.

Efficacy of a novel IGS system in atrial septal defect repair

NASA Astrophysics Data System (ADS)

Mefleh, Fuad N.; Baker, G. Hamilton; Kwartowitz, David M.

2013-03-01

Congenital heart disease occurs in 107.6 out of 10,000 live births, with Atrial Septal Defects (ASD) accounting for 10% of these conditions. Historically, ASDs were treated with open heart surgery using cardiopulmonary bypass, allowing a patch to be sewn over the defect. In 1976, King et al. demonstrated use of a transcatheter occlusion procedure, thus reducing the invasiveness of ASD repair. Localization during these catheter based procedures traditionally has relied on bi-plane fluoroscopy; more recently trans-esophageal echocardiography (TEE) and intra-cardiac echocardiography (ICE) have been used to navigate these procedures. Although there is a high success rate using the transcatheter occlusion procedure, fluoroscopy poses radiation dose risk to both patient and clinician. The impact of this dose to the patients is important as many of those undergoing this procedure are children, who have an increased risk associated with radiation exposure. Their longer life expectancy than adults provides a larger window of opportunity for expressing the damaging effects of ionizing radiation. In addition, epidemiologic studies of exposed populations have demonstrated that children are considerably more sensitive to the carcinogenic effects radiation. Image-guided surgery (IGS) uses pre-operative and intra-operative images to guide surgery or an interventional procedure. Central to every IGS system is a software application capable of processing and displaying patient images, registration between multiple coordinate systems, and interfacing with a tool tracking system. We have developed a novel image-guided surgery framework called Kit for Navigation by Image Focused Exploration (KNIFE). In this work we assess the efficacy of this image-guided navigation system for ASD repair using a series of mock clinical experiments designed to simulate ASD repair device deployment.

Intraoperative 3-Dimensional Computed Tomography and Navigation in Foot and Ankle Surgery.

PubMed

Chowdhary, Ashwin; Drittenbass, Lisca; Dubois-Ferrière, Victor; Stern, Richard; Assal, Mathieu

2016-09-01

Computer-assisted orthopedic surgery has developed dramatically during the past 2 decades. This article describes the use of intraoperative 3-dimensional computed tomography and navigation in foot and ankle surgery. Traditional imaging based on serial radiography or C-arm-based fluoroscopy does not provide simultaneous real-time 3-dimensional imaging, and thus leads to suboptimal visualization and guidance. Three-dimensional computed tomography allows for accurate intraoperative visualization of the position of bones and/or navigation implants. Such imaging and navigation helps to further reduce intraoperative complications, leads to improved surgical outcomes, and may become the gold standard in foot and ankle surgery. [Orthopedics.2016; 39(5):e1005-e1010.]. Copyright 2016, SLACK Incorporated.

Comparison Perioperative Factors During Minimally Invasive Pre-Psoas Lateral Interbody Fusion of the Lumbar Spine Using Either Navigation or Conventional Fluoroscopy

PubMed Central

Zhang, Yue-Hui; White, Ian; Potts, Eric; Mobasser, Jean-Pierre

2017-01-01

Study Design: Retrospective clinical study. Objectives: The aim of this study was to compare intraoperative conditions and clinical results of patients undergoing pre-psoas oblique lateral interbody fusion (OLIF) using navigation or conventional fluoroscopy (C-ARM) techniques. Methods: Forty-two patients (22 patients by navigation and 20 by fluoroscopy) underwent the OLIF procedure at 2 medical centers, and records were reviewed. Clinical data was collected and compared between the 2 groups. Patients were followed-up with a range of 6 to 24 months. Results: There were no significant differences on demographic data between groups. The navigation group had zero radiation exposure (RE) to the surgeon and radiation time compared to the C-ARM group, with total RE of 44.59 ± 26.65 mGy and radiation time of 88.30 ± 58.28 seconds (P < .05). The RE to the patient was significantly lower in the O-ARM group (9.38 mGy) compared to the C-ARM group (44.59 ± 26.65 mGy). Operating room time was slightly longer in the navigation group (2.49 ± 1.35 hours) compared to the C-ARM group (2.30 ± 1.17 hours; P > .05), although not statistically significant. No differences were found in estimated blood loss, length of hospitalization, surgery-related complications, and outcome scores with an average of 8-month follow-up. Conclusions: Compared with C-ARM techniques, using navigation can eliminate RE to surgeon and decrease RE to the patient, and it had no significant effect on operating time, estimated blood loss, length of hospitalization, or perioperative complications in the patients with OLIF procedure. This study shows that navigation is a safe alternative to fluoroscopy during the OLIF procedure in the treatment of degenerative lumbar conditions. PMID:28989845

Three-dimensional navigation is more accurate than two-dimensional navigation or conventional fluoroscopy for percutaneous sacroiliac screw fixation in the dysmorphic sacrum: a randomized multicenter study.

PubMed

Matityahu, Amir; Kahler, David; Krettek, Christian; Stöckle, Ulrich; Grutzner, Paul Alfred; Messmer, Peter; Ljungqvist, Jan; Gebhard, Florian

2014-12-01

To evaluate the accuracy of computer-assisted sacral screw fixation compared with conventional techniques in the dysmorphic versus normal sacrum. Review of a previous study database. Database of a multinational study with 9 participating trauma centers. The reviewed group included 130 patients, 72 from the navigated group and 58 from the conventional group. Of these, 109 were in the nondysmorphic group and 21 in the dysmorphic group. Placement of sacroiliac (SI) screws was performed using standard fluoroscopy for the conventional group and BrainLAB navigation software with either 2-dimensional or 3-dimensional (3D) navigation for the navigated group. Accuracy of SI screw placement by 2-dimensional and 3D navigation versus conventional fluoroscopy in dysmorphic and nondysmorphic patients, as evaluated by 6 observers using postoperative computerized tomography imaging at least 1 year after initial surgery. Intraobserver agreement was also evaluated. There were 11.9% (13/109) of patients with misplaced screws in the nondysmorphic group and 28.6% (6/21) of patients with misplaced screws in the dysmorphic group, none of which were in the 3D navigation group. Raw agreement between the 6 observers regarding misplaced screws was 32%. However, the percent overall agreement was 69.0% (kappa = 0.38, P < 0.05). The use of 3D navigation to improve intraoperative imaging for accurate insertion of SI screws is magnified in the dysmorphic proximal sacral segment. We recommend the use of 3D navigation, where available, for insertion of SI screws in patients with normal and dysmorphic proximal sacral segments. Therapeutic level I.

Efficient segmentation of 3D fluoroscopic datasets from mobile C-arm

NASA Astrophysics Data System (ADS)

Styner, Martin A.; Talib, Haydar; Singh, Digvijay; Nolte, Lutz-Peter

2004-05-01

The emerging mobile fluoroscopic 3D technology linked with a navigation system combines the advantages of CT-based and C-arm-based navigation. The intra-operative, automatic segmentation of 3D fluoroscopy datasets enables the combined visualization of surgical instruments and anatomical structures for enhanced planning, surgical eye-navigation and landmark digitization. We performed a thorough evaluation of several segmentation algorithms using a large set of data from different anatomical regions and man-made phantom objects. The analyzed segmentation methods include automatic thresholding, morphological operations, an adapted region growing method and an implicit 3D geodesic snake method. In regard to computational efficiency, all methods performed within acceptable limits on a standard Desktop PC (30sec-5min). In general, the best results were obtained with datasets from long bones, followed by extremities. The segmentations of spine, pelvis and shoulder datasets were generally of poorer quality. As expected, the threshold-based methods produced the worst results. The combined thresholding and morphological operations methods were considered appropriate for a smaller set of clean images. The region growing method performed generally much better in regard to computational efficiency and segmentation correctness, especially for datasets of joints, and lumbar and cervical spine regions. The less efficient implicit snake method was able to additionally remove wrongly segmented skin tissue regions. This study presents a step towards efficient intra-operative segmentation of 3D fluoroscopy datasets, but there is room for improvement. Next, we plan to study model-based approaches for datasets from the knee and hip joint region, which would be thenceforth applied to all anatomical regions in our continuing development of an ideal segmentation procedure for 3D fluoroscopic images.

A novel electromagnetic navigation tool for acetabular surgery.

PubMed

Lehmann, Wolfgang; Rueger, Johannes M; Nuechtern, Jakob; Grossterlinden, Lars; Kammal, Michael; Hoffmann, Michael

2015-10-01

Acetabular fracture surgery is demanding and screw placement along narrow bony corridors remains challenging. It necessitates x-ray radiation for fluoroscopically assisted screw insertion. The purpose of this cadaver study was to evaluate the feasibility, accuracy and operation time of a novel electromagnetic navigation system for screw insertion along predefined acetabular corridors. A controlled laboratory study with a total of 24 electromagnetically navigated screw insertions was performed on 8 cadaveric acetabula. 3 peri-acetabular bony corridors (QSS, Quadrilateral Surface Screw; IAS, Infra-Acetabular Screw; PCS, Posterior Column Screw) were defined and screws were placed in a defined order without fluoroscopy. Operation time was documented. Postoperative CT scans were performed to analyse accuracy of screw placement. Mean cadaver age was 70.4 ± 11.7. Successful screw placement was accomplished in 22 out of 24 (91.7%) cases. The overall mean time for all 3 acetabular screws was 576.6 ± 75.9s. All 3 complications occurred during the placement of the IAS due to an impassable narrow bony corridor. QSS mean length was 50 ± 5mm, IAS mean length was 85 ± 10mm and PCS mean length was 120 ± 5mm. In this cadaver study the novel electromagnetic navigation system was feasible to allow accurate screw placement without fluoroscopy in defined narrow peri-acetabular bony corridors. Copyright © 2015 Elsevier Ltd. All rights reserved.

Magnetic navigation system for percutaneous coronary intervention

PubMed Central

Qi, Zhiyong; Wu, Bangwei; Luo, Xinping; Zhu, Jun; Shi, Haiming; Jin, Bo

2016-01-01

Abstract Background: Magnetic navigation system (MNS) allows calculation of the vessel coordinates in real space within the patient's chest for percutaneous coronary intervention (PCI). However, its impact on the procedural parameters and clinical outcomes is still a matter of debate. To derive a more precise estimation of the relationship, a meta-analysis was performed. Methods and Results: Studies exploring the advantages of MNS were identified in English-language articles by search of Medline, Web of Science, and Cochrane Library Databases (inception to October 2015). A standardized protocol was used to extract details on study design, region origin, demographic data, lesion type, and clinical outcomes. The main outcome measures were contrast consumption, procedural success rate, contrast used for wire crossing, procedure time to cross the lesions, and the fluoroscopy time fluoroscopy time. A total of 12 clinical trials involving 2174 patients were included for analysis (902 patients in the magnetic PCI group and 1272 in the conventional PCI group). Overall, contrast consumption was decreased by 40.45 mL (95% confidence interval [CI] −70.98 to −9.92, P = 0.009) in magnetic PCI group compared with control group. In addition, magnetic PCI was associated with significantly decreasing procedural time by 2.17 minutes (95% CI −3.91 to −0.44, P = 0.01) and the total fluoroscopy time was significantly decreased by 1.43 minutes (95% CI −2.29 to −0.57, P = 0.001) in magnetic PCI group. However, procedural success rate, contrast used for wire crossing, procedure time to cross the lesions, and the fluoroscopy time to cross the lesions demonstrated that no statistically difference was observed between 2 groups. Conclusion: The present meta-analysis indicated an improvement of overall contrast consumption, total procedural time, and fluoroscopy time in magnetic PCI group. However, no significant advantages were observed associated with procedural success rate. PMID:27442645

Magnetic navigation system for percutaneous coronary intervention: A meta-analysis.

PubMed

Qi, Zhiyong; Wu, Bangwei; Luo, Xinping; Zhu, Jun; Shi, Haiming; Jin, Bo

2016-07-01

Magnetic navigation system (MNS) allows calculation of the vessel coordinates in real space within the patient's chest for percutaneous coronary intervention (PCI). However, its impact on the procedural parameters and clinical outcomes is still a matter of debate. To derive a more precise estimation of the relationship, a meta-analysis was performed. Studies exploring the advantages of MNS were identified in English-language articles by search of Medline, Web of Science, and Cochrane Library Databases (inception to October 2015). A standardized protocol was used to extract details on study design, region origin, demographic data, lesion type, and clinical outcomes. The main outcome measures were contrast consumption, procedural success rate, contrast used for wire crossing, procedure time to cross the lesions, and the fluoroscopy time fluoroscopy time. A total of 12 clinical trials involving 2174 patients were included for analysis (902 patients in the magnetic PCI group and 1272 in the conventional PCI group). Overall, contrast consumption was decreased by 40.45 mL (95% confidence interval [CI] -70.98 to -9.92, P = 0.009) in magnetic PCI group compared with control group. In addition, magnetic PCI was associated with significantly decreasing procedural time by 2.17 minutes (95% CI -3.91 to -0.44, P = 0.01) and the total fluoroscopy time was significantly decreased by 1.43 minutes (95% CI -2.29 to -0.57, P = 0.001) in magnetic PCI group. However, procedural success rate, contrast used for wire crossing, procedure time to cross the lesions, and the fluoroscopy time to cross the lesions demonstrated that no statistically difference was observed between 2 groups. The present meta-analysis indicated an improvement of overall contrast consumption, total procedural time, and fluoroscopy time in magnetic PCI group. However, no significant advantages were observed associated with procedural success rate.

Reducing intraoperative duration and ionising radiation exposure during the insertion of distal locking screws of intramedullary nails: a small-scale study comparing the current fluoroscopic method against radiation-free, electromagnetic navigation.

PubMed

Grimwood, Darren; Harvey-Lloyd, Jane

2016-12-01

Intramedullary nailing is the standard surgical treatment for mid-diaphyseal fractures of long bones; however, it is also a high radiation dose procedure. Distal locking is regularly cited as a demanding element of the procedure, and there remains a reliance on X-ray fluoroscopy to locate the distal holes. A recently developed electromagnetic navigation (EMN) system allows radiation-free distal locking, with a virtual on-screen image. To compare operative duration, fluoroscopy time and radiation dose when using EMN over fluoroscopy, for the distal locking of intramedullary nails. Consecutive patients with mid-diaphyseal fractures of the tibia and femur, treatable with intramedullary nails, were prospectively enrolled during a 9-month period. The sample consisted of 29 individuals, 19 under fluoroscopic guidance and 10 utilising EMN. Participants were allocated depending on the type of intramedullary nail used and surgeon's preference. These were further divided into tibial and femoral subcategories, relative to the fracture site. EMN reduced fluoroscopy time by 49 (p = 0.038) and 28 s during tibial and femoral nailings, respectively. Radiation dose was reduced by 18 cGy/cm 2 (p = 0.046) during tibial and 181 cGy/cm 2 during femoral nailings when utilising EMN. Operative duration was 11 min slower during tibial nailings using EMN, but 38 min faster in respect of femoral nailings. This study has evidenced statistically significant reductions in both fluoroscopy time and radiation dose when using EMN for the distal locking of intramedullary nails. It is expected that overall operative duration would also decrease in line with similar studies, with increased usage and a larger sample.

Percutaneous computer-assisted translaminar facet screw: an initial human cadaveric study.

PubMed

Sasso, Rick C; Best, Natalie M; Potts, Eric A

2005-01-01

Translaminar facet screws are a minimally invasive technique for posterior lumbar fixation with good success rates. Computer-assisted image navigation using virtual fluoroscopy allows multiple simultaneous screens in various planes to plan and drive spinal instrumentation. This study evaluates the percutaneous placement of translaminar facet screws with the use of virtual fluoroscopy as an image guidance technique. A human cadaveric study was performed with a percutaneous reference frame applied to the iliac crest. Ten translaminar facet screws were placed bilaterally at five levels. Anteroposterior and lateral images were used to navigate 4.0-mm screws through a percutaneous portal under virtual fluoroscopy. An axial computed tomographic scan through the instrumented levels was obtained after the screws were placed. Screws were graded on entry, course through the lamina, and terminus. A grading system was devised to grade the course through the lamina. All 10 screw-entry points were judged optimal at the spinous process laminar junction. There were five Grade I breeches with less than 1/2 the screw through the lamina, and five Grade 0 screw placements with the screw contained completely within the lamina. The termination point was acceptable in five screws. The screws that began on the right and terminated on the left were all found to have grade II breakouts. No screws placed the spinal canal or exiting nerve root at risk. Virtual fluoroscopy provides significant assistance in percutaneous placement of translaminar facet screws and results in safe position of entry, lamina course, and terminus.

Navigation-aided visualization of lumbosacral nerves for anterior sacroiliac plate fixation: a case report.

PubMed

Takao, Masaki; Nishii, Takashi; Sakai, Takashi; Sugano, Nobuhiko

2014-06-01

Anterior sacroiliac joint plate fixation for unstable pelvic ring fractures avoids soft tissue problems in the buttocks; however, the lumbosacral nerves lie in close proximity to the sacroiliac joint and may be injured during the procedure. A 49 year-old woman with a type C pelvic ring fracture was treated with an anterior sacroiliac plate using a computed tomography (CT)-three-dimensional (3D)-fluoroscopy matching navigation system, which visualized the lumbosacral nerves as well as the iliac and sacral bones. We used a flat panel detector 3D C-arm, which made it possible to superimpose our preoperative CT-based plan on the intra-operative 3D-fluoroscopic images. No postoperative complications were noted. Intra-operative lumbosacral nerve visualization using computer navigation was useful to recognize the 'at-risk' area for nerve injury during anterior sacroiliac plate fixation. Copyright © 2013 John Wiley & Sons, Ltd.

Surgical Navigation Technology Based on Augmented Reality and Integrated 3D Intraoperative Imaging

PubMed Central

Elmi-Terander, Adrian; Skulason, Halldor; Söderman, Michael; Racadio, John; Homan, Robert; Babic, Drazenko; van der Vaart, Nijs; Nachabe, Rami

2016-01-01

Study Design. A cadaveric laboratory study. Objective. The aim of this study was to assess the feasibility and accuracy of thoracic pedicle screw placement using augmented reality surgical navigation (ARSN). Summary of Background Data. Recent advances in spinal navigation have shown improved accuracy in lumbosacral pedicle screw placement but limited benefits in the thoracic spine. 3D intraoperative imaging and instrument navigation may allow improved accuracy in pedicle screw placement, without the use of x-ray fluoroscopy, and thus opens the route to image-guided minimally invasive therapy in the thoracic spine. Methods. ARSN encompasses a surgical table, a motorized flat detector C-arm with intraoperative 2D/3D capabilities, integrated optical cameras for augmented reality navigation, and noninvasive patient motion tracking. Two neurosurgeons placed 94 pedicle screws in the thoracic spine of four cadavers using ARSN on one side of the spine (47 screws) and free-hand technique on the contralateral side. X-ray fluoroscopy was not used for either technique. Four independent reviewers assessed the postoperative scans, using the Gertzbein grading. Morphometric measurements of the pedicles axial and sagittal widths and angles, as well as the vertebrae axial and sagittal rotations were performed to identify risk factors for breaches. Results. ARSN was feasible and superior to free-hand technique with respect to overall accuracy (85% vs. 64%, P < 0.05), specifically significant increases of perfectly placed screws (51% vs. 30%, P < 0.05) and reductions in breaches beyond 4 mm (2% vs. 25%, P < 0.05). All morphometric dimensions, except for vertebral body axial rotation, were risk factors for larger breaches when performed with the free-hand method. Conclusion. ARSN without fluoroscopy was feasible and demonstrated higher accuracy than free-hand technique for thoracic pedicle screw placement. Level of Evidence: N/A PMID:27513166

Randomized comparison of the magnetic navigation system vs. standard wires in the treatment of bifurcations.

PubMed

Ramcharitar, Steve; van der Giessen, Willem J; van der Ent, Martin; Serruys, Patrick W; van Geuns, Robert Jan

2011-06-01

Aims Randomly compare the magnetic navigation system (MNS) to standard guidewire techniques in managing bifurcating lesions. Methods and results Thirty-one consecutive patients with bifurcating lesions were randomized to cross the bifurcating vessels prior to treatment and thereafter the struts of deployed stents with either magnetic or standard guidewires. Crossing success, crossing/fluoroscopy times, and contrast media usage were directly compared. Similar times were noted in both the magnetic wire crossings (median, IQR; 68 s, 45-138 s vs. 59 s, 32-133 s) and fluoroscopic times (median, IQR; 62 s, 44-135 s vs. 55 s, 27-133 s) when compared with standard conventional wires passage through the deployed struts. The MNS successful crossings were 30/31 (96.8%) compared with 28/31 (90.0%) observed with the standard wires. Two previously failed standard wire cases were successfully crossed with magnetic guidewires. Conclusion In contemporary stented bifurcations, the MNS achieved equivalent crossing/fluoroscopy times through deployed stents struts and may be useful in salvaging failed standard wire cases.

Safety and Long-Term Outcomes of Catheter Ablation of Atrial Fibrillation Using Magnetic Navigation versus Manual Conventional Ablation: A Propensity-Score Analysis.

PubMed

Adragão, Pedro Pulido; Cavaco, Diogo; Ferreira, António Miguel; Costa, Francisco Moscoso; Parreira, Leonor; Carmo, Pedro; Morgado, Francisco Bello; Santos, Katya Reis; Santos, Pedro Galvão; Carvalho, Maria Salomé; Durazzo, Anai; Marques, Hugo; Gonçalves, Pedro Araújo; Raposo, Luís; Mendes, Miguel

2016-03-01

Whether or not the potential advantages of using a magnetic navigation system (MNS) translate into improved outcomes in patients undergoing atrial fibrillation (AF) ablation is a question that remains unanswered. In this observational registry study, we used propensity-score matching to compare the outcomes of patients with symptomatic drug-refractory AF who underwent catheter ablation using MNS with the outcomes of those who underwent catheter ablation using conventional manual navigation. Among 1,035 eligible patients, 287 patients in each group had similar propensity scores and were included in the analysis. The primary efficacy outcome was the rate of AF relapse after a 3-month blanking period. At a mean follow-up of 2.6 ± 1.5 years, AF ablation with MNS was associated with a similar risk of AF relapse as compared with manual navigation (18.4% per year and 22.3% per year, respectively; hazard ratio 0.81, 95% CI 0.63-1.05; P = 0.108). Major complications occurred in two patients (0.7%) using MNS, and in six patients (2.1%) undergoing manually navigated ablation (P = 0.286). Fluoroscopy times were 21 ± 10 minutes in the manual navigation group, and 12 ± 9 minutes in the MNS group (P < 0.001), whereas total procedure times were 152 ± 52 minutes and 213 ± 58 minutes, respectively (P < 0.001). In this propensity-score matched comparison, magnetic navigation and conventional manual AF ablations seem to have similar relapse rates and a similar risk of complications. AF ablations with magnetic navigation take longer to perform but expose patients to significantly shorter fluoroscopy times. © 2015 Wiley Periodicals, Inc.

Hybrid DynaCT-guided electromagnetic navigational bronchoscopic biopsy†.

PubMed

Ng, Calvin S H; Yu, Simon C H; Lau, Rainbow W H; Yim, Anthony P C

2016-01-01

Electromagnetic navigational bronchoscopy-guided biopsy of small pulmonary nodules can be challenging. Navigational error of the system and movement of the biopsy tool during its deployment adversely affect biopsy success. Furthermore, conventional methods to confirm navigational success such as fluoroscopy and radial endobronchial ultrasound become less useful for the biopsy of small lesions. A hybrid operating theatre can provide unparalleled real-time imaging through DynaCT scan to guide and confirm successful navigation and biopsy of difficult-to-reach or small lesions. We describe our technique for DynaCT image-guided electromagnetic navigational bronchoscopic biopsy of a small pulmonary nodule in the hybrid operating theatre. The advantages, disadvantages and special considerations in adopting this approach are discussed. © The Author 2015. Published by Oxford University Press on behalf of the European Association for Cardio-Thoracic Surgery. All rights reserved.

Magnetic navigation and catheter ablation of right atrial ectopic tachycardia in the presence of a hemi-azygos continuation: a magnetic navigation case using 3D electroanatomical mapping.

PubMed

Ernst, Sabine; Chun, Julian K R; Koektuerk, Buelent; Kuck, Karl-Heinz

2009-01-01

We report on a 63-year-old female patient in whom an electrophysiologic study discovered a hemi-azygos continuation. Using the magnetic navigation system, remote-controlled ablation was performed in conjunction with the 3D electroanatomical mapping system. Failing the attempt to advance a diagnostic catheter from the femoral vein, a diagnostic catheter was advanced via the left subclavian vein into the coronary sinus. The soft magnetic catheter was positioned in the right atrium via the hemi-azygos vein, and 3D mapping demonstrated an ectopic atrial tachycardia. Successful ablation was performed entirely remote controlled. Fluoroscopy time was only 7.1 minutes, of which 45 seconds were required during remote navigation. Remote-controlled catheter ablation using magnetic navigation in conjunction with the electroanatomical mapping system proved to be a valuable tool to perform successful ablation in the presence of a hemi-azygos continuation.

A patient-mount navigated intervention system for spinal diseases and its clinical trial on percutaneous pulsed radiofrequency stimulation of dorsal root ganglion.

PubMed

Yang, Chi-Lin; Yang, Been-Der; Lin, Mu-Lien; Wang, Yao-Hung; Wang, Jaw-Lin

2010-10-01

Development of a patient-mount navigated intervention (PaMNI) system for spinal diseases. An in vivo clinical human trial was conducted to validate this system. To verify the feasibility of the PaMNI system with the clinical trial on percutaneous pulsed radiofrequency stimulation of dorsal root ganglion (PRF-DRG). Two major image guiding techniques, i.e., computed tomography (CT)-guided and fluoro-guided, were used for spinal intervention. The CT-guided technique provides high spatial resolution, and is claimed to be more accurate than the fluoro-guided technique. Nevertheless, the CT-guided intervention usually reaches higher radiograph exposure than the fluoro-guided counterpart. Some navigated intervention systems were developed to reduce the radiation of CT-guided intervention. Nevertheless, these systems were not popularly used due to the longer operation time, a new protocol for surgeons, and the availability of such a system. The PaMNI system includes 3 components, i.e., a patient-mount miniature tracking unit, an auto-registered reference frame unit, and a user-friendly image processing unit. The PRF-DRG treatment was conducted to find the clinical feasibility of this system. The in vivo clinical trial showed that the accuracy, visual analog scale evaluation after surgery, and radiograph exposure of the PaMNI-guided technique are comparable to the one of conventional fluoro-guided technique, while the operation time is increased by 5 minutes. Combining the virtues of fluoroscopy and CT-guided techniques, our navigation system is operated like a virtual fluoroscopy with augmented CT images. This system elevates the performance of CT-guided intervention and reduces surgeons' radiation exposure risk to a minimum, while keeping low radiation dose to patients like its fluoro-guided counterpart. The clinical trial of PRF-DRG treatment showed the clinical feasibility and efficacy of this system.

The current status and future prospects of computer-assisted hip surgery.

PubMed

Inaba, Yutaka; Kobayashi, Naomi; Ike, Hiroyuki; Kubota, So; Saito, Tomoyuki

2016-03-01

The advances in computer assistance technology have allowed detailed three-dimensional preoperative planning and simulation of preoperative plans. The use of a navigation system as an intraoperative assistance tool allows more accurate execution of the preoperative plan, compared to manual operation without assistance of the navigation system. In total hip arthroplasty using CT-based navigation, three-dimensional preoperative planning with computer software allows the surgeon to determine the optimal angle of implant placement at which implant impingement is unlikely to occur in the range of hip joint motion necessary for daily activities of living, and to determine the amount of three-dimensional correction for leg length and offset. With the use of computer navigation for intraoperative assistance, the preoperative plan can be precisely executed. In hip osteotomy using CT-based navigation, the navigation allows three-dimensional preoperative planning, intraoperative confirmation of osteotomy sites, safe performance of osteotomy even under poor visual conditions, and a reduction in exposure doses from intraoperative fluoroscopy. Positions of the tips of chisels can be displayed on the computer monitor during surgery in real time, and staff other than the operator can also be aware of the progress of surgery. Thus, computer navigation also has an educational value. On the other hand, its limitations include the need for placement of trackers, increased radiation exposure from preoperative CT scans, and prolonged operative time. Moreover, because the position of a bone fragment cannot be traced after osteotomy, methods to find its precise position after its movement need to be developed. Despite the need to develop methods for the postoperative evaluation of accuracy for osteotomy, further application and development of these systems are expected in the future. Copyright © 2016 The Japanese Orthopaedic Association. Published by Elsevier B.V. All rights reserved.

Multicenter, randomized comparison between magnetically navigated and manually guided radiofrequency ablation of atrioventricular nodal reentrant tachycardia (the MagMa-AVNRT-trial).

PubMed

Reents, Tilko; Jilek, Clemens; Schuster, Peter; Nölker, Georg; Koch-Büttner, Katharina; Ammar-Busch, Sonia; Semmler, Verena; Bourier, Felix; Kottmaier, Marc; Kornmayer, Marie; Brooks, Stephanie; Fichtner, Stephanie; Kolb, Christof; Deisenhofer, Isabel; Hessling, Gabriele

2017-12-01

Remote magnetic navigation (RMN) is attributed to diminish radiation exposure for both patient and operator performing catheter ablation for different arrhythmia substrates. The purpose of this prospective, randomized study was to compare RMN with manually guided catheter ablation for AV nodal reentrant tachycardia (AVNRT) regarding fluoroscopy time/dosage, acute and long-term efficacy as well as safety. A total of 218 patients with AVNRT undergoing catheter ablation at three centers (male 34%, mean age 50 ± 17 years) were randomized to a manual approach (n = 113) or RMN (n = 105) using the Niobe ® magnetic navigation system. The primary study endpoint was total fluoroscopy time/dosage for patient and operator at the end of the procedure. Secondary endpoints included acute success, procedure duration, complications and success rate after 6 months. Fluoroscopy time and dosage for the patient were significantly reduced in the RMN group compared to the manual group (6 ± 6 vs. 11 ± 10 min; p < 0.001 and 425 ± 558 vs. 751 ± 900 cGycm 2 , p = 0.002). A reduction in fluoroscopy time/dose also applied to the operator (3 ± 5 vs. 7 ± 9 min 209 ± 444 vs. 482 ± 689 cGycm 2 , p < 0.001). Procedure duration was significantly longer in the RMN group (88 ± 29 vs. 79 ± 29 min; p = 0.03) and crossover from the RMN group to manual ablation occurred in 7.6% of patients (7.6 vs. 0.1%; p = 0.02). Acute success was achieved in 100% of patients in both groups. Midterm success after 6 months was 97 vs. 98% (p = 0.67). No complications occurred in both groups. The use of RMN for catheter ablation of AVNRT compared to a manual approach results in a reduction of fluoroscopy time and dosage of about 50% for both patients and physicians. Acute and midterm success and safety are comparable. RMN is a good alternative to a manual approach for AVNRT ablation.

Neuroendovascular magnetic navigation: clinical experience in ten patients.

PubMed

Dabus, Guilherme; Gerstle, Ronald J; Cross, Dewitte T; Derdeyn, Colin P; Moran, Christopher J

2007-04-01

The magnetic navigation system consists of an externally generated magnetic field that is used to control and steer a magnetically tipped microguidewire. The goal of this study was to demonstrate that the use of the magnetic navigation system and its magnetic microguidewire is feasible and safe in all types of neuroendovascular procedures. A magnetic navigation system is an interventional workstation that combines a biplanar fluoroscopy system with a computer-controlled magnetic field generator to provide both visualization and control of a magnetically activated endovascular microguidewire. Ten consecutive patients underwent a variety of neuroendovascular procedures using the magnetic guidance system and magnetic microguidewire. All patients presented with a neurovascular disease that was suitable for endovascular treatment. Multiple different devices and embolic agents were used. Of the ten patients, three were male and seven female. Their mean age was 53.9 years. The predominant neurovascular condition was the presence of intracranial aneurysm (nine patients). One patient had a left mandibular arteriovenous malformation. All treatments were successfully performed on the magnetic navigation system suite. The magnetic navigation system and the magnetic microguidewire allowed safe and accurate endovascular navigation allowing placement of the microcatheters in the desired location. There were no neurological complications or death in our series. The use of the magnetic navigation system and the magnetic microguidewire in the endovascular treatment of patients with neurovascular diseases is feasible and safe.

Comparative Cohort Study of Percutaneous Pedicle Screw Implantation without Versus with Navigation in Patients Undergoing Surgery for Degenerative Lumbar Disc Disease.

PubMed

Fomekong, Edward; Pierrard, Julien; Raftopoulos, Christian

2018-03-01

The major limitation of computer-based three-dimensional fluoroscopy is increased radiation exposure of patients and operating room staff. Combining spine navigation with intraoperative three-dimensional fluoroscopy (io3DF) can likely overcome this shortcoming, while increasing pedicle screw accuracy rate. We compared data from a cohort of patients undergoing lumbar percutaneous pedicle screw placement using io3DF alone or in combination with spine navigation. This study consisted of 168 patients who underwent percutaneous pedicle screw implantation between 2009 and 2016. The primary endpoint was to compare pedicle screw accuracy between the 2 groups. Secondary endpoints were to compare radiation exposure of patients and operating room staff, duration of surgery, and postoperative complications. In group 1, 438 screws were placed without navigation guidance; in group 2, 276 screws were placed with spine navigation. Mean patient age in both groups was 58.6 ± 14.1 years. The final pedicle accuracy rate was 97.9% in group 1 and 99.6% in group 2. Average radiation dose per patient was significantly larger in group 1 (571.9 mGym 2 ) than in group 2 (365.6 mGym 2 ) (P = 0.000088). Surgery duration and complication rate were not significantly different between the 2 groups (P > 0.05). io3DF with spine navigation minimized radiation exposure of patients and operating room staff and provided an excellent percutaneous pedicle screw accuracy rate with no permanent complications compared with io3DF alone. This setup is recommended, especially for patients with a complex degenerative spine condition. Copyright © 2017 Elsevier Inc. All rights reserved.

Remote magnetic versus manual catheter navigation for circumferential pulmonary vein ablation in patients with atrial fibrillation.

PubMed

Lüthje, Lars; Vollmann, Dirk; Seegers, Joachim; Dorenkamp, Marc; Sohns, Christian; Hasenfuss, Gerd; Zabel, Markus

2011-11-01

Only limited data exist on the clinical utility of remote magnetic navigation (RMN) for pulmonary vein (PV) ablation. Aim of this prospective study was to evaluate the safety and efficacy of RMN for PV isolation as compared to the manual (CON) approach. A total of 161 consecutive patients undergoing circumferential PV isolation were included. Open-irrigated 3.5 mm ablation catheters under the guidance of a mapping system were used. The catheter was navigated with the Stereotaxis Niobe II system in the RMN group (n = 107) and guided manually in the CON group (n = 54). Electrical isolation of all PVs was achieved in 90% of the patients in the RMN group and in 87% in the CON group (p = 0.6). All subjects were followed every 3 months by 7d Holter-ECG. At 12 months of follow-up, 53.5% (RMN) and 55.5% (CON) of the patients were free of any left atrial tachycardia/atrial fibrillation (AF) episode (p = 0.57). Free of symptomatic AF recurrence were 66.3% (RMN) and 62.1% (CON) of the subjects (p = 0.80). Use of RMN was associated with longer procedure duration (p < 0.0001), ablation times (p < 0.0001), and RF current application duration (p < 0.05). In contrast, fluoroscopy time was lower in the RMN group (p < 0.0001). Major complications occurred in 6 of 161 procedures (3.7%), with no significant difference between groups (p = 0.75). RMN-guided PV ablation provides comparable acute and long-term success rates as compared to manual navigation. Procedural complication rates are similar. The use of RMN is associated with markedly reduced fluoroscopy time, but prolonged ablation and procedure duration.

A new software tool for 3D motion analyses of the musculo-skeletal system.

PubMed

Leardini, A; Belvedere, C; Astolfi, L; Fantozzi, S; Viceconti, M; Taddei, F; Ensini, A; Benedetti, M G; Catani, F

2006-10-01

Many clinical and biomechanical research studies, particularly in orthopaedics, nowadays involve forms of movement analysis. Gait analysis, video-fluoroscopy of joint replacement, pre-operative planning, surgical navigation, and standard radiostereometry would require tools for easy access to three-dimensional graphical representations of rigid segment motion. Relevant data from this variety of sources need to be organised in structured forms. Registration, integration, and synchronisation of segment position data are additional necessities. With this aim, the present work exploits the features of a software tool recently developed within a EU-funded project ('Multimod') in a series of different research studies. Standard and advanced gait analysis on a normal subject, in vivo fluoroscopy-based three-dimensional motion of a replaced knee joint, patellar and ligament tracking on a knee specimen by a surgical navigation system, stem-to-femur migration pattern on a patient operated on total hip replacement, were analysed with standard techniques and all represented by this innovative software tool. Segment pose data were eventually obtained from these different techniques, and were successfully imported and organised in a hierarchical tree within the tool. Skeletal bony segments, prosthesis component models and ligament links were registered successfully to corresponding marker position data for effective three-dimensional animations. These were shown in various combinations, in different views, from different perspectives, according to possible specific research interests. Bioengineering and medical professionals would be much facilitated in the interpretation of the motion analysis measurements necessary in their research fields, and would benefit therefore from this software tool.

Initial experience with remote magnetic navigation for left ventricular lead placement.

PubMed

Mischke, Karl; Knackstedt, Christian; Schmid, Michael; Hatam, Nima; Becker, Michael; Spillner, Jan; Fache, Kerstin; Kelm, Malte; Schauerte, Patrick

2009-08-01

A novel magnetic navigation system allows remote steering of guidewires and catheters. This system may be used for left ventricular lead placement for cardiac resynchronization therapy (CRT). We sought to evaluate the feasibility and safety of magnetic guidewire navigation for CRT procedures. 123 consecutive patients underwent CRT implantation/revision procedures (including pacemaker upgrades in n=22 and left ventricular lead placement after dislocation in n=4 patients). Left ventricular lead placement in a coronary sinus side branch was performed either conventionally or using magnetic navigation. The magnetic navigation system (Niobe) consists of two permanent magnets creating a steerable magnetic field. Guidewires with integrated magnets align to the magnetic field and were used for over-the-wire implantation of pacemaker leads in the coronary sinus. Patients were assigned to conventional (n=93) or magnetic (n=30) navigation according to room availability. Venography of the coronary venous system was performed to select a target vessel for lead implantation. Guidewire access to the target vessel was achieved in 100% using magnetic navigation compared to 87% with the conventional approach (P < 0.05). Implantation success rates, total procedure and fluoroscopy times did not differ significantly between groups. No periprocedural death and no intraoperative device dysfunction occurred in either group.The magnetic guidewire ruptured in one patient. Left ventricular lead placement using magnetic guidewire navigation to engage the desired coronary sinus side branch can be successfully performed for CRT.

Precision of computer-assisted core decompression drilling of the femoral head.

PubMed

Beckmann, J; Goetz, J; Baethis, H; Kalteis, T; Grifka, J; Perlick, L

2006-08-01

Osteonecrosis of the femoral head is a local destructive disease with progression into devastating stages. Left untreated it mostly leads to severe secondary osteoarthrosis and early endoprosthetic joint replacement. Core decompression by exact drilling into the ischemic areas can be performed in early stages according to Ficat or ARCO. Computer-aided surgery might enhance the precision of the drilling and lower the radiation exposure time of both staff and patients. The aim of this study was to evaluate the precision of the fluoroscopically based VectorVision navigation system in an in vitro model. Thirty sawbones were prepared with a defect filled up with a radiopaque gypsum sphere mimicking the osteonecrosis. Twenty sawbones were drilled by guidance of an intraoperative navigation system VectorVision (BrainLAB, Munich, Germany) and 10 sawbones by fluoroscopic control only. No gypsum sphere was missed. There was a statistically significant difference regarding the three-dimensional deviation (Euclidian norm) as well as maximum deviation in x-, y- or z-direction (maximum norm) to the desired mid-point of the lesion, with a mean of 0.51 and 0.4 mm in the navigated group and 1.1 and 0.88 mm in the control group, respectively. Furthermore, significant difference was found in the number of drilling corrections as well as the radiation time needed: no second drilling or correction of drilling direction was necessary in the navigated group compared to 1.4 in the control group. The radiation time needed was less than 1 s compared to 3.1 s, respectively. The fluoroscopy-based VectorVision navigation system shows a high feasibility of computer-guided drilling with a clear reduction of radiation exposure time and can therefore be integrated into clinical routine. The additional time needed is acceptable regarding the simultaneous reduction of radiation time.

Non-fluoroscopic navigation systems for radiofrequency catheter ablation for supraventricular tachycardia reduce ionising radiation exposure.

PubMed

See, Jason; Amora, Jonah L; Lee, Sheldon; Lim, Paul; Teo, Wee Siong; Tan, Boon Yew; Ho, Kah Leng; Lee, Chee Wan; Ching, Chi-Keong

2016-07-01

The use of non-fluoroscopic systems (NFS) to guide radiofrequency catheter ablation (RFCA) for the treatment of supraventricular tachycardia (SVT) is associated with lower radiation exposure. This study aimed to determine if NFS reduces fluoroscopy time, radiation dose and procedure time. We prospectively enrolled patients undergoing RFCA for SVT. NFS included EnSiteTM NavXTM or CARTO® mapping. We compared procedure and fluoroscopy times, and radiation exposure between NFS and conventional fluoroscopy (CF) cohorts. Procedural success, complications and one-year success rates were reported. A total of 200 patients over 27 months were included and RFCA was guided by NFS for 79 patients; those with atrioventricular nodal reentrant tachycardia (AVNRT), left-sided atrioventricular reentrant tachycardia (AVRT) and right-sided AVRT were included (n = 101, 63 and 36, respectively). Fluoroscopy times were significantly lower with NFS than with CF (10.8 ± 11.1 minutes vs. 32.0 ± 27.5 minutes; p < 0.001). The mean fluoroscopic dose area product was also significantly reduced with NFS (NSF: 5,382 ± 5,768 mGy*cm2 vs. CF: 21,070 ± 23,311 mGy*cm2; p < 0.001); for all SVT subtypes. There was no significant reduction in procedure time, except for left-sided AVRT ablation (NFS: 79.2 minutes vs. CF: 116.4 minutes; p = 0.001). Procedural success rates were comparable (NFS: 97.5% vs. CF: 98.3%) and at one-year follow-up, there was no significant difference in the recurrence rates (NFS: 5.2% vs. CF: 4.2%). No clinically significant complications were observed in both groups. The use of NFS for RFCA for SVT is safe, with significantly reduced radiation dose and fluoroscopy time. Copyright © Singapore Medical Association.

Multimode C-arm fluoroscopy, tomosynthesis, and cone-beam CT for image-guided interventions: from proof of principle to patient protocols

NASA Astrophysics Data System (ADS)

Siewerdsen, J. H.; Daly, M. J.; Bachar, G.; Moseley, D. J.; Bootsma, G.; Brock, K. K.; Ansell, S.; Wilson, G. A.; Chhabra, S.; Jaffray, D. A.; Irish, J. C.

2007-03-01

High-performance intraoperative imaging is essential to an ever-expanding scope of therapeutic procedures ranging from tumor surgery to interventional radiology. The need for precise visualization of bony and soft-tissue structures with minimal obstruction to the therapy setup presents challenges and opportunities in the development of novel imaging technologies specifically for image-guided procedures. Over the past ~5 years, a mobile C-arm has been modified in collaboration with Siemens Medical Solutions for 3D imaging. Based upon a Siemens PowerMobil, the device includes: a flat-panel detector (Varian PaxScan 4030CB); a motorized orbit; a system for geometric calibration; integration with real-time tracking and navigation (NDI Polaris); and a computer control system for multi-mode fluoroscopy, tomosynthesis, and cone-beam CT. Investigation of 3D imaging performance (noise-equivalent quanta), image quality (human observer studies), and image artifacts (scatter, truncation, and cone-beam artifacts) has driven the development of imaging techniques appropriate to a host of image-guided interventions. Multi-mode functionality presents a valuable spectrum of acquisition techniques: i.) fluoroscopy for real-time 2D guidance; ii.) limited-angle tomosynthesis for fast 3D imaging (e.g., ~10 sec acquisition of coronal slices containing the surgical target); and iii.) fully 3D cone-beam CT (e.g., ~30-60 sec acquisition providing bony and soft-tissue visualization across the field of view). Phantom and cadaver studies clearly indicate the potential for improved surgical performance - up to a factor of 2 increase in challenging surgical target excisions. The C-arm system is currently being deployed in patient protocols ranging from brachytherapy to chest, breast, spine, and head and neck surgery.

Planning, guidance, and quality assurance of pelvic screw placement using deformable image registration

NASA Astrophysics Data System (ADS)

Goerres, J.; Uneri, A.; Jacobson, M.; Ramsay, B.; De Silva, T.; Ketcha, M.; Han, R.; Manbachi, A.; Vogt, S.; Kleinszig, G.; Wolinsky, J.-P.; Osgood, G.; Siewerdsen, J. H.

2017-12-01

Percutaneous pelvic screw placement is challenging due to narrow bone corridors surrounded by vulnerable structures and difficult visual interpretation of complex anatomical shapes in 2D x-ray projection images. To address these challenges, a system for planning, guidance, and quality assurance (QA) is presented, providing functionality analogous to surgical navigation, but based on robust 3D-2D image registration techniques using fluoroscopy images already acquired in routine workflow. Two novel aspects of the system are investigated: automatic planning of pelvic screw trajectories and the ability to account for deformation of surgical devices (K-wire deflection). Atlas-based registration is used to calculate a patient-specific plan of screw trajectories in preoperative CT. 3D-2D registration aligns the patient to CT within the projective geometry of intraoperative fluoroscopy. Deformable known-component registration (dKC-Reg) localizes the surgical device, and the combination of plan and device location is used to provide guidance and QA. A leave-one-out analysis evaluated the accuracy of automatic planning, and a cadaver experiment compared the accuracy of dKC-Reg to rigid approaches (e.g. optical tracking). Surgical plans conformed within the bone cortex by 3-4 mm for the narrowest corridor (superior pubic ramus) and  >5 mm for the widest corridor (tear drop). The dKC-Reg algorithm localized the K-wire tip within 1.1 mm and 1.4° and was consistently more accurate than rigid-body tracking (errors up to 9 mm). The system was shown to automatically compute reliable screw trajectories and accurately localize deformed surgical devices (K-wires). Such capability could improve guidance and QA in orthopaedic surgery, where workflow is impeded by manual planning, conventional tool trackers add complexity and cost, rigid tool assumptions are often inaccurate, and qualitative interpretation of complex anatomy from 2D projections is prone to trial-and-error with extended fluoroscopy time.

Prospective comparison of virtual fluoroscopy to fluoroscopy and plain radiographs for placement of lumbar pedicle screws.

PubMed

Resnick, Daniel K

2003-06-01

Fluoroscopy-based frameless stereotactic systems provide feedback to the surgeon using virtual fluoroscopic images. The real-life accuracy of these virtual images has not been compared with traditional fluoroscopy in a clinical setting. We prospectively studied 23 consecutive cases. In two cases, registration errors precluded the use of virtual fluoroscopy. Pedicle probes placed with virtual fluoroscopic imaging were imaged with traditional fluoroscopy in the remaining 21 cases. Position of the probes was judged to be ideal, acceptable but not ideal, or not acceptable based on the traditional fluoroscopic images. Virtual fluoroscopy was used to place probes in for 97 pedicles from L1 to the sacrum. Eighty-eight probes were judged to be in ideal position, eight were judged to be acceptable but not ideal, and one probe was judged to be in an unacceptable position. This probe was angled toward an adjacent disc space. Therefore, 96 of 97 probes placed using virtual fluoroscopy were found to be in an acceptable position. The positive predictive value for acceptable screw placement with virtual fluoroscopy compared with traditional fluoroscopy was 99%. A probe placed with virtual fluoroscopic guidance will be judged to be in an acceptable position when imaged with traditional fluoroscopy 99% of the time.

Feasibility Study of Needle Placement in Percutaneous Vertebroplasty: Cone-Beam Computed Tomography Guidance Versus Conventional Fluoroscopy

DOE Office of Scientific and Technical Information (OSTI.GOV)

Braak, Sicco J., E-mail: sjbraak@gmail.com; Zuurmond, Kirsten, E-mail: kirsten.zuurmond@philips.com; Aerts, Hans C. J., E-mail: hans.cj.aerts@philips.com

2013-08-01

ObjectiveTo investigate the accuracy, procedure time, fluoroscopy time, and dose area product (DAP) of needle placement during percutaneous vertebroplasty (PVP) using cone-beam computed tomography (CBCT) guidance versus fluoroscopy.Materials and MethodsOn 4 spine phantoms with 11 vertebrae (Th7-L5), 4 interventional radiologists (2 experienced with CBCT guidance and two inexperienced) punctured all vertebrae in a bipedicular fashion. Each side was randomization to either CBCT guidance or fluoroscopy. CBCT guidance is a sophisticated needle guidance technique using CBCT, navigation software, and real-time fluoroscopy. The placement of the needle had to be to a specific target point. After the procedure, CBCT was performed tomore » determine the accuracy, procedure time, fluoroscopy time, and DAP. Analysis of the difference between methods and experience level was performed.ResultsMean accuracy using CBCT guidance (2.61 mm) was significantly better compared with fluoroscopy (5.86 mm) (p < 0.0001). Procedure time was in favor of fluoroscopy (7.39 vs. 10.13 min; p = 0.001). Fluoroscopy time during CBCT guidance was lower, but this difference is not significant (71.3 vs. 95.8 s; p = 0.056). DAP values for CBCT guidance and fluoroscopy were 514 and 174 mGy cm{sup 2}, respectively (p < 0.0001). There was a significant difference in favor of experienced CBCT guidance users regarding accuracy for both methods, procedure time of CBCT guidance, and added DAP values for fluoroscopy.ConclusionCBCT guidance allows users to perform PVP more accurately at the cost of higher patient dose and longer procedure time. Because procedural complications (e.g., cement leakage) are related to the accuracy of the needle placement, improvements in accuracy are clinically relevant. Training in CBCT guidance is essential to achieve greater accuracy and decrease procedure time/dose values.« less

Initial clinical experience with cardiac resynchronization therapy utilizing a magnetic navigation system.

PubMed

Gallagher, Peter; Martin, Laura; Angel, Lori; Tomassoni, Gery

2007-02-01

The placement of left ventricular (LV) leads during cardiac resynchronization therapy (CRT) involves many technical difficulties. These difficulties increase procedural times and decrease procedural success rates. A total of 50 patients with severe cardiomyopathy (mean LV ejection fraction was 21 +/- 6%) and a wide QRS underwent CRT implantation. Magnetic navigation (Stereotaxis, Inc.) was used to position a magnet-tipped 0.014'' guidewire (Cronus guidewire) within the coronary sinus (CS) vasculature. LV leads were placed in a lateral CS branch, either using a standard CS delivery sheath or using a "bare-wire" approach without a CS delivery sheath. The mean total procedure time was 98.1 +/- 29.1 minutes with a mean fluoroscopy time of 22.7 +/- 15.1 minutes. The mean LV lead positioning time was 10.4 +/- 7.6 minutes. The use of a delivery sheath was associated with longer procedure times 98 +/- 32 minutes vs 80 +/- 18 minutes (P = 0.029), fluoroscopy times 23 +/- 15 minutes vs 13 +/- 4 minutes (P = 0.0007) and LV lead positioning times 10 +/- 6 minutes vs 4 +/- 2 minutes (P = 0.015) when compared to a "bare-wire" approach. When compared with 52 nonmagnetic-assisted control CRT cases, magnetic navigation reduced total LV lead positioning times (10.4 +/- 7.6 minutes vs 18.6 +/- 18.9 minutes; P = 0.005). If more than one CS branch vessel was tested, magnetic navigation was associated with significantly shorter times for LV lead placement (16.2 +/- 7.7 minutes vs 36.4 +/- 23.4 minutes; P = 0.004). Magnetic navigation is a safe, feasible, and efficient tool for lateral LV lead placement during CRT. Magnetic navigation during CRT allows for control of the tip direction of the Cronus 0.014'' guidewire using either a standard CS delivery sheath or "bare-wire" approach. Although there are some important limitations to the 0.014'' Cronus magnetic navigation can decrease LV lead placement times compared with nonmagnetic-assisted control CRT cases, particularly if multiple CS branches are to be tested.

Magnetic navigation in patients with coronary artery bypass grafting.

PubMed

Ramcharitar, Steve; van Geuns, Robert-Jan

2009-05-01

Magnetic navigation (MN) can precisely control a percutaneous coronary interventions (PCI) guidewire or a device in three-dimensional space within the body without requiring reshaping of the tip to access vessels or areas of the heart that are often challenging using conventional wires. In this article we review and report on the use of magnetic navigation system in secondary revascularisation of coronary arterial bypass grafts (CABG). MN was successfully used in the secondary revascularisation of failed conventional CABG cases. Retrograde PCI through a LIMA is not only feasible but the wires can manage complex stenoses involving a bifurcation by using 3D reconstruction software. Difficult anatomies such as a hairpin bend as highlighted in this paper found at a saphenous vein graft (SVG) anastomosis can be overcome by co-integrating a CTCA 3D dataset for navigation. Preliminary data supports potential advantages in reduction of contrast media usage, crossing and fluoroscopy times and suggest that larger randomised studies are warranted.

Isocentric Navigation of Percutaneous Endoscopic Transforaminal Discectomy at the L5/S1 Level in Difficult Puncture Cases: A Technical Note.

PubMed

Fan, Guoxin; Wang, Teng; Hu, Shuo; Guan, Xiaofei; Gu, Xin; He, Shisheng

2017-05-01

Accurate puncture during percutaneous transforaminal endoscopic discectomy at the L5/S1 level in cases with high iliac crest and narrow foramen were difficult, even though the difficulties of foraminoplasty could be overcome by advanced instruments like reamers. The report aimed to describe an isocentric navigation technique with a definite pathway in difficult puncture cases at the L5/S1 level. Technical note. Difficult punctures were defined as over 10 punctures of the needle before obtaining an ideal puncture location by senior surgeons with experience of over 500 percutaneous endoscopic transforaminal discectomy (PETD) cases. A total of 124 punctures were recorded in 11 difficult puncture cases at the L5/S1 level. A definite pathway was created by an isocentric navigation theory, which was based on a surface locator and an arch-guided device. The surface locator was used to rapidly and accurately identify the puncture target with the recognition of the surrounding rods under fluoroscopy. The arch-guided device can ensure that the puncture target always remains at the center of a virtual sphere. We recorded the puncture times, fluoroscopy exposure times, radiation exposure time, operative time, visual analog scale (VAS) score, Japanese Orthopeadic Association (JOA) score, and patient satisfaction. The average puncture times were significantly reduced to 1.27 with the arch-guided device compared with conventional puncture methods (P < 0.05). The average operative time was 90.09 ± 11.00 minutes and the fluoroscopy times were 53.36 ± 5.85. The radiation exposure time was 50.91 ± 5.20 seconds. VAS score of leg and back pain, as well as JOA score, were all significantly improved after surgery (P < 0.05). The excellent and good rate of satisfaction was 90.91%. No major complications, including cerebral fluid leakage, surgical infection, and postoperative nerve root injury, were recorded in this small sample. This was a small-sample study with a short follow-up. The novel isocentric navigation technique with a definite pathway is practical and effective in reducing puncture times among difficult puncture cases at the L5/S1 level, which may contribute to the capacity of PETD at the L5/S1 level.

Zero-fluoroscopy cryothermal ablation of atrioventricular nodal re-entry tachycardia guided by endovascular and endocardial catheter visualization using intracardiac echocardiography (Ice&ICE Trial).

PubMed

Luani, Blerim; Zrenner, Bernhard; Basho, Maksim; Genz, Conrad; Rauwolf, Thomas; Tanev, Ivan; Schmeisser, Alexander; Braun-Dullaeus, Rüdiger C

2018-01-01

Stochastic damage of the ionizing radiation to both patients and medical staff is a drawback of fluoroscopic guidance during catheter ablation of cardiac arrhythmias. Therefore, emerging zero-fluoroscopy catheter-guidance techniques are of great interest. We investigated, in a prospective pilot study, the feasibility and safety of the cryothermal (CA) slow-pathway ablation in patients with symptomatic atrioventricular-nodal-re-entry-tachycardia (AVNRT) using solely intracardiac echocardiography (ICE) for endovascular and endocardial catheter visualization. Twenty-five consecutive patients (mean age 55.6 ± 12.0 years, 17 female) with ECG-documentation or symptoms suggesting AVNRT underwent an electrophysiology study (EPS) in our laboratory utilizing ICE for catheter navigation. Supraventricular tachycardia was inducible in 23 (92%) patients; AVNRT was confirmed by appropriate stimulation maneuvers in 20 (80%) patients. All EPS in the AVNRT subgroup could be accomplished without need for fluoroscopy, relying solely on ICE-guidance. CA guided by anatomical location and slow-pathway potentials was successful in all patients, median cryo-mappings = 6 (IQR:3-10), median cryo-ablations = 2 (IQR:1-3). Fluoroscopy was used to facilitate the trans-septal puncture and localization of the ablation substrate in the remaining 3 patients (one focal atrial tachycardia and two atrioventricular-re-entry-tachycardias). Mean EPS duration in the AVNRT subgroup was 99.8 ± 39.6 minutes, ICE guided catheter placement 11.9 ± 5.8 minutes, time needed for diagnostic evaluation 27.1 ± 10.8 minutes, and cryo-application duration 26.3 ± 30.8 minutes. ICE-guided zero-fluoroscopy CA in AVNRT patients is feasible and safe. Real-time visualization of the true endovascular borders and cardiac structures allow for safe catheter navigation during the ICE-guided EPS and might be an alternative to visualization technologies using geometry reconstructions. © 2017 Wiley Periodicals, Inc.

Accessory pathway ablation in a 6-year-old girl using remote magnetic navigation as an alternative to cryoablation.

PubMed

Mantziari, Lilian; Rigby, Michael; Till, Janice; Ernst, Sabine

2013-03-01

A 6-year-old girl with evidence of a parahisian accessory pathway on a baseline electrocardiogram underwent successful catheter ablation using magnetic navigation. Magnetic remote controlled ablation eliminated the parahisian pathway with the first radiofrequency application. A second anterolaterally located concealed pathway was successfully ablated in the same session, resulting in exclusively atrioventricular nodal conduction bidirectionally (total fluoroscopy, 4 min; 25 μGy).

First-in-man (FIM) experience with the Magnetic Medical Positioning System (MPS) for intracoronary navigation.

PubMed

Jeron, Andreas; Fredersdorf, Sabine; Debl, Kurt; Oren, Eitan; Izmirli, Alon; Peleg, Alexander; Nekovar, Anton; Herscovici, Adrian; Riegger, Günter A; Luchner, Andreas

2009-11-01

To investigate the safety and feasibility of a newly developed magnetic navigation system for intracoronary tracking. The MediGuide Medical Positioning System (MPS) is a navigation system that was developed to facilitate the navigation of enabled devices within the coronary tree using a magnetic tracking technology. The current prospective, non-randomised, single-centre, first-in-man study was conducted at Universitätsklinikum Regensburg (UKR), Germany on an MPS-enabled AXIOM Artis dFC coronary angiography system (Siemens AG, Forchheim, Germany). We enrolled 20 patients who required IVUS assessment or treatment of a single de novo target lesion in a native coronary artery. The performance was evaluated on a semi-quantitative one-to-five scale where a score of five indicates an excellent superimposition with the vessel and a score of one an unacceptable performance. The mean score for tracking as assessed by projection on life fluoroscopy was 4.89 and 3.58 as assessed by projection on recorded cine-loop. Length measurement of a 20 mm distance was significantly better with the MPS (mean deviation of 0.6 mm=3%) as compared to standard QCA (1.5 mm=8%, p<0.05). Creating a 3D reconstruction was possible in 13 out of 20 cases with an average score of 4.68. No adverse events occurred. The MediGuide Medical Positioning System is safe and feasible in man, facilitates intracoronary navigation and allows 3D reconstruction of the investigated coronary segment.

Time Demand and Radiation Dose in 3D-Fluoroscopy-based Navigation-assisted 3D-Fluoroscopy-controlled Pedicle Screw Instrumentations.

PubMed

Balling, Horst

2018-05-01

Prospective single-center cohort study to record additional time requirements and radiation dose in navigation-assisted O-arm-controlled pedicle screw (PS) instrumentations. The aim of this study was to evaluate amount of extra-time and radiation dose for navigation-assisted PS instrumentations of the thoracolumbosacral spine using O-arm 3D-real-time-navigation (O3DN) compared to non-navigated spinal procedures (NNSPs) with a single C-arm and postoperative computed tomography (CT) scan for controlling PS positions. 3D-navigation is reported to enhance PS insertion accuracy. But time-consuming navigational steps and considerable additional radiation doses seem to limit this modern technique's attraction. A detailed analysis of additional time demand and extra-radiation dose in 3D-navigated spine surgery is not provided in literature, yet. From February 2011 through July 2015, 306 consecutive posterior instrumentations were performed in vertebral levels T10-S1 using O3DN for PS insertion. The duration of procedure-specific navigational steps of the overall collective (I) and the last cohort of 50 consecutive O3DN-surgeries (II) was compared to the average duration of analogous surgical steps in 100 consecutive NNSP using a single C-arm. 3D-radiation dose (dose-length-product, DLP) of navigational and postinstrumentation O-arm scans in group I and II was compared to the average DLP of 100 diagnostic lumbar CT scans. The average presurgical time from patient positioning on the operating table to skin incision was 46.2 ± 10.1 minutes (O3DN, I) and 40.6 ± 9.8 minutes (O3DN, II) versus 30.6 ± 8.3 minutes (NNSP) (P < 0.001, each). Intraoperative interruptions for scanning and data processing took 3.0 ± 0.6 minutes. DLPs averaged 865.1 ± 360.8 mGycm (O3DN, I) and 562.1 ± 352.6 mGycm (O3DN, II) compared to 575.5 ± 316.5 mGycm in diagnostic lumbar CT scans (P < 0.001 (I), P ≈ 0.81 [II]). After procedural experience, navigated surgeries can be performed with an additional time demand of 13.0 minutes compared to NNSP, and with a total DLP below that of a diagnostic lumbar CT scan (P ≈ 0.81). 4.

Electromagnetic Real Time Navigation in the Region of the Posterior Pelvic Ring: An Experimental In-Vitro Feasibility Study and Comparison of Image Guided Techniques.

PubMed

Pishnamaz, Miguel; Wilkmann, Christoph; Na, Hong-Sik; Pfeffer, Jochen; Hänisch, Christoph; Janssen, Max; Bruners, Philipp; Kobbe, Philipp; Hildebrand, Frank; Schmitz-Rode, Thomas; Pape, Hans-Christoph

2016-01-01

Electromagnetic tracking is a relatively new technique that allows real time navigation in the absence of radiation. The aim of this study was to prove the feasibility of this technique for the treatment of posterior pelvic ring fractures and to compare the results with established image guided procedures. Tests were performed in pelvic specimens (Sawbones®) with standardized sacral fractures (Type Denis I or II). A gel matrix simulated the operative approach and a cover was used to disable visual control. The electromagnetic setup was performed by using a custom made carbon reference plate and a prototype stainless steel K-wire with an integrated sensor coil. Four different test series were performed: Group OCT: Optical navigation using preoperative CT-scans; group O3D: Optical navigation using intraoperative 3-D-fluoroscopy; group Fluoro: Conventional 2-D-fluoroscopy; group EMT: Electromagnetic navigation combined with a preoperative Dyna-CT. Accuracy of screw placement was analyzed by standardized postoperative CT-scan for each specimen. Operation time and intraoperative radiation exposure for the surgeon was documented. All data was analyzed using SPSS (Version 20, 76 Chicago, IL, USA). Statistical significance was defined as p< 0.05. 160 iliosacral screws were placed (40 per group). EMT resulted in a significantly higher incidence of optimal screw placement (EMT: 36/40) compared to the groups Fluoro (30/40; p< 0.05) and OCT (31/40; p< 0.05). Results between EMT and O3D were comparable (O3D: 37/40; n.s.). Also, the operation time was comparable between groups EMT and O3D (EMT 7.62 min vs. O3D 7.98 min; n.s.), while the surgical time was significantly shorter compared to the Fluoro group (10.69 min; p< 0.001) and the OCT group (13.3 min; p< 0.001). Electromagnetic guided iliosacral screw placement is a feasible procedure. In our experimental setup, this method was associated with improved accuracy of screw placement and shorter operation time when compared with the conventional fluoroscopy guided technique and compared to the optical navigation using preoperative CT-scans. Further studies are necessary to rule out drawbacks of this technique regarding ferromagnetic objects.

[Surgical Correction of Scoliosis: Does Intraoperative CT Navigation Prolong Operative Time?

PubMed

Skála-Rosenbaum, J; Ježek, M; Džupa, V; Kadeřábek, R; Douša, P; Rusnák, R; Krbec, M

2016-01-01

PURPOSE OF THE STUDY The aim of the study was to compare the duration of corrective surgery for scoliosis in relation to the intra-operative use of either fluoroscopic or CT navigation. MATERIAL AND METHODS The indication for surgery was adolescent idiopathic scoliosis in younger patients and degenerative scoliosis in middleage or elderly patients. In a retrospective study, treatment outcomes in 43 consecutive patients operated on between April 2011 and April 2014 were compared. Only patients undergoing surgical correction of five or more spinal segments (fixation of six and more vertebrae) were included. RESULTS Transpedicular screw fixation of six to 13 vertebrae was performed under C-arm fluoroscopy guidance in 22 patients, and transpedicular screws were inserted in six to 14 vertebrae using the O-arm imaging system in 21 patients. A total of 246 screws were placed using the C-arm system and 340 screws were inserted using the O-arm system (p < 0.001). The procedures with use of the O-arm system were more complicated and required an average operative time longer by 48% (measured from the first skin incision to the completion of skin suture). However, the mean time needed for one screw placement (the sum of all surgical procedures with the use of a navigation technique divided by the number of screws placed using this technique) was the same in both techniques (19 min). DISCUSSION With good teamwork (surgeons, anaesthesiologists and a radiologist attending to the O-arm system), the time required to obtain one intra-operative CT scan is 3 to 5 minutes. The study showed that the mean time for placement of one screw was identical in both techniques although the average operative time was longer in surgery with O-arm navigation. The 19- minute interval was not the real placement time per screw. It was the sum of all operative times of surgical procedures (from first incision to suture completion including the whole approach within the range of planned stabilization) which used the same navigation technique divided by the number of all screws inserted during the procedures. The longer average operative time in procedures using O-arm navigation was not related to taking intra-operative O-arm scans. The authors consider surgery with an O-arm imaging system to be a safer procedure and use it currently in surgical correction of scoliosis. CONCLUSIONS The study focused on the length of surgery to correct scoliosis performed using either conventional fluoroscopy (C-arm) or intra-operative CT scanning (O-arm) showed that the mean placement time for one screw was identical in both imaging techniques when six or more vertebrae were stabilised. The use of intra-operative CT navigation did not make the surgery longer, and the higher number of inserted screws provides evidence that this technique is safer and allows us to achieve good stability of the correction procedure. Key words: virtual CT guidance, O-arm, scoliosis, transpedicular screw.

Percutaneous pedicle screw placement under single dimensional fluoroscopy with a designed pedicle finder-a technical note and case series.

PubMed

Tsuang, Fon-Yih; Chen, Chia-Hsien; Kuo, Yi-Jie; Tseng, Wei-Lung; Chen, Yuan-Shen; Lin, Chin-Jung; Liao, Chun-Jen; Lin, Feng-Huei; Chiang, Chang-Jung

2017-09-01

Minimally invasive spine surgery has become increasingly popular in clinical practice, and it offers patients the potential benefits of reduced blood loss, wound pain, and infection risk, and it also diminishes the loss of working time and length of hospital stay. However, surgeons require more intraoperative fluoroscopy and ionizing radiation exposure during minimally invasive spine surgery for localization, especially for guidance in instrumentation placement. In addition, computer navigation is not accessible in some facility-limited institutions. This study aimed to demonstrate a method for percutaneous screws placement using only the anterior-posterior (AP) trajectory of intraoperative fluoroscopy. A technical report (a retrospective and prospective case series) was carried out. Patients who received posterior fixation with percutaneous pedicle screws for thoracolumbar degenerative disease or trauma comprised the patient sample. We retrospectively reviewed the charts of consecutive 670 patients who received 4,072 pedicle screws between December 2010 and August 2015. Another case series study was conducted prospectively in three additional hospitals, and 88 consecutive patients with 413 pedicle screws were enrolled from February 2014 to July 2016. The fluoroscopy shot number and radiation dose were recorded. In the prospective study, 78 patients with 371 screws received computed tomography at 3 months postoperatively to evaluate the fusion condition and screw positions. In the retrospective series, the placement of a percutaneous screw required 5.1 shots (2-14, standard deviation [SD]=2.366) of AP fluoroscopy. One screw was revised because of a medialwall breach of the pedicle. In the prospective series, 5.8 shots (2-16, SD=2.669) were required forone percutaneous pedicle screw placement. There were two screws with a Grade 1 breach (8.6%), both at the lateral wall of the pedicle, out of 23 screws placed at the thoracic spine at T9-T12. Forthe lumbar and sacral areas, there were 15 Grade 1 breaches (4.3%), 1 Grade 2 breach (0.3%), and 1 Grade 3 breach (0.3%). No revision surgery was necessary. This method avoids lateral shots of fluoroscopy during screw placement and thus decreases the operation time and exposes surgeons to less radiation. At the same time, compared with the computer-navigated procedure, it is less facility-demanding, and provides satisfactory reliability and accuracy. Copyright © 2017 The Authors. Published by Elsevier Inc. All rights reserved.

Biplane reconstruction and visualization of virtual endoscopic and fluoroscopic views for interventional device navigation

NASA Astrophysics Data System (ADS)

Wagner, Martin G.; Strother, Charles M.; Schafer, Sebastian; Mistretta, Charles A.

2016-03-01

Biplane fluoroscopic imaging is an important tool for minimally invasive procedures for the treatment of cerebrovascular diseases. However, finding a good working angle for the C-arms of the angiography system as well as navigating based on the 2D projection images can be a difficult task. The purpose of this work is to propose a novel 4D reconstruction algorithm for interventional devices from biplane fluoroscopy images and to propose new techniques for a better visualization of the results. The proposed reconstruction methods binarizes the fluoroscopic images using a dedicated noise reduction algorithm for curvilinear structures and a global thresholding approach. A topology preserving thinning algorithm is then applied and a path search algorithm minimizing the curvature of the device is used to extract the 2D device centerlines. Finally, the 3D device path is reconstructed using epipolar geometry. The point correspondences are determined by a monotonic mapping function that minimizes the reconstruction error. The three dimensional reconstruction of the device path allows the rendering of virtual fluoroscopy images from arbitrary angles as well as 3D visualizations like virtual endoscopic views or glass pipe renderings, where the vessel wall is rendered with a semi-transparent material. This work also proposes a combination of different visualization techniques in order to increase the usability and spatial orientation for the user. A combination of synchronized endoscopic and glass pipe views is proposed, where the virtual endoscopic camera position is determined based on the device tip location as well as the previous camera position using a Kalman filter in order to create a smooth path. Additionally, vessel centerlines are displayed and the path to the target is highlighted. Finally, the virtual endoscopic camera position is also visualized in the glass pipe view to further improve the spatial orientation. The proposed techniques could considerably improve the workflow of minimally invasive procedures for the treatment of cerebrovascular diseases.

Impact of a Novel Catheter Tracking System on Radiation Exposure during the Procedural Phases of Atrial Fibrillation and Flutter Ablation.

PubMed

Malliet, Nicolas; Andrade, Jason G; Khairy, Paul; Thanh, Hien Kiem Nguyen; Venier, Sandrine; Dubuc, Marc; Dyrda, Katia; Guerra, Peter; Mondésert, Blandine; Rivard, Léna; Tadros, Rafik; Talajic, Mario; Thibault, Bernard; Roy, Denis; Macle, Laurent

2015-07-01

Fluoroscopic guidance is used to position catheters during cardiac ablation. We evaluated the impact of a novel nonfluoroscopic sensor-guided electromagnetic navigation system (MG) on radiation exposure during catheter ablation of atrial fibrillation (AF) or atrial flutter (AFL). A total of 134 consecutive patients referred for ablation of AF (n = 44) or AFL (n = 90) ablation were prospectively enrolled. In one group the MG system was used for nonfluoroscopic catheter positioning, whereas in the conventional group standard fluoroscopy was utilized. Fluoroscopy times were assessed for each stage of procedure and total radiation exposure was quantified. Patient characteristics were similar between the groups. The procedural end point was achieved in all. Median (interquartile range [IQR]) fluoroscopy times were 12.5 minutes (7.6, 17.4) MG group versus 21.5 minutes (15.3, 23.0) conventional group (P < 0.0001) for AF ablation, and 0.8 minutes (0.4, 2.5) MG group versus 9.9 minutes (5.1, 22.5) conventional group (P < 0.0001) for AFL ablation. Median (IQR) total radiation exposure (μGy·m(2)) was 1,107 (906, 2,033) MG group versus 2,835 (1,688, 3,855) conventional group (P = 0.0001) for AF ablation, and 161 (65, 537) MG group versus 1,651 (796, 4,569) conventional group (P < 0.0001) for AFL ablation. No difference in total procedural time was seen. The use of a novel nonfluoroscopic catheter tracking system is associated with a significant reduction in radiation exposure during AF and AFL ablation (61% and 90% reduction, respectively). In the era of heightened awareness of the importance of radiation reduction, this system represents a safe and efficient tool to decrease radiation exposure during electrophysiological ablation procedures. ©2015 Wiley Periodicals, Inc.

Primary percutaneous coronary intervention by magnetic navigation compared with conventional wire technique.

PubMed

Patterson, Mark S; Dirksen, Maurits T; Ijsselmuiden, Alexander J; Amoroso, Giovanni; Slagboom, Ton; Laarman, Gerrit-Jan; Schultz, Carl; van Domburg, Ron T; Serruys, Patrick W; Kiemeneij, Ferdinand

2011-06-01

Aims Comparison of magnetic guidewire navigation in percutaneous coronary intervention (MPCI) vs. conventional percutaneous coronary intervention (CPCI) for the treatment of acute myocardial infarction. Methods and results We compared 65 sequential patients (mean age 61 ± 15 years) undergoing primary MPCI with those of 405 patients undergoing CPCI (mean age 61 ± 13 years). The major endpoint was contrast media use. Technical success and procedural outcomes were evaluated. Clinical demographics and angiographic characteristics of the two groups were similar, except for fewer patients with previous coronary artery bypass grafting (CABG) and hypertension in the CPCI group and fewer patients with diabetes in the MPCI group. The technical success rate was high in both the MPCI and CPCI groups (95.4 vs. 98%). There was significantly less contrast media usage in the MPCI compared with the CPCI group, median reduction of contrast media of 30 mL with an OR = 0.41 (0.21-0.81). Fluoroscopy times were significantly reduced for MPCI compared with CPCI, median reduction of 7.2 min with an OR = 0.42 (0.20-0.79). Conclusion This comparison indicates the feasibility and non-inferiority of magnetic navigation in performing primary PCI and suggests the possibility of reductions in contrast media use and fluoroscopy time compared with CPCI.

Integration of dual source computed tomography with magnetic navigation system for percutaneous coronary intervention: a feasibility study.

PubMed

Li, Chunjian; Tang, Lijun; Yang, Zhijian; Cao, Kejiang

2011-12-01

To investigate the feasibility of integration of the dual source computed tomography (DSCT) and magnetic navigation system (MNS) to guide percutaneous coronary intervention (PCI). MNS has proven to be feasible for yielding high rates of procedural success for PCI. DSCT coronary angiography (DSCT-CA) may provide a roadmap of a target vessel and serve as a reference route for MNS. Combination of these two technologies might decrease the contrast use, fluoroscopy exposure, and be beneficial to the intervention of the totally occluded lesions. Twenty-five patients with positive results of DSCT-CA and indications for PCI were included. CT images were transferred to MNS, and target vessels were extracted and registered to X-ray system as a roadmap. DSCT-CA and MNS-assisted PCIs were successfully performed in 25 of the 26 target vessels (96.2%), with the mean guidewire crossing time of 100.0 (25-75% inter-quartile ranges (IQR): 70.7-157.8) sec, mean total radiation dosage of 268.1 (IQR: 150.5-527.0) μGym(2) , or 42.0 (IQR: 23.0-70.0) mGy, respectively. The contrast usage for guidewire positioning was 0 (IQR: 0-3.0) ml for the successfully crossed lesions. Both of the two totally occluded lesions in this study were successfully crossed with guidewires under the guidance of the DSCT-CA derived roadmap. Integration of DSCT with MNS for PCI is feasible. This integration of advanced modalities might decrease contrast usage, lower fluoroscopy exposure for guidewire positioning, and might also play a role in totally occluded lesions. Copyright © 2011 Wiley Periodicals, Inc.

Deformable 3D-2D registration for guiding K-wire placement in pelvic trauma surgery

NASA Astrophysics Data System (ADS)

Goerres, J.; Jacobson, M.; Uneri, A.; de Silva, T.; Ketcha, M.; Reaungamornrat, S.; Vogt, S.; Kleinszig, G.; Wolinsky, J.-P.; Osgood, G.; Siewerdsen, J. H.

2017-03-01

Pelvic Kirschner wire (K-wire) insertion is a challenging surgical task requiring interpretation of complex 3D anatomical shape from 2D projections (fluoroscopy) and delivery of device trajectories within fairly narrow bone corridors in proximity to adjacent nerves and vessels. Over long trajectories ( 10-25 cm), K-wires tend to curve (deform), making conventional rigid navigation inaccurate at the tip location. A system is presented that provides accurate 3D localization and guidance of rigid or deformable surgical devices ("components" - e.g., K-wires) based on 3D-2D registration. The patient is registered to a preoperative CT image by virtually projecting digitally reconstructed radiographs (DRRs) and matching to two or more intraoperative x-ray projections. The K-wire is localized using an analogous procedure matching DRRs of a deformably parametrized model for the device component (deformable known-component registration, or dKC-Reg). A cadaver study was performed in which a K-wire trajectory was delivered in the pelvis. The system demonstrated target registration error (TRE) of 2.1 ± 0.3 mm in location of the K-wire tip (median ± interquartile range, IQR) and 0.8 ± 1.4º in orientation at the tip (median ± IQR), providing functionality analogous to surgical tracking / navigation using imaging systems already in the surgical arsenal without reliance on a surgical tracker. The method offers quantitative 3D guidance using images (e.g., inlet / outlet views) already acquired in the standard of care, potentially extending the advantages of navigation to broader utilization in trauma surgery to improve surgical precision and safety.

[Basic concept in computer assisted surgery].

PubMed

Merloz, Philippe; Wu, Hao

2006-03-01

To investigate application of medical digital imaging systems and computer technologies in orthopedics. The main computer-assisted surgery systems comprise the four following subcategories. (1) A collection and recording process for digital data on each patient, including preoperative images (CT scans, MRI, standard X-rays), intraoperative visualization (fluoroscopy, ultrasound), and intraoperative position and orientation of surgical instruments or bone sections (using 3D localises). Data merging based on the matching of preoperative imaging (CT scans, MRI, standard X-rays) and intraoperative visualization (anatomical landmarks, or bone surfaces digitized intraoperatively via 3D localiser; intraoperative ultrasound images processed for delineation of bone contours). (2) In cases where only intraoperative images are used for computer-assisted surgical navigation, the calibration of the intraoperative imaging system replaces the merged data system, which is then no longer necessary. (3) A system that provides aid in decision-making, so that the surgical approach is planned on basis of multimodal information: the interactive positioning of surgical instruments or bone sections transmitted via pre- or intraoperative images, display of elements to guide surgical navigation (direction, axis, orientation, length and diameter of a surgical instrument, impingement, etc. ). And (4) A system that monitors the surgical procedure, thereby ensuring that the optimal strategy defined at the preoperative stage is taken into account. It is possible that computer-assisted orthopedic surgery systems will enable surgeons to better assess the accuracy and reliability of the various operative techniques, an indispensable stage in the optimization of surgery.

Next generation distal locking for intramedullary nails using an electromagnetic X-ray-radiation-free real-time navigation system.

PubMed

Hoffmann, Michael; Schröder, Malte; Lehmann, Wolfgang; Kammal, Michael; Rueger, Johannes Maria; Herrman Ruecker, Andreas

2012-07-01

Distal locking marks one challenging step during intramedullary nailing that can lead to an increased irradiation and prolonged operation times. The aim of this study was to evaluate the reliability and efficacy of an X-ray-radiation-free real-time navigation system for distal locking procedures. A prospective randomized cadaver study with 50 standard free-hand fluoroscopic-guided and 50 electromagnetic-guided distal locking procedures was performed. All procedures were timed using a stopwatch. Intraoperative fluoroscopy exposure time and absorbed radiation dose (mGy) readings were documented. All tibial nails were locked with two mediolateral and one anteroposterior screw. Successful distal locking was accomplished once correct placement of all three screws was confirmed. Successful distal locking was achieved in 98 cases. No complications were encountered using the electromagnetic navigation system. Eight complications arose during free-hand fluoroscopic distal locking. Undetected secondary drill slippage on the ipsilateral cortex accounted for most problems followed by undetected intradrilling misdirection causing a fissural fracture of the contralateral cortex while screw insertion in one case. Compared with the free-hand fluoroscopic technique, electromagnetically navigated distal locking provides a median time benefit of 244 seconds without using ionizing radiation. Compared with the standard free-hand fluoroscopic technique, the electromagnetic guidance system used in this study showed high reliability and was associated with less complications, took significantly less time, and used no radiation exposure for distal locking procedures. Therapeutic study, level II.

Inserting pedicle screws in the upper thoracic spine without the use of fluoroscopy or image guidance. Is it safe?

PubMed

Schizas, Constantin; Theumann, Nicolas; Kosmopoulos, Victor

2007-05-01

Several studies have looked at accuracy of thoracic pedicle screw placement using fluoroscopy, image guidance, and anatomical landmarks. To our knowledge the upper thoracic spine (T1-T6) has not been specifically studied in the context of screw insertion and placement accuracy without the use of either image guidance or fluoroscopy. Our objective was to study the accuracy of upper thoracic screw placement without the use of fluoroscopy or image guidance, and report on implant related complications. A single surgeon inserted 60 screws in 13 consecutive non-scoliotic spine patients. These were the first 60 screws placed in the high thoracic spine in our institution. The most common diagnosis in our patient population was trauma. All screws were inserted using a modified Roy-Camille technique. Post-operative axial computed tomography (CT) images were obtained for each patient and analyzed by an independent senior radiologist for placement accuracy. Implant related complications were prospectively noted. No pedicle screw misplacement was found in 61.5% of the patients. In the remaining 38.5% of patients some misplacements were noted. Fifty-three screws out of the total 60 implanted were placed correctly within all the pedicle margins. The overall pedicle screw placement accuracy was 88.3% using our modified Roy-Camille technique. Five medial and two lateral violations were noted in the seven misplaced screws. One of the seven misplaced screws was considered to be questionable in terms of pedicle perforation. No implant related complications were noted. We found that inserting pedicle screws in the upper thoracic spine based solely on anatomical landmarks was safe with an accuracy comparable to that of published studies using image-guided navigation at the thoracic level.

CTA with fluoroscopy image fusion guidance in endovascular complex aortic aneurysm repair.

PubMed

Sailer, A M; de Haan, M W; Peppelenbosch, A G; Jacobs, M J; Wildberger, J E; Schurink, G W H

2014-04-01

To evaluate the effect of intraoperative guidance by means of live fluoroscopy image fusion with computed tomography angiography (CTA) on iodinated contrast material volume, procedure time, and fluoroscopy time in endovascular thoraco-abdominal aortic repair. CTA with fluoroscopy image fusion road-mapping was prospectively evaluated in patients with complex aortic aneurysms who underwent fenestrated and/or branched endovascular repair (FEVAR/BEVAR). Total iodinated contrast material volume, overall procedure time, and fluoroscopy time were compared between the fusion group (n = 31) and case controls (n = 31). Reasons for potential fusion image inaccuracy were analyzed. Fusion imaging was feasible in all patients. Fusion image road-mapping was used for navigation and positioning of the devices and catheter guidance during access to target vessels. Iodinated contrast material volume and procedure time were significantly lower in the fusion group than in case controls (159 mL [95% CI 132-186 mL] vs. 199 mL [95% CI 170-229 mL], p = .037 and 5.2 hours [95% CI 4.5-5.9 hours] vs. 6.3 hours (95% CI 5.4-7.2 hours), p = .022). No significant differences in fluoroscopy time were observed (p = .38). Respiration-related vessel displacement, vessel elongation, and displacement by stiff devices as well as patient movement were identified as reasons for fusion image inaccuracy. Image fusion guidance provides added value in complex endovascular interventions. The technology significantly reduces iodinated contrast material dose and procedure time. Copyright © 2014 European Society for Vascular Surgery. Published by Elsevier Ltd. All rights reserved.

Outcomes of repeat catheter ablation using magnetic navigation or conventional ablation.

PubMed

Akca, Ferdi; Theuns, Dominic A M J; Abkenari, Lara Dabiri; de Groot, Natasja M S; Jordaens, Luc; Szili-Torok, Tamas

2013-10-01

After initial catheter ablation, repeat procedures could be necessary. This study evaluates the efficacy of the magnetic navigation system (MNS) in repeat catheter ablation as compared with manual conventional techniques (MANs). The results of 163 repeat ablation procedures were analysed. Ablations were performed either using MNS (n = 84) or conventional manual ablation (n = 79). Procedures were divided into four groups based on the technique used during the initial and repeat ablation procedure: MAN-MAN (n = 66), MAN-MNS (n = 31), MNS-MNS (n = 53), and MNS-MAN (n = 13). Three subgroups were analysed: supraventricular tachycardias (SVTs, n = 68), atrial fibrillation (AF, n = 67), and ventricular tachycardias (VT, n = 28). Recurrences were assessed during 19 ± 11 months follow-up. Overall, repeat procedures using MNS were successful in 89.0% as compared with 96.2% in the MAN group (P = ns). The overall recurrence rate was significantly lower using MNS (25.0 vs. 41.4%, P = 0.045). Acute success and recurrence rates for the MAN-MAN, MAN-MNS, MNS-MNS, and MNS-MAN groups were comparable. For the SVT subgroup a higher acute success rate was achieved using MAN (87.9 vs. 100.0%, P = 0.049). The use of MNS for SVT is associated with longer procedure times (205 ± 82 vs. 172 ± 69 min, P = 0.040). For AF procedure and fluoroscopy times were longer (257 ± 72 vs. 185 ± 64, P = 0.001; 59.5 ± 19.3 vs. 41.1 ± 18.3 min, P < 0.001). Less fluoroscopy was used for MNS-guided VT procedures (22.8 ± 14.7 vs. 41.2 ± 10.9, P = 0.011). Our data suggest that overall MNS is comparable with MAN in acute success after repeat catheter ablation. However, MNS is related to fewer recurrences as compared with MAN.

Comparison of free-hand fluoroscopic guidance and electromagnetic navigation in distal locking of femoral intramedullary nails

PubMed Central

Han, Bing; Shi, Zhigang; Fu, Yu; Ye, Yong; Jing, Juehua; Li, Jun

2017-01-01

Abstract Background: Although the method has been used widely, one of the greatest challenges for intramedullary nailing is to position the distal locking screw. A new technology, the electromagnetic navigation system, is a radiation-free way to locate the position of the drill bit and provide 3-dimensional real-time feedback of location and orientation of the drill bit relative to the locking holes. The purpose of our study was to evaluate the reliability and efficiency of the free-hand technique compared to the new electromagnetic navigation system. Methods: Fifty-four patients with femoral fracture who needed treatment with intramedullary nails were divided into 2 groups. One group including 26 patients underwent distal locking using the standard free-hand method, whereas the electromagnetic navigation system was used with the other 29 patients. Intraoperative fluoroscopy exposure times, screw insertion times, and healing times were recorded; these parameters were used for comparison between the 2 groups. Results: There were 17 males and 9 females who had femoral intramedullary nails using the free-hand technique, whereas 21 males and 8 females received intramedullary nails using the electromagnetic navigation system. The mean time of distal locking was 19.5 ± 6.0 minutes in the free-hand (FH) group, whereas the time was 6.1 ± 1.4 minutes in the electromagnetic (ET) group. The exposure time for the FH group was 26.8 ± 13.3 seconds and 2.2 ± 1.1 seconds for the ET group. Healing time proved to be comparable in the FH and ET groups (16.4 ± 3.7 weeks vs 15.1 ± 2.8 weeks). Conclusion: Under the premise of achieving the same effect, the electromagnetic navigation system has the advantage of less distal locking time and less radiation dose. PMID:28723755

Comparison of free-hand fluoroscopic guidance and electromagnetic navigation in distal locking of femoral intramedullary nails.

PubMed

Han, Bing; Shi, Zhigang; Fu, Yu; Ye, Yong; Jing, Juehua; Li, Jun

2017-07-01

Although the method has been used widely, one of the greatest challenges for intramedullary nailing is to position the distal locking screw. A new technology, the electromagnetic navigation system, is a radiation-free way to locate the position of the drill bit and provide 3-dimensional real-time feedback of location and orientation of the drill bit relative to the locking holes. The purpose of our study was to evaluate the reliability and efficiency of the free-hand technique compared to the new electromagnetic navigation system. Fifty-four patients with femoral fracture who needed treatment with intramedullary nails were divided into 2 groups. One group including 26 patients underwent distal locking using the standard free-hand method, whereas the electromagnetic navigation system was used with the other 29 patients. Intraoperative fluoroscopy exposure times, screw insertion times, and healing times were recorded; these parameters were used for comparison between the 2 groups. There were 17 males and 9 females who had femoral intramedullary nails using the free-hand technique, whereas 21 males and 8 females received intramedullary nails using the electromagnetic navigation system. The mean time of distal locking was 19.5 ± 6.0 minutes in the free-hand (FH) group, whereas the time was 6.1 ± 1.4 minutes in the electromagnetic (ET) group. The exposure time for the FH group was 26.8 ± 13.3 seconds and 2.2 ± 1.1 seconds for the ET group. Healing time proved to be comparable in the FH and ET groups (16.4 ± 3.7 weeks vs 15.1 ± 2.8 weeks). Under the premise of achieving the same effect, the electromagnetic navigation system has the advantage of less distal locking time and less radiation dose.

Catheter ablation of ventricular tachycardias using remote magnetic navigation: a consecutive case-control study.

PubMed

Szili-Torok, Tamas; Schwagten, Bruno; Akca, Ferdi; Bauernfeind, Tamas; Abkenari, Lara Dabiri; Haitsma, David; Van Belle, Yves; Groot, Natasja D E; Jordaens, Luc

2012-09-01

Remote Magnetic Navigation for VT Ablation. This study aimed to compare acute and late outcomes of VT ablation using the magnetic navigation system (MNS) to manual techniques (MAN) in patients with (SHD) and without (NSHD) structural heart disease. Ablation data of 113 consecutive patients (43 SHD, 70 NSHD) with ventricular tachycardia treated with catheter ablation at our center were analyzed. Success rate, complications, procedure, fluoroscopy, and ablation times, and recurrence rates were systematically recorded for all patients. A total of 72 patients were included in the MNS group and 41 patients were included in the MAN group. Patient age, gender, and right ventricular and left ventricular VT were equally distributed. Acute success was achieved in 59 patients in the MNS group (82%) versus 27 (66%) patients in the MAN group (P = 0.046). Overall procedural time (177 ± 79 vs 232 ± 99 minutes, P < 0.01) and mean patient fluoroscopy time (27 ± 19 vs 56 ± 32 minutes, P < 0.001) were all significantly lower using MNS. In NSHD pts, higher acute success was achieved with MNS (83,7% vs 61.9%, P = 0.049), with shorter procedure times (151 ± 57 vs 210 ± 96, P = 0.011), whereas in SHD-VT these were not significantly different. No major complications occurred in the MNS group (0%) versus 1 cardiac tamponade and 1 significantly damaged ICD lead in the MAN group (4.9%, NS). After follow-up (20 ± 11 vs 20 ± 10 months, NS), VT recurred in 14 pts (23.7%) in the MNS group versus 12 pts (44.4%) in the MAN group (P = 0.047). The use of MNS offers advantages for ablation of NSHD-VT, while it offers similar efficacy for SHD-VT. (J Cardiovasc Electrophysiol, Vol. 23, pp. 948-954, September 2012). © 2012 Wiley Periodicals, Inc.

Magnetically guided left ventricular lead implantation based on a virtual three-dimensional reconstructed image of the coronary sinus

PubMed Central

Rivero-Ayerza, Máximo; Jessurun, Emil; Ramcharitar, Steve; van Belle, Yves; Serruys, Patrick W.; Jordaens, Luc

2008-01-01

Aims Left ventricular (LV) lead implantation is feasible using remote magnetic navigation of a guidewire (Stereotaxis, St Louis, MO, USA). A novel software that performs a three-dimensional (3D) reconstruction of vessels based on two or more angiographic views has been developed recently (CardiOp-B system™, Paeion Inc., Haifa, Israel). The objective of this paper is to evaluate: (i) the performance of the 3D reconstruction software which reproduce the anatomy of the coronary sinus (CS) and (ii) the efficacy of remotely navigating a magnetic guidewire within the CS based on this reconstruction. Methods and results In patients undergoing cardiac resynchronization therapy implantation, a 3D reconstruction of the CS was performed using the CardiOp-B™ system. Accuracy of the reconstruction was evaluated by comparing with the CS angiogram. This reconstruction was imported into the Stereotaxis system. On the basis of the reconstruction, magnetic vectors were automatically selected to navigate within the CS and manually adjusted if required. Feasibility of deploying the guidewire and LV lead into the selected side branch (SB), fluoroscopy time (FT) required for cannulation of the target SB, and total FT were also evaluated. Sixteen patients were included. In one case, the software could not reconstruct the CS. The quality of the reconstruction was graded as good in 13 and poor in 2. In 10 cases, manual adjustments to the traced edges of the CS were required to perform the 3D reconstruction, and in 5, no adjustments were required. In 13 patients, the target SB was engaged on the basis of the automatically selected vectors. In two cases, manual modification of the vector was required. Mean total FT was 23 ± 14 min and the FT required to cannulate the target SB was 1.7 ± 1.3 min. Conclusion A 3D reconstruction of the CS can be accurately performed using two angiographic views. This reconstruction allows precise magnetic navigation of a guidewire within the CS. PMID:18587136

Minimally invasive guidewireless, navigated pedicle screw placement: a technical report and case series.

PubMed

Smith, Brandon W; Joseph, Jacob R; Kirsch, Michael; Strasser, Mary Oakley; Smith, Jacob; Park, Paul

2017-08-01

OBJECTIVE Percutaneous pedicle screw insertion (PPSI) is a mainstay of minimally invasive spinal surgery. Traditionally, PPSI is a fluoroscopy-guided, multistep process involving traversing the pedicle with a Jamshidi needle, placement of a Kirschner wire (K-wire), placement of a soft-tissue dilator, pedicle tract tapping, and screw insertion over the K-wire. This study evaluates the accuracy and safety of PPSI with a simplified 2-step process using a navigated awl-tap followed by navigated screw insertion without use of a K-wire or fluoroscopy. METHODS Patients undergoing PPSI utilizing the K-wire-less technique were identified. Data were extracted from the electronic medical record. Complications associated with screw placement were recorded. Postoperative radiographs as well as CT were evaluated for accuracy of pedicle screw placement. RESULTS Thirty-six patients (18 male and 18 female) were included. The patients' mean age was 60.4 years (range 23.8-78.4 years), and their mean body mass index was 28.5 kg/m 2 (range 20.8-40.1 kg/m 2 ). A total of 238 pedicle screws were placed. A mean of 6.6 pedicle screws (range 4-14) were placed over a mean of 2.61 levels (range 1-7). No pedicle breaches were identified on review of postoperative radiographs. In a subgroup analysis of the 25 cases (69%) in which CT scans were performed, 173 screws were assessed; 170 (98.3%) were found to be completely within the pedicle, and 3 (1.7%) demonstrated medial breaches of less than 2 mm (Grade B). There were no complications related to PPSI in this cohort. CONCLUSIONS This streamlined 2-step K-wire-less, navigated PPSI appears safe and accurate and avoids the need for radiation exposure to surgeon and staff.

Performance evaluation of image-intensifier-TV fluoroscopy systems

NASA Astrophysics Data System (ADS)

van der Putten, Wilhelm J.; Bouley, Shawn

1995-05-01

Through use of a computer model and an aluminum low contrast phantom developed in-house, a method has been developed which is able to grade the imaging performance of fluoroscopy systems through use of a variable, K. This parameter was derived from Rose's model of image perception and is here used as a figure of merit to grade fluoroscopy systems. From Rose's model for an ideal system, a typical value of K for the perception of low contrast details should be between 3 and 7, assuming threshold vision by human observers. Thus, various fluoroscopy systems are graded with different values of K, with a lower value of K indicating better imaging performance of the system. A series of fluoroscopy systems have been graded where the best system produces a value in the low teens, while the poorest systems produce a value in the low twenties. Correlation with conventional image quality measurements is good and the method has the potential for automated assessment of image quality.

Magnetically assisted remote-controlled endovascular catheter for interventional MR imaging: in vitro navigation at 1.5 T versus X-ray fluoroscopy.

PubMed

Losey, Aaron D; Lillaney, Prasheel; Martin, Alastair J; Cooke, Daniel L; Wilson, Mark W; Thorne, Bradford R H; Sincic, Ryan S; Arenson, Ronald L; Saeed, Maythem; Hetts, Steven W

2014-06-01

To compare in vitro navigation of a magnetically assisted remote-controlled (MARC) catheter under real-time magnetic resonance (MR) imaging with manual navigation under MR imaging and standard x-ray guidance in endovascular catheterization procedures in an abdominal aortic phantom. The 2-mm-diameter custom clinical-grade microcatheter prototype with a solenoid coil at the distal tip was deflected with a foot pedal actuator used to deliver 300 mA of positive or negative current. Investigators navigated the catheter into branch vessels in a custom cryogel abdominal aortic phantom. This was repeated under MR imaging guidance without magnetic assistance and under conventional x-ray fluoroscopy. MR experiments were performed at 1.5 T by using a balanced steady-state free precession sequence. The mean procedure times and percentage success data were determined and analyzed with a linear mixed-effects regression analysis. The catheter was clearly visible under real-time MR imaging. One hundred ninety-two (80%) of 240 turns were successfully completed with magnetically assisted guidance versus 144 (60%) of 240 turns with nonassisted guidance (P < .001) and 119 (74%) of 160 turns with standard x-ray guidance (P = .028). Overall mean procedure time was shorter with magnetically assisted than with nonassisted guidance under MR imaging (37 seconds ± 6 [standard error of the mean] vs 55 seconds ± 3, P < .001), and time was comparable between magnetically assisted and standard x-ray guidance (37 seconds ± 6 vs 44 seconds ± 3, P = .045). When stratified by angle of branch vessel, magnetic assistance was faster than nonassisted MR guidance at turns of 45°, 60°, and 75°. In this study, a MARC catheter for endovascular navigation under real-time MR imaging guidance was developed and tested. For catheterization of branch vessels arising at large angles, magnetically assisted catheterization was faster than manual catheterization under MR imaging guidance and was comparable to standard x-ray guidance.

[The operating room of the future].

PubMed

Broeders, I A; Niessen, W; van der Werken, C; van Vroonhoven, T J

2000-01-29

Advances in computer technology will revolutionize surgical techniques in the next decade. The operating room (OR) of the future will be connected with a laboratory where clinical specialists and researchers prepare image-guided interventions and explore the possibilities of these techniques. The virtual reality is linked to the actual situation in the OR with the aid of navigation instruments. During complicated operations the images prepared preoperatively will be corrected during the operation on the basis of the information obtained peroperatively. MRI currently offers maximal possibilities for image-guided surgery of soft tissues. Simpler techniques such as fluoroscopy and echography will become increasingly integrated in computer-assisted peroperative navigation. The development of medical robot systems will make possible microsurgical procedures by the endoscopic route. Tele-manipulation systems will also play a part in the training of surgeons. Design and construction of the OR will be adapted to the surgical technology, and include an information and control unit where preoperative and peroperative data come together and from where the surgeon operates the instruments. Concepts for the future OR should be regularly adjusted to allow for new surgical technology.

Maximum voltage gradient technique for optimization of ablation for typical atrial flutter with zero-fluoroscopy approach

PubMed Central

Deutsch, Karol; Śledź, Janusz; Mazij, Mariusz; Ludwik, Bartosz; Labus, Michał; Karbarz, Dariusz; Pasicka, Bernadetta; Chrabąszcz, Michał; Śledź, Arkadiusz; Klank-Szafran, Monika; Vitali-Sendoz, Laura; Kameczura, Tomasz; Śpikowski, Jerzy; Stec, Piotr; Ujda, Marek; Stec, Sebastian

2017-01-01

Abstract Radiofrequency catheter ablation (RFCA) is an established effective method for the treatment of typical cavo-tricuspid isthmus (CTI)-dependent atrial flutter (AFL). The introduction of 3-dimensional electro-anatomic systems enables RFCA without fluoroscopy (No-X-Ray [NXR]). The aim of this study was to evaluate the feasibility and effectiveness of CTI RFCA during implementation of the NXR approach and the maximum voltage-guided (MVG) technique for ablation of AFL. Data were obtained from prospective standardized multicenter ablation registry. Consecutive patients with the first RFCA for CTI-dependent AFL were recruited. Two navigation approaches (NXR and fluoroscopy based as low as reasonable achievable [ALARA]) and 2 mapping and ablation techniques (MVG and pull-back technique [PBT]) were assessed. NXR + MVG (n  =  164; age: 63.7 ± 9.5; 30% women), NXR + PBT (n  =  55; age: 63.9 ± 10.7; 39% women); ALARA + MVG (n  =  36; age: 64.2 ± 9.6; 39% women); and ALARA + PBT (n  =  205; age: 64.7 ± 9.1; 30% women) were compared, respectively. All groups were simplified with a 2-catheter femoral approach using 8-mm gold tip catheters (Osypka AG, Germany or Biotronik, Germany) with 15 min of observation. The MVG technique was performed using step-by-step application by mapping the largest atrial signals within the CTI. Bidirectional block in CTI was achieved in 99% of all patients (P  =  NS, between groups). In NXR + MVG and NXR + PBT groups, the procedure time decreased (45.4 ± 17.6 and 47.2 ± 15.7 min vs. 52.6 ± 23.7 and 59.8 ± 24.0 min, P < .01) as compared to ALARA + MVG and ALARA + PBT subgroups. In NXR + MVG and NXR + PBT groups, 91% and 98% of the procedures were performed with complete elimination of fluoroscopy. The NXR approach was associated with a significant reduction in fluoroscopy exposure (from 0.2 ± 1.1 [NXR + PBT] and 0.3 ± 1.6 [NXR + MVG] to 7.7 ± 6.0 min [ALARA + MVG] and 9.1 ± 7.2 min [ALARA + PBT], P < .001). The total application time significantly decreased in the MVG technique subgroup both in NXR and ALARA (P < .01). No major complications were observed in either groups. Complete elimination of fluoroscopy is feasible, safe, and effective during RFCA of CTI in almost all AFL patients without cardiac implanted electronic devices. The most optimal method for RFCA of CTI-dependent AFL seems to be MVG; however, it required validation of optimal RFCA's parameters with clinical follow-up. PMID:28640075

Maximum voltage gradient technique for optimization of ablation for typical atrial flutter with zero-fluoroscopy approach.

PubMed

Deutsch, Karol; Śledź, Janusz; Mazij, Mariusz; Ludwik, Bartosz; Labus, Michał; Karbarz, Dariusz; Pasicka, Bernadetta; Chrabąszcz, Michał; Śledź, Arkadiusz; Klank-Szafran, Monika; Vitali-Sendoz, Laura; Kameczura, Tomasz; Śpikowski, Jerzy; Stec, Piotr; Ujda, Marek; Stec, Sebastian

2017-06-01

Radiofrequency catheter ablation (RFCA) is an established effective method for the treatment of typical cavo-tricuspid isthmus (CTI)-dependent atrial flutter (AFL). The introduction of 3-dimensional electro-anatomic systems enables RFCA without fluoroscopy (No-X-Ray [NXR]). The aim of this study was to evaluate the feasibility and effectiveness of CTI RFCA during implementation of the NXR approach and the maximum voltage-guided (MVG) technique for ablation of AFL.Data were obtained from prospective standardized multicenter ablation registry. Consecutive patients with the first RFCA for CTI-dependent AFL were recruited. Two navigation approaches (NXR and fluoroscopy based as low as reasonable achievable [ALARA]) and 2 mapping and ablation techniques (MVG and pull-back technique [PBT]) were assessed. NXR + MVG (n  =  164; age: 63.7 ± 9.5; 30% women), NXR + PBT (n  =  55; age: 63.9 ± 10.7; 39% women); ALARA + MVG (n  =  36; age: 64.2 ± 9.6; 39% women); and ALARA + PBT (n  =  205; age: 64.7 ± 9.1; 30% women) were compared, respectively. All groups were simplified with a 2-catheter femoral approach using 8-mm gold tip catheters (Osypka AG, Germany or Biotronik, Germany) with 15 min of observation. The MVG technique was performed using step-by-step application by mapping the largest atrial signals within the CTI.Bidirectional block in CTI was achieved in 99% of all patients (P  =  NS, between groups). In NXR + MVG and NXR + PBT groups, the procedure time decreased (45.4 ± 17.6 and 47.2 ± 15.7 min vs. 52.6 ± 23.7 and 59.8 ± 24.0 min, P < .01) as compared to ALARA + MVG and ALARA + PBT subgroups. In NXR + MVG and NXR + PBT groups, 91% and 98% of the procedures were performed with complete elimination of fluoroscopy. The NXR approach was associated with a significant reduction in fluoroscopy exposure (from 0.2 ± 1.1 [NXR + PBT] and 0.3 ± 1.6 [NXR + MVG] to 7.7 ± 6.0 min [ALARA + MVG] and 9.1 ± 7.2 min [ALARA + PBT], P < .001). The total application time significantly decreased in the MVG technique subgroup both in NXR and ALARA (P < .01). No major complications were observed in either groups.Complete elimination of fluoroscopy is feasible, safe, and effective during RFCA of CTI in almost all AFL patients without cardiac implanted electronic devices. The most optimal method for RFCA of CTI-dependent AFL seems to be MVG; however, it required validation of optimal RFCA's parameters with clinical follow-up.

C-arm positioning using virtual fluoroscopy for image-guided surgery

NASA Astrophysics Data System (ADS)

de Silva, T.; Punnoose, J.; Uneri, A.; Goerres, J.; Jacobson, M.; Ketcha, M. D.; Manbachi, A.; Vogt, S.; Kleinszig, G.; Khanna, A. J.; Wolinsky, J.-P.; Osgood, G.; Siewerdsen, J. H.

2017-03-01

Introduction: Fluoroscopically guided procedures often involve repeated acquisitions for C-arm positioning at the cost of radiation exposure and time in the operating room. A virtual fluoroscopy system is reported with the potential of reducing dose and time spent in C-arm positioning, utilizing three key advances: robust 3D-2D registration to a preoperative CT; real-time forward projection on GPU; and a motorized mobile C-arm with encoder feedback on C-arm orientation. Method: Geometric calibration of the C-arm was performed offline in two rotational directions (orbit α, orbit β). Patient registration was performed using image-based 3D-2D registration with an initially acquired radiograph of the patient. This approach for patient registration eliminated the requirement for external tracking devices inside the operating room, allowing virtual fluoroscopy using commonly available systems in fluoroscopically guided procedures within standard surgical workflow. Geometric accuracy was evaluated in terms of projection distance error (PDE) in anatomical fiducials. A pilot study was conducted to evaluate the utility of virtual fluoroscopy to aid C-arm positioning in image guided surgery, assessing potential improvements in time, dose, and agreement between the virtual and desired view. Results: The overall geometric accuracy of DRRs in comparison to the actual radiographs at various C-arm positions was PDE (mean ± std) = 1.6 ± 1.1 mm. The conventional approach required on average 8.0 ± 4.5 radiographs spent "fluoro hunting" to obtain the desired view. Positioning accuracy improved from 2.6o ± 2.3o (in α) and 4.1o ± 5.1o (in β) in the conventional approach to 1.5o ± 1.3o and 1.8o ± 1.7o, respectively, with the virtual fluoroscopy approach. Conclusion: Virtual fluoroscopy could improve accuracy of C-arm positioning and save time and radiation dose in the operating room. Such a system could be valuable to training of fluoroscopy technicians as well as intraoperative use in fluoroscopically guided procedures.

Right heart catheterization using metallic guidewires and low SAR cardiovascular magnetic resonance fluoroscopy at 1.5 Tesla: first in human experience.

PubMed

Campbell-Washburn, Adrienne E; Rogers, Toby; Stine, Annette M; Khan, Jaffar M; Ramasawmy, Rajiv; Schenke, William H; McGuirt, Delaney R; Mazal, Jonathan R; Grant, Laurie P; Grant, Elena K; Herzka, Daniel A; Lederman, Robert J

2018-06-21

Cardiovascular magnetic resonance (CMR) fluoroscopy allows for simultaneous measurement of cardiac function, flow and chamber pressure during diagnostic heart catheterization. To date, commercial metallic guidewires were considered contraindicated during CMR fluoroscopy due to concerns over radiofrequency (RF)-induced heating. The inability to use metallic guidewires hampers catheter navigation in patients with challenging anatomy. Here we use low specific absorption rate (SAR) imaging from gradient echo spiral acquisitions and a commercial nitinol guidewire for CMR fluoroscopy right heart catheterization in patients. The low-SAR imaging protocol used a reduced flip angle gradient echo acquisition (10° vs 45°) and a longer repetition time (TR) spiral readout (10 ms vs 2.98 ms). Temperature was measured in vitro in the ASTM 2182 gel phantom and post-mortem animal experiments to ensure freedom from heating with the selected guidewire (150 cm × 0.035″ angled-tip nitinol Terumo Glidewire). Seven patients underwent CMR fluoroscopy catheterization. Time to enter each chamber (superior vena cava, main pulmonary artery, and each branch pulmonary artery) was recorded and device visibility and confidence in catheter and guidewire position were scored on a Likert-type scale. Negligible heating (< 0.07°C) was observed under all in vitro conditions using this guidewire and imaging approach. In patients, chamber entry was successful in 100% of attempts with a guidewire compared to 94% without a guidewire, with failures to reach the branch pulmonary arteries. Time-to-enter each chamber was similar (p=NS) for  the two approaches. The guidewire imparted useful catheter shaft conspicuity and enabled interactive modification of catheter shaft stiffness, however, the guidewire tip visibility was poor. Under specific conditions, trained operators can apply low-SAR imaging and using a specific fully-insulated metallic nitinol guidewire (150 cm × 0.035" Terumo Glidewire) to augment clinical CMR fluoroscopy right heart catheterization. Clinicaltrials.gov NCT03152773 , registered May 15, 2017.

Initial clinical experience with a remote magnetic catheter navigation system for ablation of cavotricuspid isthmus-dependent right atrial flutter.

PubMed

Arya, Arash; Kottkamp, Hans; Piorkowski, Christopher; Bollmann, Andreas; Gerdes-Li, Jin-Hong; Riahi, Sam; Esato, Masahiro; Hindricks, Gerhard

2008-05-01

A remote magnetic navigation system (MNS) is available and has been used with a 4-mm-tip magnetic catheter for radiofrequency (RF) ablation of some supraventricular and ventricular arrhythmias; however, it has not been evaluated for the ablation of cavotricuspid isthmus-dependent right atrial flutter (AFL). The present study evaluates the feasibility and efficiency of this system and the newly available 8-mm-tip magnetic catheter to perform RF ablation in patients with AFL. Twenty-six consecutive patients (23 men, mean age 64.6 +/- 9.6 years) underwent RF ablation using a remote MNS. RF ablation was performed with an 8-mm-tip magnetic catheter (70 degrees C, maximum power 70 W, 90 seconds). The endpoint of ablation was complete bidirectional isthmus block. To assess a possible learning curve, procedural data were compared between the first 14 (group 1) and the rest (group 2) of the patients. The initial rhythm during ablation was AFL in 20 (19 counterclockwise and 1 clockwise) and sinus rhythm in six patients. Due to technical issues, the ablation in the 18th patient could not be done with the MNS, and so we switched to conventional ablation. The remote magnetic navigation and ablation procedure was successful in 24 of the 25 (96%) remaining patients with AFL. In one patient (patient 2), conventional catheter was used to complete the isthmus block after termination of AFL. The procedure, preparation, ablation, and fluoroscopy times (median [range]) were 53 (30-130) minutes, 28 (10-65) minutes, 25 (12-78) minutes, and 7.5 (3.2-20.8) minutes, respectively. Patients in group 2 had shorter procedure (45 [30-70] min vs 80 [57-130] min, P = 0.0001), preparation (25 [10-30] min vs 42 [30-65] min, P = 0.0001), ablation (20 [12-40] min vs 31 [20-78] min, P = 0.002), and fluoroscopy (7.2 [3.2-12.2] min vs 11.0 [5.4-20.8] min, P = 0.014) times. No complication occurred during the procedure. Using a remote MNS and an 8-mm-tip magnetic catheter, ablation of AFL is feasible, safe, and effective. Our data suggest that there is a short learning curve for this procedure.

MO-DE-BRA-04: Hands-On Fluoroscopy Safety Training with Real-Time Patient and Staff Dosimetry

DOE Office of Scientific and Technical Information (OSTI.GOV)

Vanderhoek, M; Bevins, N

Purpose: Fluoroscopically guided interventions (FGI) are routinely performed across many different hospital departments. However, many involved staff members have minimal training regarding safe and optimal use of fluoroscopy systems. We developed and taught a hands-on fluoroscopy safety class incorporating real-time patient and staff dosimetry in order to promote safer and more optimal use of fluoroscopy during FGI. Methods: The hands-on fluoroscopy safety class is taught in an FGI suite, unique to each department. A patient equivalent phantom is set on the patient table with an ion chamber positioned at the x-ray beam entrance to the phantom. This provides a surrogatemore » measure of patient entrance dose. Multiple solid state dosimeters (RaySafe i2 dosimetry systemTM) are deployed at different distances from the phantom (0.1, 1, 3 meters), which provide surrogate measures of staff dose. Instructors direct participating clinical staff to operate the fluoroscopy system as they view live fluoroscopic images, patient entrance dose, and staff doses in real-time. During class, instructors work with clinical staff to investigate how patient entrance dose, staff doses, and image quality are affected by different parameters, including pulse rate, magnification, collimation, beam angulation, imaging mode, system geometry, distance, and shielding. Results: Real-time dose visualization enables clinical staff to directly see and learn how to optimize their use of their own fluoroscopy system to minimize patient and staff dose, yet maintain sufficient image quality for FGI. As a direct result of the class, multiple hospital departments have implemented changes to their imaging protocols, including reduction of the default fluoroscopy pulse rate and increased use of collimation and lower dose fluoroscopy modes. Conclusion: Hands-on fluoroscopy safety training substantially benefits from real-time patient and staff dosimetry incorporated into the class. Real-time dose display helps clinical staff visualize, internalize, and ultimately utilize the safety techniques learned during the training. RaySafe/Unfors/Fluke lent us a portable version of their RaySafe i2 Dosimetry System for 6 months.« less

Architecture of a high-performance surgical guidance system based on C-arm cone-beam CT: software platform for technical integration and clinical translation

NASA Astrophysics Data System (ADS)

Uneri, Ali; Schafer, Sebastian; Mirota, Daniel; Nithiananthan, Sajendra; Otake, Yoshito; Reaungamornrat, Sureerat; Yoo, Jongheun; Stayman, J. Webster; Reh, Douglas; Gallia, Gary L.; Khanna, A. Jay; Hager, Gregory; Taylor, Russell H.; Kleinszig, Gerhard; Siewerdsen, Jeffrey H.

2011-03-01

Intraoperative imaging modalities are becoming more prevalent in recent years, and the need for integration of these modalities with surgical guidance is rising, creating new possibilities as well as challenges. In the context of such emerging technologies and new clinical applications, a software architecture for cone-beam CT (CBCT) guided surgery has been developed with emphasis on binding open-source surgical navigation libraries and integrating intraoperative CBCT with novel, application-specific registration and guidance technologies. The architecture design is focused on accelerating translation of task-specific technical development in a wide range of applications, including orthopaedic, head-and-neck, and thoracic surgeries. The surgical guidance system is interfaced with a prototype mobile C-arm for high-quality CBCT and through a modular software architecture, integration of different tools and devices consistent with surgical workflow in each of these applications is realized. Specific modules are developed according to the surgical task, such as: 3D-3D rigid or deformable registration of preoperative images, surgical planning data, and up-to-date CBCT images; 3D-2D registration of planning and image data in real-time fluoroscopy and/or digitally reconstructed radiographs (DRRs); compatibility with infrared, electromagnetic, and video-based trackers used individually or in hybrid arrangements; augmented overlay of image and planning data in endoscopic or in-room video; real-time "virtual fluoroscopy" computed from GPU-accelerated DRRs; and multi-modality image display. The platform aims to minimize offline data processing by exposing quantitative tools that analyze and communicate factors of geometric precision. The system was translated to preclinical phantom and cadaver studies for assessment of fiducial (FRE) and target registration error (TRE) showing sub-mm accuracy in targeting and video overlay within intraoperative CBCT. The work culminates in the development of a CBCT guidance system (reported here for the first time) that leverages the technical developments in Carm CBCT and associated technologies for realizing a high-performance system for translation to clinical studies.

SU-E-I-26: Estimation of Micro-Angiographic Fluoroscope (MAF) Gain Settings for Digital Subtraction Angiography (DSA) Based on the Fluoroscopic Exposure.

PubMed

Ionita, C; Loughran, B; Nagesh, S Setlur; Jain, A; Bednarek, D; Rudin, S

2012-06-01

The MAF is a new high-resolution detector which is being clinically evaluated in neuro-vascular procedures. The detector contains a large-dynamic-range, high-sensitivity light image intensifier with variable gain. Since the MAF is a research prototype only partially integrated with the clinical system, x-ray technique parameters must be set manually. To improve workflow we developed an automatic method to estimate and set the proper LII voltage (MAF gain) for DSA acquisition based on the fluoroscopic parameters. The detector entrance exposure (XD) can be written as the x-ray tube output exposure (Xo) times an object attenuation factor and an inverse-square correction. If the object attenuation, scatter and distances are unchanged and the effect of x-ray kVp changes are neglected, then the DSA XD can be expressed as the ratio of Xo(DSA)/Xo(Fluoroscopy) multiplied with XD(fluoroscopy). We measured Xo for fluoroscopy and DSA for mAs and kVp ranges appropriate to neuro- vascular interventions and fit the data with a 2D function. To estimate the XD(Fluoroscopy) we derived a curve of XD versus LII-voltage for a mid- dynamic-range average pixel gray-level. Since the MAF system during clinical fluoroscopy automatically adjusts the LII voltage until the desired gray-level value is achieved, by reading that voltage we can estimate the XD(Fluoroscopy). Using the 2D-fit function, Xo(DSA) is automatically calculated for the kVp and mA values set and XD(DSA) can be estimated using the relation above. Using the inverse LII calibration curve, the proper LII-voltage can be determined for the desired average gray-level. The algorithm was implemented and evaluated in thirty-two in-vivo DSA runs on rabbits. The proper LII voltage was selected in all cases with no failures. Using the fluoroscopic LII gain setting to determine the appropriate DSA setting can greatly improve the workflow in clinical evaluations of the MAF. NIH Grants R01-EB008425, R01-EB002873 and an equipment grant from Toshiba Medical Systems Corp. © 2012 American Association of Physicists in Medicine.

Initial experience of a novel mapping system combined with remote magnetic navigation in the catheter ablation of atrial fibrillation.

PubMed

Lin, Changjian; Pehrson, Steen; Jacobsen, Peter Karl; Chen, Xu

2017-12-01

There have been advancements of sophisticated mapping systems used for ablation procedures over the last decade. Utilization of these novel mapping systems in combination with remote magnetic navigation (RMN) needs to be established. We investigated the new EnSite Precision mapping system (St. Jude Medical, Inc., St. Paul, MN, USA), which collects magnetic data for checking navigation field stability and is built on an open platform, allowing physicians to choose diagnostic and ablation catheters. We address its compatibility with RMN. To assess the clinical utility of a novel 3D mapping system (EnSite Precision mapping system) combined with RMN (Niobe ES, Stereotaxis, Inc., St. Louis, MO, USA) for atrial fibrillation (AF) ablation. In this prospective nonrandomized study, two groups of patients were treated in our center for drug refractory AF. Patients were consecutively enrolled in each group. Group A (n = 35, 14 persistent AF [PsAF]) was treated using the novel 3D mapping system combined with RMN. Group B (n = 38, 16 PsAF) was treated using Carto ® 3 (Biosense Webster, Inc., Diamond Bar, CA, USA) combined with RMN. In Group A, the left atrium (LA) was mapped with a circular magnetic catheter manually and was then replaced by a RMN ablation catheter. At the end of the procedures in Group A, the circular catheter was used for confirming field stability. In Group B, an ablation catheter was controlled by RMN to perform both LA mapping and ablation. All patients underwent pulmonary vein antrum isolation. Additional complex fractionated atrial electrograms (CFAEs) ablation was performed for PsAF. Procedural, ablation, and fluoroscopy times were recorded and complications were assessed. Electrophysiological end points were achieved in all patients. Using the novel mapping system, LA mapping time was fast (308 ± 60 seconds) with detailed anatomy points (178,831 ± 70,897) collected and magnetic points throughout LA. At the end of the procedures in Group A, the LA model was confirmed to be stable and its location was within the distance threshold (1 mm). Procedure time (117.9 ± 29.6 minutes vs. 119.2 ± 29.7 minutes, P = 0.89), fluoroscopy time (6.1 ± 2.4 minutes vs. 4.8 ± 2.2 minutes, P = 0.07), and ablation time (28.0 ± 12.9 minutes vs. 27.9 ± 15.8 minutes, P = 0.98) were similar in Group A versus Group B, respectively. No complications occurred in either group. LA mapped by the novel system is stable and reliable. Combined with RMN, it could be effectively used for AF ablation without impacting overall procedural times. © 2017 Wiley Periodicals, Inc.

The practical application of signal detection theory to image quality assessment in x-ray image intensifier-TV fluoroscopy.

PubMed

Marshall, N W

2001-06-01

This paper applies a published version of signal detection theory to x-ray image intensifier fluoroscopy data and compares the results with more conventional subjective image quality measures. An eight-bit digital framestore was used to acquire temporally contiguous frames of fluoroscopy data from which the modulation transfer function (MTF(u)) and noise power spectrum were established. These parameters were then combined to give detective quantum efficiency (DQE(u)) and used in conjunction with signal detection theory to calculate contrast-detail performance. DQE(u) was found to lie between 0.1 and 0.5 for a range of fluoroscopy systems. Two separate image quality experiments were then performed in order to assess the correspondence between the objective and subjective methods. First, image quality for a given fluoroscopy system was studied as a function of doserate using objective parameters and a standard subjective contrast-detail method. Following this, the two approaches were used to assess three different fluoroscopy units. Agreement between objective and subjective methods was good; doserate changes were modelled correctly while both methods ranked the three systems consistently.

Initial experience with a magnetic navigation system for invasive treatment in patients with non-ST-segment elevation acute coronary syndromes.

PubMed

Wang, Hui; Li, Chunjian; Wang, Liansheng; Yang, Zhijian; Cao, Kejiang

2011-12-01

Magnetic navigation system (MNS) assisted percutaneous coronary intervention (MPCI) has been demonstrated an advantage over conventional PCI (CPCI) in complex lesions and tortuous vessels. However, the benefits of MNS in clinical unstable and vulnerable lesions were little studied. The aim of this study is to evaluate the feasibility and benefits of MPCI versus CPCI in patients with non-ST-segment elevation acute coronary syndromes (NSTE-ACS). Thirty-seven consecutive patients with NSTE-ACS undergoing MPCI were compared with 37 matched CPCI patients selected from the same concurrent database. Time to cross lesion, fluoroscopy time, and contrast usage to cross lesion were used as primary end-points. Of the 37 culprit lesions in MPCI, 36 were crossed successfully giving a success rate of 97.3%. The procedure and the fluoroscopy time to cross the lesion were similar between the magnetic and conventional PCI groups (82.0 ± 67.9 seconds vs. 85.8 ± 59.2 seconds, P = 0.692, and 62.6 ± 57.6 seconds vs. 65.4 ± 49.5 seconds, P = 0.738, respectively). In Type A/B1 lesions, there seemed no difference in contrast use (2.7 ± 0.7 mL vs. 3.3 ± 0.9 mL, P = 0.284). But as lesion complexity increased from type B2 to C, significantly less contrast was needed in type B2 (5.1 ± 2.6 mL vs. 7.9 ± 4.0 mL, P = 0.019) and type C (9.8 ± 5.7 mL vs. 14.7 ± 7.4 mL, P = 0.030). No major adverse cardiac events were observed in either the MPCI or CPCI group. MNS assisted technique appears to be feasible and effective in NSTE-ACS patients with more complex lesions; however, it probably offers little benefit in simple lesions like ACC/AHA type A/B1.  ©2011, Wiley Periodicals, Inc.

CT fluoroscopy-guided robotically-assisted lung biopsy

NASA Astrophysics Data System (ADS)

Xu, Sheng; Fichtinger, Gabor; Taylor, Russell H.; Banovac, Filip; Cleary, Kevin

2006-03-01

Lung biopsy is a common interventional radiology procedure. One of the difficulties in performing the lung biopsy is that lesions move with respiration. This paper presents a new robotically assisted lung biopsy system for CT fluoroscopy that can automatically compensate for the respiratory motion during the intervention. The system consists of a needle placement robot to hold the needle on the CT scan plane, a radiolucent Z-frame for registration of the CT and robot coordinate systems, and a frame grabber to obtain the CT fluoroscopy image in real-time. The CT fluoroscopy images are used to noninvasively track the motion of a pulmonary lesion in real-time. The position of the lesion in the images is automatically determined by the image processing software and the motion of the robot is controlled to compensate for the lesion motion. The system was validated under CT fluoroscopy using a respiratory motion simulator. A swine study was also done to show the feasibility of the technique in a respiring animal.

Remote magnetic with open-irrigated catheter vs. manual navigation for ablation of atrial fibrillation: a systematic review and meta-analysis.

PubMed

Proietti, Riccardo; Pecoraro, Valentina; Di Biase, Luigi; Natale, Andrea; Santangeli, Pasquale; Viecca, Maurizio; Sagone, Antonio; Galli, Alessio; Moja, Lorenzo; Tagliabue, Ludovica

2013-09-01

The aim of this study was to determine the efficacy and safety of remote magnetic navigation (RMN) with open-irrigated catheter vs. manual catheter navigation (MCN) in performing atrial fibrillation (AF) ablation. We searched in PubMed (1948-2013) and EMBASE (1974-2013) studies comparing RMN with MCN. Outcomes considered were AF recurrence (primary outcome), pulmonary vein isolation (PVI), procedural complications, and data on procedure's performance. Odds ratios (OR) and mean difference (MD) were extracted and pooled using a random-effect model. Confidence in the estimates of the obtained effects (quality of evidence) was assessed using the Grading of Recommendations Assessment, Development and Evaluation approach. We identified seven controlled trials, six non-randomized and one randomized, including a total of 941 patients. Studies were at high risk of bias. No difference was observed between RMN and MCN on AF recurrence [OR 1.18, 95% confidence interval (CI) 0.85 to 1.65, P = 0.32] or PVI (OR 0.41, 95% CI 0.11-1.47, P = 0.17). Remote magnetic navigation was associated with less peri-procedural complications (Peto OR 0.41, 95% CI 0.19-0.88, P = 0.02). Mean fluoroscopy time was reduced in RMN group (-22.22 min; 95% CI -42.48 to -1.96, P = 0.03), although the overall duration of the procedure was longer (60.91 min; 95% CI 31.17 to 90.65, P < 0.0001). In conclusion, RMN is not superior to MCN in achieving freedom from recurrent AF at mid-term follow-up or PVI. The procedure implies less peri-procedural complications, requires a shorter fluoroscopy time but a longer total procedural time. For the low quality of the available evidence, a proper designed randomized controlled trial could turn the direction and the effect of the dimensions explored.

Catheter ablation of atrial fibrillation using remote magnetic catheter navigation: a case-control study.

PubMed

Arya, Arash; Zaker-Shahrak, Ruzbeh; Sommer, Phillip; Bollmann, Andreas; Wetzel, Ulrike; Gaspar, Thomas; Richter, Sergio; Husser, Daniela; Piorkowski, Christopher; Hindricks, Gerhard

2011-01-01

To compare the acute and the 6 month outcome of catheter ablation of atrial fibrillation (AF) using irrigated tip magnetic catheter and remote magnetic cathter navigation (RMN) with manual catheter navigation (MCN) in patients with paroxysmal and persistent AF. In this retrospective analysis 356 patients (235 male, mean age: 57.9 ± 10.9 years) with AF (70.5%, paroxysmal) who underwent catheter ablation between August 2007 and May 2008 using either RMN (n = 70, 46 male, mean age: 57.9 ± 10.1 years, 50% paroxysmal) or MCN (n = 286, 189 male, mean age: 58.0 ± 13.9 years, 75.5% paroxysmal) were included. All patients completed an intensive follow-up strategy. Complete pulmonary vein isolation was achieved in 87.6 and 99.6% of patients in RMN and MCN groups, respectively (P < 0.05). The procedure, fluoroscopy, and radiofrequency application times were 223 ± 44 vs. 166 ± 52 min (P < 0.0001), 13.7 ± 7.8 vs. 34.5 ± 15.1 min (P < 0.0001), and 75.4 ± 20.9 vs. 53.2 ± 21.4 min (P < 0.0001) in RMN and MCN groups, respectively. Seven (10.0%) and 28 (9.8%) patients in RMN and MCN groups received antiarrhythmic medications during the follow-up (P = 0.96). All the patients completed the 6 month follow-up. Freedom from AF at 6 months was achieved in 57.8 and 66.4% of the patients in RMN and MCN groups, respectively (P = 0.196). In patients without previous AF catheter ablation procedure the freedom from AF at 6 months were 68.2 and 60.5% in the MCN and RMN groups, respectively (P = 0.36). Catheter ablation using irrigated tip magnetic catheter and RMN is an effective and safe method for catheter ablation of AF. Compared to manual catheter navigation, the procedure and radiofrequency application times were longer and fluoroscopy time was shorter in the RMN group compared with the MCN group.

AAPM/RSNA physics tutorial for residents: physics of flat-panel fluoroscopy systems: Survey of modern fluoroscopy imaging: flat-panel detectors versus image intensifiers and more.

PubMed

Nickoloff, Edward Lee

2011-01-01

This article reviews the design and operation of both flat-panel detector (FPD) and image intensifier fluoroscopy systems. The different components of each imaging chain and their functions are explained and compared. FPD systems have multiple advantages such as a smaller size, extended dynamic range, no spatial distortion, and greater stability. However, FPD systems typically have the same spatial resolution for all fields of view (FOVs) and are prone to ghosting. Image intensifier systems have better spatial resolution with the use of smaller FOVs (magnification modes) and tend to be less expensive. However, the spatial resolution of image intensifier systems is limited by the television system to which they are coupled. Moreover, image intensifier systems are degraded by glare, vignetting, spatial distortions, and defocusing effects. FPD systems do not have these problems. Some recent innovations to fluoroscopy systems include automated filtration, pulsed fluoroscopy, automatic positioning, dose-area product meters, and improved automatic dose rate control programs. Operator-selectable features may affect both the patient radiation dose and image quality; these selectable features include dose level setting, the FOV employed, fluoroscopic pulse rates, geometric factors, display software settings, and methods to reduce the imaging time. © RSNA, 2011.

Magnetically Assisted Remote-controlled Endovascular Catheter for Interventional MR Imaging: In Vitro Navigation at 1.5 T versus X-ray Fluoroscopy

PubMed Central

Losey, Aaron D.; Lillaney, Prasheel; Martin, Alastair J.; Cooke, Daniel L.; Wilson, Mark W.; Thorne, Bradford R. H.; Sincic, Ryan S.; Arenson, Ronald L.; Saeed, Maythem

2014-01-01

Purpose To compare in vitro navigation of a magnetically assisted remote-controlled (MARC) catheter under real-time magnetic resonance (MR) imaging with manual navigation under MR imaging and standard x-ray guidance in endovascular catheterization procedures in an abdominal aortic phantom. Materials and Methods The 2-mm-diameter custom clinical-grade microcatheter prototype with a solenoid coil at the distal tip was deflected with a foot pedal actuator used to deliver 300 mA of positive or negative current. Investigators navigated the catheter into branch vessels in a custom cryogel abdominal aortic phantom. This was repeated under MR imaging guidance without magnetic assistance and under conventional x-ray fluoroscopy. MR experiments were performed at 1.5 T by using a balanced steady-state free precession sequence. The mean procedure times and percentage success data were determined and analyzed with a linear mixed-effects regression analysis. Results The catheter was clearly visible under real-time MR imaging. One hundred ninety-two (80%) of 240 turns were successfully completed with magnetically assisted guidance versus 144 (60%) of 240 turns with nonassisted guidance (P < .001) and 119 (74%) of 160 turns with standard x-ray guidance (P = .028). Overall mean procedure time was shorter with magnetically assisted than with nonassisted guidance under MR imaging (37 seconds ± 6 [standard error of the mean] vs 55 seconds ± 3, P < .001), and time was comparable between magnetically assisted and standard x-ray guidance (37 seconds ± 6 vs 44 seconds ± 3, P = .045). When stratified by angle of branch vessel, magnetic assistance was faster than nonassisted MR guidance at turns of 45°, 60°, and 75°. Conclusion In this study, a MARC catheter for endovascular navigation under real-time MR imaging guidance was developed and tested. For catheterization of branch vessels arising at large angles, magnetically assisted catheterization was faster than manual catheterization under MR imaging guidance and was comparable to standard x-ray guidance. © RSNA, 2014 Online supplemental material is available for this article. PMID:24533872

Alternative radiation-free registration technique for image-guided pedicle screw placement in deformed cervico-thoracic segments.

PubMed

Kantelhardt, Sven R; Neulen, Axel; Keric, Naureen; Gutenberg, Angelika; Conrad, Jens; Giese, Alf

2017-10-01

Image-guided pedicle screw placement in the cervico-thoracic region is a commonly applied technique. In some patients with deformed cervico-thoracic segments, conventional or 3D fluoroscopy based registration of image-guidance might be difficult or impossible because of the anatomic/pathological conditions. Landmark based registration has been used as an alternative, mostly using separate registration of each vertebra. We here investigated a routine for landmark based registration of rigid spinal segments as single objects, using cranial image-guidance software. Landmark based registration of image-guidance was performed using cranial navigation software. After surgical exposure of the spinous processes, lamina and facet joints and fixation of a reference marker array, up to 26 predefined landmarks were acquired using a pointer. All pedicle screws were implanted using image guidance alone. Following image-guided screw placement all patients underwent postoperative CT scanning. Screw positions as well as intraoperative and clinical parameters were retrospectively analyzed. Thirteen patients received 73 pedicle screws at levels C6 to Th8. Registration of spinal segments, using the cranial image-guidance succeeded in all cases. Pedicle perforations were observed in 11.0%, severe perforations of >2 mm occurred in 5.4%. One patient developed a transient C8 syndrome and had to be revised for deviation of the C7 pedicle screw. No other pedicle screw-related complications were observed. In selected patients suffering from pathologies of the cervico-thoracic region, which impair intraoperative fluoroscopy or 3D C-arm imaging, landmark based registration of image-guidance using cranial software is a feasible, radiation-saving and a safe alternative.

A Dynamic Image Quality Evaluation of Videofluoroscopy Images: Considerations for Telepractice Applications.

PubMed

Burns, Clare L; Keir, Benjamin; Ward, Elizabeth C; Hill, Anne J; Farrell, Anna; Phillips, Nick; Porter, Linda

2015-08-01

High-quality fluoroscopy images are required for accurate interpretation of videofluoroscopic swallow studies (VFSS) by speech pathologists and radiologists. Consequently, integral to developing any system to conduct VFSS remotely via telepractice is ensuring that the quality of the VFSS images transferred via the telepractice system is optimized. This study evaluates the extent of change observed in image quality when videofluoroscopic images are transmitted from a digital fluoroscopy system to (a) current clinical equipment (KayPentax Digital Swallowing Workstation, and b) four different telepractice system configurations. The telepractice system configurations consisted of either a local C20 or C60 Cisco TelePresence System (codec unit) connected to the digital fluoroscopy system and linked to a second remote C20 or C60 Cisco TelePresence System via a network running at speeds of either 2, 4 or 6 megabits per second (Mbit/s). Image quality was tested using the NEMA XR 21 Phantom, and results demonstrated some loss in spatial resolution, low contrast detectability and temporal resolution for all transferred images when compared to the fluoroscopy source. When using higher capacity codec units and/or the highest bandwidths to support data transmission, image quality transmitted through the telepractice system was found to be comparable if not better than the current clinical system. This study confirms that telepractice systems can be designed to support fluoroscopy image transfer and highlights important considerations when developing telepractice systems for VFSS analysis to ensure high-quality radiological image reproduction.

Intraoperative computed tomography with integrated navigation system in spinal stabilizations.

PubMed

Zausinger, Stefan; Scheder, Ben; Uhl, Eberhard; Heigl, Thomas; Morhard, Dominik; Tonn, Joerg-Christian

2009-12-15

STUDY DESIGN.: A prospective interventional case-series study plus a retrospective analysis of historical patients for comparison of data. OBJECTIVE.: To evaluate workflow, feasibility, and clinical outcome of navigated stabilization procedures with data acquisition by intraoperative computed tomography. SUMMARY OF BACKGROUND DATA.: Routine fluoroscopy to assess pedicle screw placement is not consistently reliable. Our hypothesis was that image-guided spinal navigation using an intraoperative CT-scanner can improve the safety and precision of spinal stabilization surgery. METHODS.: CT data of 94 patients (thoracolumbar [n = 66], C1/2 [n = 12], cervicothoracic instability [n = 16]) were acquired after positioning the patient in the final surgical position. A sliding gantry 40-slice CT was used for image acquisition. Data were imported to a frameless infrared-based neuronavigation workstation. Intraoperative CT was obtained to assess the accuracy of instrumentation and, if necessary, the extent of decompression. All patients were clinically evaluated by Odom-criteria after surgery and after 3 months. RESULTS.: Computed accuracy of the navigation system reached <2 mm (0.95 +/- 0.3 mm) in all cases. Additional time necessary for the preoperative image acquisition including data transfer was 14 +/- 5 minutes. The duration of interrupting the surgical process for iCT until resumption of surgery was 9 +/- 2.5 minutes. Control-iCT revealed incorrect screw position >/=2 mm without persistent neurologic or vascular damage in 20/414 screws (4.8%) leading to immediate correction of 10 screws (2.4%). Control-iCT changed the course of surgery in 8 cases (8.5% of all patients). The overall revision rate was 8.5% (4 wound revisions, 2 CSF fistulas, and 2 epidural hematomas). There was no reoperation due to implant malposition. According to Odom-criteria all patients experienced a clinical improvement. A retrospective analysis of 182 patients with navigated thoracolumbar transpedicular stabilizations in the preiCT era revealed an overall revision rate of 10.4% with 4.4% of patients requiring screw revision. CONCLUSION.: Intraoperative CT in combination with neuronavigation provides high accuracy of screw placement and thus safety for patients undergoing spinal stabilization. Reoperations due to implant malpositions could be completely avoided. The system can be installed into a pre-existing operating environment without need for special surgical instruments. The procedure is rapid and easy to perform without restricted access to the patient and-by replacing pre- and postoperative imaging-is not associated with an additional exposure to radiation. Multidisciplinary use increases utilization of the system and thus improves cost-efficiency relation.

Feasibility of zero or near zero fluoroscopy during catheter ablation procedures.

PubMed

Haegeli, Laurent M; Stutz, Linda; Mohsen, Mohammed; Wolber, Thomas; Brunckhorst, Corinna; On, Chol-Jun; Duru, Firat

2018-04-03

Awareness of risks associated with radiation exposure to patients and medical staff has significantly increased. It has been reported before that the use of advanced three-dimensional electro-anatomical mapping (EAM) system significantly reduces fluoroscopy time, however this study aimed for zero or near zero fluoroscopy ablation to assess its feasibility and safety in ablation of atrial fibrillation (AF) and other tachyarrhythmias in a "real world" experience of a single tertiary care center. This was a single-center study where ablation procedures were attempted without fluoroscopy in 34 consecutive patients with different tachyarrhythmias under the support of EAM system. When transseptal puncture (TSP) was needed, it was attempted under the guidance of intracardiac echocardiography (ICE). Among 34 patients consecutively enrolled in this study, 28 (82.4%) patients were referred for radiofrequency ablation (RFA) of AF, 3 (8.8%) patients for ablation of right ventricular outflow tract (RVOT) ventricular extrasystole (VES), 1 (2.9%) patient for ablation of atrioventricular nodal reentry tachycardia (AVNRT), 2 (5.9%) patients for typical atrial flutter ablation. In 21 (62%) patients the entire procedure was carried out without the use of fluoroscopy. Among 28 AF patients, 15 (54%) patients underwent ablation without the use of fluoroscopy and among these 15 patients, 10 (67%) patients required TSP under ICE guidance while 5 (33%) patients the catheters were introduced to left atrium through a patent foramen ovale. In 13 AF patients, fluoroscopy was only required for double TSP. The total procedure time of AF ablation was 130 ± 50 min. All patients referred for atrial flutter, AVNRT, and VES of the RVOT ablation did not require any fluoroscopy. This study demonstrates the feasibility of zero or near zero fluoroscopy procedure including TSP with the support of EAM and ICE guidance in a "real world" experience of a single tertiary care center. When fluoroscopy was required, it was limited to TSP hence keeping the radiation dose very low. .

The evolution of image-guided lumbosacral spine surgery.

PubMed

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

2015-04-01

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.

Evaluation of RSA set-up from a clinical biplane fluoroscopy system for 3D joint kinematic analysis.

PubMed

Bonanzinga, Tommaso; Signorelli, Cecilia; Bontempi, Marco; Russo, Alessandro; Zaffagnini, Stefano; Marcacci, Maurilio; Bragonzoni, Laura

2016-01-01

dinamic roentgen stereophotogrammetric analysis (RSA), a technique currently based only on customized radiographic equipment, has been shown to be a very accurate method for detecting three-dimensional (3D) joint motion. The aim of the present work was to evaluate the applicability of an innovative RSA set-up for in vivo knee kinematic analysis, using a biplane fluoroscopic image system. To this end, the Authors describe the set-up as well as a possible protocol for clinical knee joint evaluation. The accuracy of the kinematic measurements is assessed. the Authors evaluated the accuracy of 3D kinematic analysis of the knee in a new RSA set-up, based on a commercial biplane fluoroscopy system integrated into the clinical environment. The study was organized in three main phases: an in vitro test under static conditions, an in vitro test under dynamic conditions reproducing a flexion-extension range of motion (ROM), and an in vivo analysis of the flexion-extension ROM. For each test, the following were calculated, as an indication of the tracking accuracy: mean, minimum, maximum values and standard deviation of the error of rigid body fitting. in terms of rigid body fitting, in vivo test errors were found to be 0.10±0.05 mm. Phantom tests in static and kinematic conditions showed precision levels, for translations and rotations, of below 0.1 mm/0.2° and below 0.5 mm/0.3° respectively for all directions. the results of this study suggest that kinematic RSA can be successfully performed using a standard clinical biplane fluoroscopy system for the acquisition of slow movements of the lower limb. a kinematic RSA set-up using a clinical biplane fluoroscopy system is potentially applicable and provides a useful method for obtaining better characterization of joint biomechanics.

Economic evaluation comparing intraoperative cone beam CT-based navigation and conventional fluoroscopy for the placement of spinal pedicle screws: a patient-level data cost-effectiveness analysis.

PubMed

Dea, Nicolas; Fisher, Charles G; Batke, Juliet; Strelzow, Jason; Mendelsohn, Daniel; Paquette, Scott J; Kwon, Brian K; Boyd, Michael D; Dvorak, Marcel F S; Street, John T

2016-01-01

Pedicle screws are routinely used in contemporary spinal surgery. Screw misplacement may be asymptomatic but is also correlated with potential adverse events. Computer-assisted surgery (CAS) has been associated with improved screw placement accuracy rates. However, this technology has substantial acquisition and maintenance costs. Despite its increasing usage, no rigorous full economic evaluation comparing this technology to current standard of care has been reported. Medical costs are exploding in an unsustainable way. Health economic theory requires that medical equipment costs be compared with expected benefits. To answer this question for computer-assisted spinal surgery, we present an economic evaluation looking specifically at symptomatic misplaced screws leading to reoperation secondary to neurologic deficits or biomechanical concerns. The study design was an observational case-control study from prospectively collected data of consecutive patients treated with the aid of CAS (treatment group) compared with a matched historical cohort of patients treated with conventional fluoroscopy (control group). The patient sample consisted of consecutive patients treated surgically at a quaternary academic center. The primary effectiveness measure studied was the number of reoperations for misplaced screws within 1 year of the index surgery. Secondary outcome measures included were total adverse event rate and postoperative computed tomography usage for pedicle screw examination. A patient-level data cost-effectiveness analysis from the hospital perspective was conducted to determine the value of a navigation system coupled with intraoperative 3-D imaging (O-arm Imaging and the StealthStation S7 Navigation Systems, Medtronic, Louisville, CO, USA) in adult spinal surgery. The capital costs for both alternatives were reported as equivalent annual costs based on the annuitization of capital expenditures method using a 3% discount rate and a 7-year amortization period. Annual maintenance costs were also added. Finally, reoperation costs using a micro-costing approach were calculated for both groups. An incremental cost-effectiveness ratio was calculated and reported as cost per reoperation avoided. Based on reoperation costs in Canada and in the United States, a minimal caseload was calculated for the more expensive alternative to be cost saving. Sensitivity analyses were also conducted. A total of 5,132 pedicle screws were inserted in 502 patients during the study period: 2,682 screws in 253 patients in the treatment group and 2,450 screws in 249 patients in the control group. Overall accuracy rates were 95.2% for the treatment group and 86.9% for the control group. Within 1 year post treatment, two patients (0.8%) required a revision surgery in the treatment group compared with 15 patients (6%) in the control group. An incremental cost-effectiveness ratio of $15,961 per reoperation avoided was calculated for the CAS group. Based on a reoperation cost of $12,618, this new technology becomes cost saving for centers performing more than 254 instrumented spinal procedures per year. Computer-assisted spinal surgery has the potential to reduce reoperation rates and thus to have serious cost-effectiveness and policy implications. High acquisition and maintenance costs of this technology can be offset by equally high reoperation costs. Our cost-effectiveness analysis showed that for high-volume centers with a similar case complexity to the studied population, this technology is economically justified. Copyright © 2015 Elsevier Inc. All rights reserved.

Comparison of different approaches of estimating effective dose from reported exposure data in 3D imaging with interventional fluoroscopy systems

NASA Astrophysics Data System (ADS)

Svalkvist, Angelica; Hansson, Jonny; Bâth, Magnus

2014-03-01

Three-dimensional (3D) imaging with interventional fluoroscopy systems is today a common examination. The examination includes acquisition of two-dimensional projection images, used to reconstruct section images of the patient. The aim of the present study was to investigate the difference in resulting effective dose obtained using different levels of complexity in calculations of effective doses from these examinations. In the study the Siemens Artis Zeego interventional fluoroscopy system (Siemens Medical Solutions, Erlangen, Germany) was used. Images of anthropomorphic chest and pelvis phantoms were acquired. The exposure values obtained were used to calculate the resulting effective doses from the examinations, using the computer software PCXMC (STUK, Helsinki, Finland). The dose calculations were performed using three different methods: 1. using individual exposure values for each projection image, 2. using the mean tube voltage and the total DAP value, evenly distributed over the projection images, and 3. using the mean kV and the total DAP value, evenly distributed over smaller selection of projection images. The results revealed that the difference in resulting effective dose between the first two methods was smaller than 5%. When only a selection of projection images were used in the dose calculations the difference increased to over 10%. Given the uncertainties associated with the effective dose concept, the results indicate that dose calculations based on average exposure values distributed over a smaller selection of projection angles can provide reasonably accurate estimations of the radiation doses from 3D imaging using interventional fluoroscopy systems.

First metatarsal closing base wedge osteotomy using real-time fluoroscopy.

PubMed

Toepp, F C; Salcedo, M

1991-01-01

A minimal incision surgery approach to metatarsus primus adductus is presented. The percutaneous closing base wedge osteotomy is performed using real-time intraoperative fluoroscopy. The advantages and disadvantages of this minimal incision surgical procedure are discussed.

Substantial superiority of Niobe ES over Niobe II system in remote-controlled magnetic pulmonary vein isolation.

PubMed

Da Costa, Antoine; Guichard, Jean Baptiste; Maillard, Nicolas; Romeyer-Bouchard, Cécile; Gerbay, Antoine; Isaaz, Karl

2017-03-01

Catheter ablation of atrial fibrillation (AFib) primarily relies upon pulmonary vein isolation (PVI), but such procedures are associated with significant X-ray exposure. The newer Epoch system has been developed so as to enable more precise magnetic navigation whilst limiting X-ray exposure. This study was aimed at quantifying both exposure time and X-ray reduction with the newer Epoch system compared to Niobe II during AFib ablation procedures. From November 2011 to November 2013, our last 92 consecutive patients treated with the Niobe ES (Epoch Solution; 4th generation magnetic navigation technology) system were compared with the first 92 consecutive patients treated using the Niobe II system (3rd generation magnetic navigation technology) for symptomatic drug-refractory AFib. Mean patient age was 59±11years (20% female), and the study population was affected by either symptomatic paroxysmal (65.2%) or persistent (34.8%) AFib. Median procedure time was 2±0.5h and median total X-ray exposure 12.3±6.4min. Procedure time (1.9±0.4 vs. 2.7±1h, p<0.0001) and X-ray duration (12±4 vs. 15±7min, p=0.001) were significantly lower with Niobe ES than with the Niobe II system. X-ray ablation exposure time was also significantly lower with the Niobe ES system than with the Niobe II system (2.9±2 vs. 4±3.5min; p=0.01). Through multivariate analysis, the only predictive factors influencing both procedure duration and X-ray exposure were found to be the Niobe ES system use and LA size. Our study was the first to demonstrate that the new Niobe ES magnetic robotic system substantially reduced overall operating, fluoroscopy, and ablation times during AFib ablation procedure. Copyright © 2016 Elsevier Ireland Ltd. All rights reserved.

Real-time magnetic resonance-guided ablation of typical right atrial flutter using a combination of active catheter tracking and passive catheter visualization in man: initial results from a consecutive patient series.

PubMed

Hilbert, Sebastian; Sommer, Philipp; Gutberlet, Matthias; Gaspar, Thomas; Foldyna, Borek; Piorkowski, Christopher; Weiss, Steffen; Lloyd, Thomas; Schnackenburg, Bernhard; Krueger, Sascha; Fleiter, Christian; Paetsch, Ingo; Jahnke, Cosima; Hindricks, Gerhard; Grothoff, Matthias

2016-04-01

Recently cardiac magnetic resonance (CMR) imaging has been found feasible for the visualization of the underlying substrate for cardiac arrhythmias as well as for the visualization of cardiac catheters for diagnostic and ablation procedures. Real-time CMR-guided cavotricuspid isthmus ablation was performed in a series of six patients using a combination of active catheter tracking and catheter visualization using real-time MR imaging. Cardiac magnetic resonance utilizing a 1.5 T system was performed in patients under deep propofol sedation. A three-dimensional-whole-heart sequence with navigator technique and a fast automated segmentation algorithm was used for online segmentation of all cardiac chambers, which were thereafter displayed on a dedicated image guidance platform. In three out of six patients complete isthmus block could be achieved in the MR scanner, two of these patients did not need any additional fluoroscopy. In the first patient technical issues called for a completion of the procedure in a conventional laboratory, in another two patients the isthmus was partially blocked by magnetic resonance imaging (MRI)-guided ablation. The mean procedural time for the MR procedure was 109 ± 58 min. The intubation of the CS was performed within a mean time of 2.75 ± 2.21 min. Total fluoroscopy time for completion of the isthmus block ranged from 0 to 7.5 min. The combination of active catheter tracking and passive real-time visualization in CMR-guided electrophysiologic (EP) studies using advanced interventional hardware and software was safe and enabled efficient navigation, mapping, and ablation. These cases demonstrate significant progress in the development of MR-guided EP procedures. Published on behalf of the European Society of Cardiology. All rights reserved. © The Author 2015. For permissions please email: journals.permissions@oup.com.

Subarachnoid and basal cistern navigation through the sacral hiatus with guide wire assistance.

PubMed

Layer, Lauren; Riascos, Roy; Firouzbakht, Farhood; Amole, Adewumi; Von Ritschl, Rudiger; Dipatre, Pier; Cuellar, Hugo

2011-07-01

Intraspinal navigation with catheters and fiberscopes has shown feasible results for diagnosis and treatment of intraspinal and intracranial lesions. The most common approach, lumbar puncture, has allowed access to the spinal cord, however, coming with the difficulties of fiberscope damage and decreased torque for guidance. Our objective in this study is to allow an alternate access, the sacral hiatus, with guide wire assistance into the subarachnoid and intracranial structures, while easing the angle of entry and increasing torque. We advanced catheters with guide wire and fluoroscopy assistance into the sacral hiatus of three cadavers. After entry, the thecal sac was punctured and the catheter with guide wire was advanced rostrally until positioned in the basal cisterns of the brain. We confirmed catheter placement with contrast injection, autopsy, and dissection. In our study, the sacral hiatus was easily accessed, but resistance was found when attempting to puncture the thecal sac. The advancement of the catheter with guide wire assistance glided easily rostrally until some mild resistance was discovered at entry into the foramen magnum. With redirection, all catheters passed with ease into the basal cisterns. Positioning was confirmed with contrast injection with fluoroscopy evidence, autopsy, and dissection. There was no macroscopic or microscopic evidence of damage to the spinal roots, spinal cord, or cranial nerves. The sacral hiatus with guide wire assistance is an accessible conduit for uncomplicated entry into the subarachnoid and basal cistern space without damaging surrounding structures.

An integrated platform for image-guided cardiac resynchronization therapy

NASA Astrophysics Data System (ADS)

Ma, Ying Liang; Shetty, Anoop K.; Duckett, Simon; Etyngier, Patrick; Gijsbers, Geert; Bullens, Roland; Schaeffter, Tobias; Razavi, Reza; Rinaldi, Christopher A.; Rhode, Kawal S.

2012-05-01

Cardiac resynchronization therapy (CRT) is an effective procedure for patients with heart failure but 30% of patients do not respond. This may be due to sub-optimal placement of the left ventricular (LV) lead. It is hypothesized that the use of cardiac anatomy, myocardial scar distribution and dyssynchrony information, derived from cardiac magnetic resonance imaging (MRI), may improve outcome by guiding the physician for optimal LV lead positioning. Whole heart MR data can be processed to yield detailed anatomical models including the coronary veins. Cine MR data can be used to measure the motion of the LV to determine which regions are late-activating. Finally, delayed Gadolinium enhancement imaging can be used to detect regions of scarring. This paper presents a complete platform for the guidance of CRT using pre-procedural MR data combined with live x-ray fluoroscopy. The platform was used for 21 patients undergoing CRT in a standard catheterization laboratory. The patients underwent cardiac MRI prior to their procedure. For each patient, a MRI-derived cardiac model, showing the LV lead targets, was registered to x-ray fluoroscopy using multiple views of a catheter looped in the right atrium. Registration was maintained throughout the procedure by a combination of C-arm/x-ray table tracking and respiratory motion compensation. Validation of the registration between the three-dimensional (3D) roadmap and the 2D x-ray images was performed using balloon occlusion coronary venograms. A 2D registration error of 1.2 ± 0.7 mm was achieved. In addition, a novel navigation technique was developed, called Cardiac Unfold, where an entire cardiac chamber is unfolded from 3D to 2D along with all relevant anatomical and functional information and coupled to real-time device detection. This allowed more intuitive navigation as the entire 3D scene was displayed simultaneously on a 2D plot. The accuracy of the unfold navigation was assessed off-line using 13 patient data sets by computing the registration error of the LV pacing lead electrodes which was found to be 2.2 ± 0.9 mm. Furthermore, the use of Unfold Navigation was demonstrated in real-time for four clinical cases.

Simulated lumbar minimally invasive surgery educational model with didactic and technical components.

PubMed

Chitale, Rohan; Ghobrial, George M; Lobel, Darlene; Harrop, James

2013-10-01

The learning and development of technical skills are paramount for neurosurgical trainees. External influences and a need for maximizing efficiency and proficiency have encouraged advancements in simulator-based learning models. To confirm the importance of establishing an educational curriculum for teaching minimally invasive techniques of pedicle screw placement using a computer-enhanced physical model of percutaneous pedicle screw placement with simultaneous didactic and technical components. A 2-hour educational curriculum was created to educate neurosurgical residents on anatomy, pathophysiology, and technical aspects associated with image-guided pedicle screw placement. Predidactic and postdidactic practical and written scores were analyzed and compared. Scores were calculated for each participant on the basis of the optimal pedicle screw starting point and trajectory for both fluoroscopy and computed tomographic navigation. Eight trainees participated in this module. Average mean scores on the written didactic test improved from 78% to 100%. The technical component scores for fluoroscopic guidance improved from 58.8 to 52.9. Technical score for computed tomography-navigated guidance also improved from 28.3 to 26.6. Didactic and technical quantitative scores with a simulator-based educational curriculum improved objectively measured resident performance. A minimally invasive spine simulation model and curriculum may serve a valuable function in the education of neurosurgical residents and outcomes for patients.

Comparison of minimally invasive spine surgery using intraoperative computed tomography integrated navigation, fluoroscopy, and conventional open surgery for lumbar spondylolisthesis: a prospective registry-based cohort study.

PubMed

Wu, Meng-Huang; Dubey, Navneet Kumar; Li, Yen-Yao; Lee, Ching-Yu; Cheng, Chin-Chang; Shi, Chung-Sheng; Huang, Tsung-Jen

2017-08-01

To date, the surgical approaches for the treatment of lumbar spondylolisthesis by transforaminal lumbar interbody fusion (TLIF) using minimally invasive spine surgery assisted with intraoperative computed tomography image-integrated navigation (MISS-iCT), fluoroscopy (MISS-FS), and conventional open surgery (OS) are debatable. This study compared TLIF using MISS-iCT, MISS-FS, and OS for treatment of one-level lumbar spondylolisthesis. This is a prospective, registry-based cohort study that compared surgical approaches for patients who underwent surgical treatment for one-level lumbar spondylolisthesis. One hundred twenty-four patients from January 2010 to March 2012 in a medical center were recruited. The outcome measures were clinical assessments, including Short-Form 12, visual analog scale (VAS), Oswestry Disability Index, Core Outcome Measurement Index, and patient satisfaction, and blood loss, hospital stay, operation time, postoperative pedicle screw accuracy, and superior-level facet violation. All surgeries were performed by two senior surgeons together. Ninety-nine patients (40M, 59F) who had at least 2 years' follow-up were divided into three groups according to the operation methods: MISS-iCT (N=24), MISS-FS (N=23), and OS (N=52) groups. Charts and surgical records along with postoperative CT images were assessed. MISS-iCT and MISS-FS demonstrated a significantly lowered blood loss and hospital stay compared with OS group (p<.01). Operation time was significantly lower in the MISS-iCT and OS groups compared with the MISS-FS group (p=.002). Postoperatively, VAS scores at 1 year and 2 years were significantly improved in the MISS-iCT and MISS-FS groups compared with the OS groups. No significant difference in the number of pedicle screw breach (>2 mm) was found. However, a lower superior-level facet violation rate was observed in the MISS-iCT and OS groups (p=.049). MISS-iCT TLIF demonstrated reduced operation time, blood loss, superior-level facet violation, hospital stay, and improved functional outcomes compared with the MISS-FS and OS approaches. Copyright © 2017 Elsevier Inc. All rights reserved.

A cost effective and high fidelity fluoroscopy simulator using the Image-Guided Surgery Toolkit (IGSTK)

NASA Astrophysics Data System (ADS)

Gong, Ren Hui; Jenkins, Brad; Sze, Raymond W.; Yaniv, Ziv

2014-03-01

The skills required for obtaining informative x-ray fluoroscopy images are currently acquired while trainees provide clinical care. As a consequence, trainees and patients are exposed to higher doses of radiation. Use of simulation has the potential to reduce this radiation exposure by enabling trainees to improve their skills in a safe environment prior to treating patients. We describe a low cost, high fidelity, fluoroscopy simulation system. Our system enables operators to practice their skills using the clinical device and simulated x-rays of a virtual patient. The patient is represented using a set of temporal Computed Tomography (CT) images, corresponding to the underlying dynamic processes. Simulated x-ray images, digitally reconstructed radiographs (DRRs), are generated from the CTs using ray-casting with customizable machine specific imaging parameters. To establish the spatial relationship between the CT and the fluoroscopy device, the CT is virtually attached to a patient phantom and a web camera is used to track the phantom's pose. The camera is mounted on the fluoroscope's intensifier and the relationship between it and the x-ray source is obtained via calibration. To control image acquisition the operator moves the fluoroscope as in normal operation mode. Control of zoom, collimation and image save is done using a keypad mounted alongside the device's control panel. Implementation is based on the Image-Guided Surgery Toolkit (IGSTK), and the use of the graphics processing unit (GPU) for accelerated image generation. Our system was evaluated by 11 clinicians and was found to be sufficiently realistic for training purposes.

Scattered radiation risk to the lens of the eyes for staff involved in using mobile C-arm fluoroscopy unit: Which position is riskiest?

NASA Astrophysics Data System (ADS)

Salleh, H.; Samat, S. B.; Matori, M. K.; Isa, M. J. M.

2015-09-01

Cataractogenesis is something to be concerned by radiologist and radiographer who work extensively in fluoroscopy. The increasing use of fluoroscopy or interventional fluoroscopy has to come with safety awareness on scattered radiation risk for staff performing the procedure. This study is looking into the radiation risk to the lens of the eyes for staff involved in fluoroscopy using the mobile C-arm fluoroscopy unit. The Toshiba SXT-1000A and Alderson Rando phantom were used in this study. Based on the results, it is found clearly that over couch (OC) procedure is riskier than under couch (UC) procedure. The cathode bound area is clearly riskier than anode bound area especially for UC procedure. More doses (at least +1,568 % of safest position) are received by the lens of the eyes for staff standing at the cathode bound area especially the position opposite to the x-ray tube.

Scattered radiation risk to the lens of the eyes for staff involved in using mobile C-arm fluoroscopy unit: Which position is riskiest?

DOE Office of Scientific and Technical Information (OSTI.GOV)

Salleh, H.; Matori, M. K.; Isa, M. J. M.

Cataractogenesis is something to be concerned by radiologist and radiographer who work extensively in fluoroscopy. The increasing use of fluoroscopy or interventional fluoroscopy has to come with safety awareness on scattered radiation risk for staff performing the procedure. This study is looking into the radiation risk to the lens of the eyes for staff involved in fluoroscopy using the mobile C-arm fluoroscopy unit. The Toshiba SXT-1000A and Alderson Rando phantom were used in this study. Based on the results, it is found clearly that over couch (OC) procedure is riskier than under couch (UC) procedure. The cathode bound area ismore » clearly riskier than anode bound area especially for UC procedure. More doses (at least +1,568 % of safest position) are received by the lens of the eyes for staff standing at the cathode bound area especially the position opposite to the x-ray tube.« less

A Novel Augmented Reality Navigation System for Endoscopic Sinus and Skull Base Surgery: A Feasibility Study

PubMed Central

Li, Liang; Yang, Jian; Chu, Yakui; Wu, Wenbo; Xue, Jin; Liang, Ping; Chen, Lei

2016-01-01

Objective To verify the reliability and clinical feasibility of a self-developed navigation system based on an augmented reality technique for endoscopic sinus and skull base surgery. Materials and Methods In this study we performed a head phantom and cadaver experiment to determine the display effect and accuracy of our navigational system. We compared cadaver head-based simulated operations, the target registration error, operation time, and National Aeronautics and Space Administration Task Load Index scores of our navigation system to conventional navigation systems. Results The navigation system developed in this study has a novel display mode capable of fusing endoscopic images to three-dimensional (3-D) virtual images. In the cadaver head experiment, the target registration error was 1.28 ± 0.45 mm, which met the accepted standards of a navigation system used for nasal endoscopic surgery. Compared with conventional navigation systems, the new system was more effective in terms of operation time and the mental workload of surgeons, which is especially important for less experienced surgeons. Conclusion The self-developed augmented reality navigation system for endoscopic sinus and skull base surgery appears to have advantages that outweigh those of conventional navigation systems. We conclude that this navigational system will provide rhinologists with more intuitive and more detailed imaging information, thus reducing the judgment time and mental workload of surgeons when performing complex sinus and skull base surgeries. Ultimately, this new navigational system has potential to increase the quality of surgeries. In addition, the augmented reality navigational system could be of interest to junior doctors being trained in endoscopic techniques because it could speed up their learning. However, it should be noted that the navigation system serves as an adjunct to a surgeon’s skills and knowledge, not as a substitute. PMID:26757365

A Novel Augmented Reality Navigation System for Endoscopic Sinus and Skull Base Surgery: A Feasibility Study.

PubMed

Li, Liang; Yang, Jian; Chu, Yakui; Wu, Wenbo; Xue, Jin; Liang, Ping; Chen, Lei

2016-01-01

To verify the reliability and clinical feasibility of a self-developed navigation system based on an augmented reality technique for endoscopic sinus and skull base surgery. In this study we performed a head phantom and cadaver experiment to determine the display effect and accuracy of our navigational system. We compared cadaver head-based simulated operations, the target registration error, operation time, and National Aeronautics and Space Administration Task Load Index scores of our navigation system to conventional navigation systems. The navigation system developed in this study has a novel display mode capable of fusing endoscopic images to three-dimensional (3-D) virtual images. In the cadaver head experiment, the target registration error was 1.28 ± 0.45 mm, which met the accepted standards of a navigation system used for nasal endoscopic surgery. Compared with conventional navigation systems, the new system was more effective in terms of operation time and the mental workload of surgeons, which is especially important for less experienced surgeons. The self-developed augmented reality navigation system for endoscopic sinus and skull base surgery appears to have advantages that outweigh those of conventional navigation systems. We conclude that this navigational system will provide rhinologists with more intuitive and more detailed imaging information, thus reducing the judgment time and mental workload of surgeons when performing complex sinus and skull base surgeries. Ultimately, this new navigational system has potential to increase the quality of surgeries. In addition, the augmented reality navigational system could be of interest to junior doctors being trained in endoscopic techniques because it could speed up their learning. However, it should be noted that the navigation system serves as an adjunct to a surgeon's skills and knowledge, not as a substitute.

Long-term outcomes of the current remote magnetic catheter navigation technique for ablation of atrial fibrillation.

PubMed

Yuan, Shiwen; Holmqvist, Fredrik; Kongstad, Ole; Jensen, Steen M; Wang, Lingwei; Ljungström, Erik; Hertervig, Eva; Borgquist, Rasmus

2017-12-01

Comparisons between remote magnetic (RMN) and manual catheter navigation for atrial fibrillation (AF) ablation have earlier been reported with controversial results. However, these reports were based on earlier generations of the RMN system. To evaluate the outcomes of the most current RMN system for AF ablation in a larger patient population with longer follow-up time, 112 patients with AF (78 paroxysmal, 34 persistent) who underwent AF ablation utilizing RMN (RMN group) were compared to 102 AF ablation patients (72 paroxysmal, 30 persistent) utilizing manual technique (Manual group). The RMN group was associated with significantly shorter fluoroscopy time (10.4 ± 6.4 vs. 16.3 ± 10.9 min, p < .001) but used more RF energy (64.1 ± 19.4KJ vs. 54.3 ± 24.1 KJ, p < .05), while total procedure time showed no significant difference (201 ± 35 vs. 196 ± 44 min, NS). After 39 ± 9/44 ± 10 months of follow-up, AF-free rates at 1year, 2 years and 3.5 years post ablation were 63%, 46% and 42% in the RMN group vs. 60%, 32% and 30% (survival analysis p < .05) in the Manual group, whereas clinically effective rates were 82%, 73% and 70% for the former vs. 70%, 56% and 49% for the latter (survival analysis p < .005). Differing from previous reports, our data from a larger patient population and longer follow-up time demonstrates that compared to manual technique, the most current RMN technique is associated with better procedural and clinical outcomes for AF ablation.

Validation of 3D multimodality roadmapping in interventional neuroradiology

NASA Astrophysics Data System (ADS)

Ruijters, Daniel; Homan, Robert; Mielekamp, Peter; van de Haar, Peter; Babic, Drazenko

2011-08-01

Three-dimensional multimodality roadmapping is entering clinical routine utilization for neuro-vascular treatment. Its purpose is to navigate intra-arterial and intra-venous endovascular devices through complex vascular anatomy by fusing pre-operative computed tomography (CT) or magnetic resonance (MR) with the live fluoroscopy image. The fused image presents the real-time position of the intra-vascular devices together with the patient's 3D vascular morphology and its soft-tissue context. This paper investigates the effectiveness, accuracy, robustness and computation times of the described methods in order to assess their suitability for the intended clinical purpose: accurate interventional navigation. The mutual information-based 3D-3D registration proved to be of sub-voxel accuracy and yielded an average registration error of 0.515 mm and the live machine-based 2D-3D registration delivered an average error of less than 0.2 mm. The capture range of the image-based 3D-3D registration was investigated to characterize its robustness, and yielded an extent of 35 mm and 25° for >80% of the datasets for registration of 3D rotational angiography (3DRA) with CT, and 15 mm and 20° for >80% of the datasets for registration of 3DRA with MR data. The image-based 3D-3D registration could be computed within 8 s, while applying the machine-based 2D-3D registration only took 1.5 µs, which makes them very suitable for interventional use.

Modeling Cable and Guide Channel Interaction in a High-Strength Cable-Driven Continuum Manipulator

PubMed Central

Moses, Matthew S.; Murphy, Ryan J.; Kutzer, Michael D. M.; Armand, Mehran

2016-01-01

This paper presents several mechanical models of a high-strength cable-driven dexterous manipulator designed for surgical procedures. A stiffness model is presented that distinguishes between contributions from the cables and the backbone. A physics-based model incorporating cable friction is developed and its predictions are compared with experimental data. The data show that under high tension and high curvature, the shape of the manipulator deviates significantly from a circular arc. However, simple parametric models can fit the shape with good accuracy. The motivating application for this study is to develop a model so that shape can be predicted using easily measured quantities such as tension, so that real-time navigation may be performed, especially in minimally-invasive surgical procedures, while reducing the need for hazardous imaging methods such as fluoroscopy. PMID:27818607

Modeling Cable and Guide Channel Interaction in a High-Strength Cable-Driven Continuum Manipulator.

PubMed

Moses, Matthew S; Murphy, Ryan J; Kutzer, Michael D M; Armand, Mehran

2015-12-01

This paper presents several mechanical models of a high-strength cable-driven dexterous manipulator designed for surgical procedures. A stiffness model is presented that distinguishes between contributions from the cables and the backbone. A physics-based model incorporating cable friction is developed and its predictions are compared with experimental data. The data show that under high tension and high curvature, the shape of the manipulator deviates significantly from a circular arc. However, simple parametric models can fit the shape with good accuracy. The motivating application for this study is to develop a model so that shape can be predicted using easily measured quantities such as tension, so that real-time navigation may be performed, especially in minimally-invasive surgical procedures, while reducing the need for hazardous imaging methods such as fluoroscopy.

New light-amplifier-based detector designs for high spatial resolution and high sensitivity CBCT mammography and fluoroscopy

PubMed Central

Rudin, Stephen; Kuhls, Andrew T.; Yadava, Girijesh K.; Josan, Gaurav C.; Wu, Ye; Chityala, Ravishankar N.; Rangwala, Hussain S.; Ciprian Ionita, N.; Hoffmann, Kenneth R.; Bednarek, Daniel R.

2011-01-01

New cone-beam computed tomographic (CBCT) mammography system designs are presented where the detectors provide high spatial resolution, high sensitivity, low noise, wide dynamic range, negligible lag and high frame rates similar to features required for high performance fluoroscopy detectors. The x-ray detectors consist of a phosphor coupled by a fiber-optic taper to either a high gain image light amplifier (LA) then CCD camera or to an electron multiplying CCD. When a square-array of such detectors is used, a field-of-view (FOV) to 20 × 20 cm can be obtained where the images have pixel-resolution of 100 µm or better. To achieve practical CBCT mammography scan-times, 30 fps may be acquired with quantum limited (noise free) performance below 0.2 µR detector exposure per frame. Because of the flexible voltage controlled gain of the LA’s and EMCCDs, large detector dynamic range is also achievable. Features of such detector systems with arrays of either generation 2 (Gen 2) or 3 (Gen 3) LAs optically coupled to CCD cameras or arrays of EMCCDs coupled directly are compared. Quantum accounting analysis is done for a variety of such designs where either the lowest number of information carriers off the LA photo-cathode or electrons released in the EMCCDs per x-ray absorbed in the phosphor are large enough to imply no quantum sink for the design. These new LA- or EMCCD-based systems could lead to vastly improved CBCT mammography, ROI-CT, or fluoroscopy performance compared to systems using flat panels. PMID:21297904

New light-amplifier-based detector designs for high spatial resolution and high sensitivity CBCT mammography and fluoroscopy

NASA Astrophysics Data System (ADS)

Rudin, Stephen; Kuhls, Andrew T.; Yadava, Girijesh K.; Josan, Gaurav C.; Wu, Ye; Chityala, Ravishankar N.; Rangwala, Hussain S.; Ionita, N. Ciprian; Hoffmann, Kenneth R.; Bednarek, Daniel R.

2006-03-01

New cone-beam computed tomographic (CBCT) mammography system designs are presented where the detectors provide high spatial resolution, high sensitivity, low noise, wide dynamic range, negligible lag and high frame rates similar to features required for high performance fluoroscopy detectors. The x-ray detectors consist of a phosphor coupled by a fiber-optic taper to either a high gain image light amplifier (LA) then CCD camera or to an electron multiplying CCD. When a square-array of such detectors is used, a field-of-view (FOV) to 20 x 20 cm can be obtained where the images have pixel-resolution of 100 μm or better. To achieve practical CBCT mammography scan-times, 30 fps may be acquired with quantum limited (noise free) performance below 0.2 μR detector exposure per frame. Because of the flexible voltage controlled gain of the LA's and EMCCDs, large detector dynamic range is also achievable. Features of such detector systems with arrays of either generation 2 (Gen 2) or 3 (Gen 3) LAs optically coupled to CCD cameras or arrays of EMCCDs coupled directly are compared. Quantum accounting analysis is done for a variety of such designs where either the lowest number of information carriers off the LA photo-cathode or electrons released in the EMCCDs per x-ray absorbed in the phosphor are large enough to imply no quantum sink for the design. These new LA- or EMCCD-based systems could lead to vastly improved CBCT mammography, ROI-CT, or fluoroscopy performance compared to systems using flat panels.

Regionalized Lunar South Pole Surface Navigation System Analysis

NASA Technical Reports Server (NTRS)

Welch, Bryan W.

2008-01-01

Apollo missions utilized Earth-based assets for navigation because the landings took place at lunar locations in constant view from the Earth. The new exploration campaign to the lunar south pole region will have limited Earth visibility, but the extent to which a navigation system comprised solely of Earth-based tracking stations will provide adequate navigation solutions in this region is unknown. This report presents a dilution-of-precision (DoP)-based, stationary surface navigation analysis of the performance of multiple lunar satellite constellations, Earth-based deep space network assets, and combinations thereof. Results show that kinematic and integrated solutions cannot be provided by the Earth-based deep space network stations. Also, the stationary surface navigation system needs to be operated either as a two-way navigation system or as a one-way navigation system with local terrain information, while the position solution is integrated over a short duration of time with navigation signals being provided by a lunar satellite constellation.

Initial Investigation of Factors Influencing Radiation Dose to Patients Undergoing Barium-Based Fluoroscopy Procedures in Tanzania.

PubMed

Ngaile, J E; Msaki, P K; Kazema, R R; Schreiner, L J

2017-04-25

The aim of this study was to investigate the nature and causes of radiation dose imparted to patients undergoing barium-based X-ray fluoroscopy procedures in Tanzania and to compare these doses to those reported in the literature from other regions worldwide. The air kerma area product (KAP) to patient undergoing barium investigations of gastrointestinal tract system was obtained from four consultant hospitals. The KAP was determined using a flat transparent transmission ionization chamber. Mean values of KAP for barium swallow (BS), barium meal (BM) and barium enema (BE) were 2.79, 2.62 and 15.04 Gy cm2, respectively. The mean values of KAP per hospital for the BS, BM and BE procedures varied by factors of up to 7.3, 1.6 and 2.0, respectively. The overall difference between individual patient doses across the four consultant hospitals investigated differed by factors of up to 53, 29.5 and 12 for the BS, BM and BE procedures, respectively. The majority of the mean values of KAP was lower than the reported values for Ghana, Greece, Spain and the UK, while slightly higher than those reported for India. The observed wide variation of KAP values for the same fluoroscopy procedure within and among the hospitals was largely attributed to the dynamic nature of the procedures, the patient characteristics, the skills and experience of personnel, and the different examination protocols employed among hospitals. The observed great variations of procedural protocols and patient doses within and across the hospitals call for the need to standardize examination protocols and optimize barium-based fluoroscopy procedures. © The Author 2016. Published by Oxford University Press. All rights reserved. For Permissions, please email: journals.permissions@oup.com.

Comprehensive assessment of patient image quality and radiation dose in latest generation cardiac x-ray equipment for percutaneous coronary interventions

PubMed Central

Gislason-Lee, Amber J.; Keeble, Claire; Egleston, Daniel; Bexon, Josephine; Kengyelics, Stephen M.; Davies, Andrew G.

2017-01-01

Abstract. This study aimed to determine whether a reduction in radiation dose was found for percutaneous coronary interventional (PCI) patients using a cardiac interventional x-ray system with state-of-the-art image enhancement and x-ray optimization, compared to the current generation x-ray system, and to determine the corresponding impact on clinical image quality. Patient procedure dose area product (DAP) and fluoroscopy duration of 131 PCI patient cases from each x-ray system were compared using a Wilcoxon test on median values. Significant reductions in patient dose (p≪0.001) were found for the new system with no significant change in fluoroscopy duration (p=0.2); procedure DAP reduced by 64%, fluoroscopy DAP by 51%, and “cine” acquisition DAP by 76%. The image quality of 15 patient angiograms from each x-ray system (30 total) was scored by 75 clinical professionals on a continuous scale for the ability to determine the presence and severity of stenotic lesions; image quality scores were analyzed using a two-sample t-test. Image quality was reduced by 9% (p≪0.01) for the new x-ray system. This demonstrates a substantial reduction in patient dose, from acquisition more than fluoroscopy imaging, with slightly reduced image quality, for the new x-ray system compared to the current generation system. PMID:28491907

Intraoperative positioning of mobile C-arms using artificial fluoroscopy

NASA Astrophysics Data System (ADS)

Dressel, Philipp; Wang, Lejing; Kutter, Oliver; Traub, Joerg; Heining, Sandro-Michael; Navab, Nassir

2010-02-01

In trauma and orthopedic surgery, imaging through X-ray fluoroscopy with C-arms is ubiquitous. This leads to an increase in ionizing radiation applied to patient and clinical staff. Placing these devices in the desired position to visualize a region of interest is a challenging task, requiring both skill of the operator and numerous X-rays for guidance. We propose an extension to C-arms for which position data is available that provides the surgeon with so called artificial fluoroscopy. This is achieved by computing digitally reconstructed radiographs (DRRs) from pre- or intraoperative CT data. The approach is based on C-arm motion estimation, for which we employ a Camera Augmented Mobile C-arm (CAMC) system, and a rigid registration of the patient to the CT data. Using this information we are able to generate DRRs and simulate fluoroscopic images. For positioning tasks, this system appears almost exactly like conventional fluoroscopy, however simulating the images from the CT data in realtime as the C-arm is moved without the application of ionizing radiation. Furthermore, preoperative planning can be done on the CT data and then visualized during positioning, e.g. defining drilling axes for pedicle approach techniques. Since our method does not require external tracking it is suitable for deployment in clinical environments and day-to-day routine. An experiment with six drillings into a lumbar spine phantom showed reproducible accuracy in positioning the C-arm, ranging from 1.1 mm to 4.1 mm deviation of marker points on the phantom compared in real and virtual images.

Needle placement for piriformis injection using 3-D imaging.

PubMed

Clendenen, Steven R; Candler, Shawn A; Osborne, Michael D; Palmer, Scott C; Duench, Stephanie; Glynn, Laura; Ghazi, Salim M

2013-01-01

Piriformis syndrome is a pain syndrome originating in the buttock and is attributed to 6% - 8% of patients referred for the treatment of back and leg pain. The treatment for piriformis syndrome using fluoroscopy, computed tomography (CT), electromyography (EMG), and ultrasound (US) has become standard practice. The treatment of Piriformis Syndrome has evolved to include fluoroscopy and EMG with CT guidance. We present a case study of 5 successful piriformis injections using 3-D computer-assisted electromagnet needle tracking coupled with ultrasound. A 6-degree of freedom electromagnetic position tracker was attached to the ultrasound probe that allowed the system to detect the position and orientation of the probe in the magnetic field. The tracked ultrasound probe was used to find the posterior superior iliac spine. Subsequently, 3 points were captured to register the ultrasound image with the CT or magnetic resonance image scan. Moreover, after the registration was obtained, the navigation system visualized the tracked needle relative to the CT scan in real-time using 2 orthogonal multi-planar reconstructions centered at the tracked needle tip. Conversely, a recent study revealed that fluoroscopically guided injections had 30% accuracy compared to ultrasound guided injections, which tripled the accuracy percentage. This novel technique exhibited an accurate needle guidance injection precision of 98% while advancing to the piriformis muscle and avoiding the sciatic nerve. The mean (± SD) procedure time was 19.08 (± 4.9) minutes. This technique allows for electromagnetic instrument tip tracking with real-time 3-D guidance to the selected target. As with any new technique, a learning curve is expected; however, this technique could offer an alternative, minimizing radiation exposure.

[Evaluation of an Experimental Production Wireless Dose Monitoring System for Radiation Exposure Management of Medical Staff].

PubMed

Fujibuchi, Toshioh; Murazaki, Hiroo; Kuramoto, Taku; Umedzu, Yoshiyuki; Ishigaki, Yung

2015-08-01

Because of the more advanced and more complex procedures in interventional radiology, longer treatment times have become necessary. Therefore, it is important to determine the exposure doses received by operators and patients. The aim of our study was to evaluate an experimental production wireless dose monitoring system for pulse radiation in diagnostic X-ray. The energy, dose rate, and pulse fluoroscopy dependence were evaluated as the basic characteristics of this system for diagnostic X-ray using a fully digital fluoroscopy system. The error of 1 cm dose equivalent rate was less than 15% from 35.1 keV to 43.2 keV with energy correction using metal filter. It was possible to accurately measure the dose rate dependence of this system, which was highly linear until 100 μSv/h. This system showed a constant response to the pulse fluoroscopy. This system will become useful wireless dosimeter for the individual exposure management by improving the high dose rate and the energy characteristics.

TH-B-12A-01: TG124 “A Guide for Establishing a Credentialing and Privileging Program for Users of Fluoroscopic Equipment in Healthcare Organizations”

DOE Office of Scientific and Technical Information (OSTI.GOV)

Moore, M

Fluoroscopy credentialing and privileging programs are being instituted because of recorded patient injuries and the widespread growth in fluoroscopy use by operators whose medical education did not include formal fluoroscopy training. This lack of training is recognized as a patient safety deficiency, and medical physicists and health physicists are finding themselves responsible for helping to establish fluoroscopy credentialing programs. While physicians are very knowledgeable about clinical credentials review and the privileging process, medical physicists and health physicists are not as familiar with the process and associated requirements. To assist the qualified medical physicist (QMP) and the radiation safety officer (RSO)more » with these new responsibilities, TG 124 provides an overview of the credentialing process, guidance for policy development and incorporating trained fluoroscopy users into a facility's established process, as well as recommendations for developing and maintaining a risk-based fluoroscopy safety training program. This lecture will review the major topics addressed in TG124 and relate them to practical situations. Learning Objectives: Understand the difference between credentialing and privileging. Understand the responsibilities, interaction and coordination among key individuals and committees. Understand options for integrating the QMP and/or RSO and Radiation Safety Committee into the credentialing and privileging process. Understand issues related to implementing the fluoroscopy safety training recommendations and with verifying and documenting successful completion.« less

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

PubMed

Arujuna, Aruna V; Housden, R James; Ma, Yingliang; Rajani, Ronak; Gao, Gang; Nijhof, Niels; Cathier, Pascal; Bullens, Roland; Gijsbers, Geert; Parish, Victoria; Kapetanakis, Stamatis; Hancock, Jane; Rinaldi, C Aldo; Cooklin, Michael; Gill, Jaswinder; Thomas, Martyn; O'neill, Mark D; Razavi, Reza; Rhode, Kawal S

2014-01-01

Real-time imaging is required to guide minimally invasive catheter-based cardiac interventions. While transesophageal echocardiography allows for high-quality visualization of cardiac anatomy, X-ray fluoroscopy provides excellent visualization of devices. We have developed a novel image fusion system that allows real-time integration of 3-D echocardiography and the X-ray fluoroscopy. The system was validated in the following two stages: 1) preclinical to determine function and validate accuracy; and 2) in the clinical setting to assess clinical workflow feasibility and determine overall system accuracy. In the preclinical phase, the system was assessed using both phantom and porcine experimental studies. Median 2-D projection errors of 4.5 and 3.3 mm were found for the phantom and porcine studies, respectively. The clinical phase focused on extending the use of the system to interventions in patients undergoing either atrial fibrillation catheter ablation (CA) or transcatheter aortic valve implantation (TAVI). Eleven patients were studied with nine in the CA group and two in the TAVI group. Successful real-time view synchronization was achieved in all cases with a calculated median distance error of 2.2 mm in the CA group and 3.4 mm in the TAVI group. A standard clinical workflow was established using the image fusion system. These pilot data confirm the technical feasibility of accurate real-time echo-fluoroscopic image overlay in clinical practice, which may be a useful adjunct for real-time guidance during interventional cardiac procedures.

[Evaluation of Radiation Dose during Stent-graft Treatment Using a Hybrid Operating Room System].

PubMed

Haga, Yoshihiro; Chida, Kouichi; Kaga, Yuji; Saitou, Kazuhisa; Arai, Takeshi; Suzuki, Shinichi; Iwaya, Yoshimi; Kumasaka, Eriko; Kataoka, Nozomi; Satou, Naoto; Abe, Mitsuya

2015-12-01

In recent years, aortic aneurysm treatment with stent graft grafting in the X-ray fluoroscopy is increasing. This is an endovascular therapy, because it is a treatment which includes the risk of radiation damage, having to deal with radiation damage, to know in advance is important. In this study, in order to grasp the trend of exposure stent graft implantation in a hybrid operating room (OR) system, focusing on clinical data (entrance skin dose and fluoroscopy time), was to count the total. In TEVAR and EVAR, fluoroscopy time became 13.40 ± 7.27 minutes, 23.67 ± 11.76 minutes, ESD became 0.87 ± 0.41 mGy, 1.11 ± 0.57 mGy. (fluoroscopy time of EVAR was 2.0 times than TEVAR. DAP of EVAR was 1.2 times than TEVAR.) When using the device, adapted lesions and usage are different. This means that care changes in exposure-related factors. In this study, exposure trends of the stent graft implantation was able to grasp. It can be a helpful way to reduce/optimize the radiation dose in a hybrid OR system.

Comparison of remote magnetic navigation ablation and manual ablation of idiopathic ventricular arrhythmia after failed manual ablation.

PubMed

Kawamura, Mitsuharu; Scheinman, Melvin M; Tseng, Zian H; Lee, Byron K; Marcus, Gregory M; Badhwar, Nitish

2017-01-01

Catheter ablation for idiopathic ventricular arrhythmia (VA) is effective and safe, but efficacy is frequently limited due to an epicardial origin and difficult anatomy. The remote magnetic navigation (RMN) catheter has a flexible catheter design allowing access to difficult anatomy. We describe the efficacy of the RMN for ablation of idiopathic VA after failed manual ablation. Among 235 patients with idiopathic VA referred for catheter ablation, we identified 51 patients who were referred for repeat ablation after a failed manual ablation. We analyzed the clinical characteristics, including the successful ablation site and findings at electrophysiology study, in repeat procedures conducted using RMN as compared with manual ablation. Among these patients, 22 (43 %) underwent repeat ablation with the RMN and 29 (57 %) underwent repeat ablation with a manual ablation. Overall, successful ablation rate was significantly higher using RMN as compared with manual ablation (91 vs. 69 %, P = 0.02). Fluoroscopy time in the RMN was 17 ± 12 min as compared with 43 ± 18 min in the manual ablation (P = 0.009). Successful ablation rate in the posterior right ventricular outflow tract (RVOT) plus posterior-tricuspid annulus was higher with RMN as compared with manual ablation (92 vs. 50 %, P = 0.03). Neither groups exhibited any major complications. The RMN is more effective in selected patients with recurrent idiopathic VA after failed manual ablation and is associated with less fluoroscopy time. The RMN catheters have a flexible design enabling them to access otherwise difficult anatomy including the posterior tricuspid annulus and posterior RVOT.

Stent deployment protocol for optimized real-time visualization during endovascular neurosurgery.

PubMed

Silva, Michael A; See, Alfred P; Dasenbrock, Hormuzdiyar H; Ashour, Ramsey; Khandelwal, Priyank; Patel, Nirav J; Frerichs, Kai U; Aziz-Sultan, Mohammad A

2017-05-01

Successful application of endovascular neurosurgery depends on high-quality imaging to define the pathology and the devices as they are being deployed. This is especially challenging in the treatment of complex cases, particularly in proximity to the skull base or in patients who have undergone prior endovascular treatment. The authors sought to optimize real-time image guidance using a simple algorithm that can be applied to any existing fluoroscopy system. Exposure management (exposure level, pulse management) and image post-processing parameters (edge enhancement) were modified from traditional fluoroscopy to improve visualization of device position and material density during deployment. Examples include the deployment of coils in small aneurysms, coils in giant aneurysms, the Pipeline embolization device (PED), the Woven EndoBridge (WEB) device, and carotid artery stents. The authors report on the development of the protocol and their experience using representative cases. The stent deployment protocol is an image capture and post-processing algorithm that can be applied to existing fluoroscopy systems to improve real-time visualization of device deployment without hardware modifications. Improved image guidance facilitates aneurysm coil packing and proper positioning and deployment of carotid artery stents, flow diverters, and the WEB device, especially in the context of complex anatomy and an obscured field of view.

Ultrasound guidance to perform intra-articular injection of gadolinium-based contrast material for magnetic resonance arthrography as an alternative to fluoroscopy: the time is now.

PubMed

Messina, Carmelo; Banfi, Giuseppe; Aliprandi, Alberto; Mauri, Giovanni; Secchi, Francesco; Sardanelli, Francesco; Sconfienza, Luca Maria

2016-05-01

Magnetic resonance (MR) imaging has been definitively established as the reference standard in the evaluation of joints in the body. Similarly, magnetic resonance arthrography has emerged as a technique that has been proven to increase significantly the diagnostic performance if compared with conventional MR imaging, especially when dealing with fibrocartilage and articular cartilage abnormalities. Diluted gadolinium can be injected in the joint space using different approaches: under palpation using anatomic landmarks or using an imaging guidance, such as fluoroscopy, computed tomography, or ultrasound. Fluoroscopy has been traditionally used, but the involvement of ionizing radiation should represent a remarkable limitation of this modality. Conversely, ultrasound has emerged as a feasible, cheap, quick, and radiation-free modality that can be used to inject joints, with comparable accuracy of fluoroscopy. In the present paper, we discuss the advantages and disadvantages of using fluoroscopy or ultrasound in injecting gadolinium-based contrast agents in joints to perform magnetic resonance arthrography, also in view of the new EuroSAFE Imaging initiative promoted by the European Society of Radiology and the recent updates to the European Atomic Energy Community 2013/59 directive on the medical use of ionizing radiation. • Intra-articular contrast agent injection can be performed using different imaging modalities • Fluoroscopy is widely used, but uses ionizing radiation • Ultrasound is an accurate, quick, and radiation-free modality for joint injection • X-rays should be avoided when other radiation-free modalities can be used.

SU-E-I-58: Experiences in Setting Up An Online Fluoroscopy Tracking System in a Large Healthcare System

DOE Office of Scientific and Technical Information (OSTI.GOV)

Fisher, R; Wunderle, K; Lingenfelter, M

Purpose: Transitioning from a paper based to an online system for tracking fluoroscopic case information required by state regulation and to conform to NCRP patient dose tracking suggestions. Methods: State regulations require documentation of operator, equipment, and some metric of tube output for fluoroscopy exams. This information was previously collected in paper logs, which was cumbersome and inefficient for the large number of fluoroscopic units across multiple locations within the system. The “tech notes” feature within Siemens’ Syngo workflow RIS was utilized to create an entry form for technologists to input case information, which was sent to a third partymore » vendor for archiving and display though an online web based portal. Results: Over 55k cases were logged in the first year of implementation, with approximately 6,500 cases per month once fully online. A system was built for area managers to oversee and correct data, which has increased the accuracy of inputted values. A high-dose report was built to automatically send notifications when patients exceed trigger levels. In addition to meeting regulatory requirements, the new system allows for larger scale QC in fluoroscopic cases by allowing comparison of data from specific procedures, locations, equipment, and operators so that instances that fall outside of reference levels can be identified for further evaluation. The system has also drastically improved identification of operators without documented equipment specific training. Conclusion: The transition to online fluoroscopy logs has improved efficiency in meeting state regulatory requirements as well as allowed for identification of particular procedures, equipment, and operators in need of additional attention in order to optimize patient and personnel doses, while high dose alerts improve patient care and follow up. Future efforts are focused on incorporating case information from outside of radiology, as well as on automating processes for increased efficiencies.« less

Research on the error model of airborne celestial/inertial integrated navigation system

NASA Astrophysics Data System (ADS)

Zheng, Xiaoqiang; Deng, Xiaoguo; Yang, Xiaoxu; Dong, Qiang

2015-02-01

Celestial navigation subsystem of airborne celestial/inertial integrated navigation system periodically correct the positioning error and heading drift of the inertial navigation system, by which the inertial navigation system can greatly improve the accuracy of long-endurance navigation. Thus the navigation accuracy of airborne celestial navigation subsystem directly decides the accuracy of the integrated navigation system if it works for long time. By building the mathematical model of the airborne celestial navigation system based on the inertial navigation system, using the method of linear coordinate transformation, we establish the error transfer equation for the positioning algorithm of airborne celestial system. Based on these we built the positioning error model of the celestial navigation. And then, based on the positioning error model we analyze and simulate the positioning error which are caused by the error of the star tracking platform with the MATLAB software. Finally, the positioning error model is verified by the information of the star obtained from the optical measurement device in range and the device whose location are known. The analysis and simulation results show that the level accuracy and north accuracy of tracking platform are important factors that limit airborne celestial navigation systems to improve the positioning accuracy, and the positioning error have an approximate linear relationship with the level error and north error of tracking platform. The error of the verification results are in 1000m, which shows that the model is correct.

Effective Dose of CT- and Fluoroscopy-Guided Perineural/Epidural Injections of the Lumbar Spine: A Comparative Study

DOE Office of Scientific and Technical Information (OSTI.GOV)

Schmid, Gebhard; Schmitz, Alexander; Borchardt, Dieter

The objective of this study was to compare the effective radiation dose of perineural and epidural injections of the lumbar spine under computed tomography (CT) or fluoroscopic guidance with respect to dose-reduced protocols. We assessed the radiation dose with an Alderson Rando phantom at the lumbar segment L4/5 using 29 thermoluminescence dosimeters. Based on our clinical experience, 4-10 CT scans and 1-min fluoroscopy are appropriate. Effective doses were calculated for CT for a routine lumbar spine protocol and for maximum dose reduction; as well as for fluoroscopy in a continuous and a pulsed mode (3-15 pulses/s). Effective doses under CTmore » guidance were 1.51 mSv for 4 scans and 3.53 mSv for 10 scans using a standard protocol and 0.22 mSv and 0.43 mSv for the low-dose protocol. In continuous mode, the effective doses ranged from 0.43 to 1.25 mSv for 1-3 min of fluoroscopy. Using 1 min of pulsed fluoroscopy, the effective dose was less than 0.1 mSv for 3 pulses/s. A consequent low-dose CT protocol reduces the effective dose compared to a standard lumbar spine protocol by more than 85%. The latter dose might be expected when applying about 1 min of continuous fluoroscopy for guidance. A pulsed mode further reduces the effective dose of fluoroscopy by 80-90%.« less

How Does Patient Radiation Exposure Compare With Low-dose O-arm Versus Fluoroscopy for Pedicle Screw Placement in Idiopathic Scoliosis?

PubMed

Su, Alvin W; McIntosh, Amy L; Schueler, Beth A; Milbrandt, Todd A; Winkler, Jennifer A; Stans, Anthony A; Larson, A Noelle

Intraoperative C-arm fluoroscopy and low-dose O-arm are both reasonable means to assist in screw placement for idiopathic scoliosis surgery. Both using pediatric low-dose O-arm settings and minimizing the number of radiographs during C-arm fluoroscopy guidance decrease patient radiation exposure and its deleterious biological effect that may be associated with cancer risk. We hypothesized that the radiation dose for C-arm-guided fluoroscopy is no less than low-dose O-arm scanning for placement of pedicle screws. A multicenter matched-control cohort study of 28 patients in total was conducted. Fourteen patients who underwent O-arm-guided pedicle screw insertion for spinal fusion surgery in 1 institution were matched to another 14 patients who underwent C-arm fluoroscopy guidance in the other institution in terms of the age of surgery, body weight, and number of imaged spine levels. The total effective dose was compared. A low-dose pediatric protocol was used for all O-arm scans with an effective dose of 0.65 mSv per scan. The effective dose of C-arm fluoroscopy was determined using anthropomorphic phantoms that represented the thoracic and lumbar spine in anteroposterior and lateral views, respectively. The clinical outcome and complications of all patients were documented. The mean total effective dose for the O-arm group was approximately 4 times higher than that of the C-arm group (P<0.0001). The effective dose for the C-arm patients had high variability based on fluoroscopy time and did not correlate with the number of imaged spine levels or body weight. The effective dose of 1 low-dose pediatric O-arm scan approximated 85 seconds of the C-arm fluoroscopy time. All patients had satisfactory clinical outcomes without major complications that required returning to the operating room. Radiation exposure required for O-arm scans can be higher than that required for C-arm fluoroscopy, but it depends on fluoroscopy time. Inclusion of more medical centers and surgeons will better account for the variability of C-arm dose due to distinct patient characteristics, surgeon's preference, and individual institution's protocol. Level III-case-control study.

Conceptual Design of a Communication-Based Deep Space Navigation Network

NASA Technical Reports Server (NTRS)

Anzalone, Evan J.; Chuang, C. H.

2012-01-01

As the need grows for increased autonomy and position knowledge accuracy to support missions beyond Earth orbit, engineers must push and develop more advanced navigation sensors and systems that operate independent of Earth-based analysis and processing. Several spacecraft are approaching this problem using inter-spacecraft radiometric tracking and onboard autonomous optical navigation methods. This paper proposes an alternative implementation to aid in spacecraft position fixing. The proposed method Network-Based Navigation technique takes advantage of the communication data being sent between spacecraft and between spacecraft and ground control to embed navigation information. The navigation system uses these packets to provide navigation estimates to an onboard navigation filter to augment traditional ground-based radiometric tracking techniques. As opposed to using digital signal measurements to capture inherent information of the transmitted signal itself, this method relies on the embedded navigation packet headers to calculate a navigation estimate. This method is heavily dependent on clock accuracy and the initial results show the promising performance of a notional system.

Fluoroscopic evaluation of diaphragmatic motion reduction with a respiratory gated radiotherapy system.

PubMed

Mageras, G S; Yorke, E; Rosenzweig, K; Braban, L; Keatley, E; Ford, E; Leibel, S A; Ling, C C

2001-01-01

We report on initial patient studies to evaluate the performance of a commercial respiratory gating radiotherapy system. The system uses a breathing monitor, consisting of a video camera and passive infrared reflective markers placed on the patient's thorax, to synchronize radiation from a linear accelerator with the patient's breathing cycle. Six patients receiving treatment for lung cancer participated in a study of system characteristics during treatment simulation with fluoroscopy. Breathing synchronized fluoroscopy was performed initially without instruction, followed by fluoroscopy with recorded verbal instruction (i.e., when to inhale and exhale) with the tempo matched to the patient's normal breathing period. Patients tended to inhale more consistently when given instruction, as assessed by an external marker movement. This resulted in smaller variation in expiration and inspiration marker positions relative to total excursion, thereby permitting more precise gating tolerances at those parts of the breathing cycle. Breathing instruction also reduced the fraction of session times having irregular breathing as measured by the system software, thereby potentially increasing the accelerator duty factor and decreasing treatment times. Fluoroscopy studies showed external monitor movement to correlate well with that of the diaphragm in four patients, whereas time delays of up to 0.7 s in diaphragm movement were observed in two patients with impaired lung function. From fluoroscopic observations, average patient diaphragm excursion was reduced from 1.4 cm (range 0.7-2.1 cm) without gating and without breathing instruction, to 0.3 cm (range 0.2-0.5 cm) with instruction and with gating tolerances set for treatment at expiration for 25% of the breathing cycle. Patients expressed no difficulty with following instruction for the duration of a session. We conclude that the external monitor accurately predicts internal respiratory motion in most cases; however, it may be important to check with fluoroscopy for possible time delays in patients with impaired lung function. Furthermore, we observe that verbal instruction can improve breathing regularity, thus improving the performance of gated treatments with this system.

Learning without labeling: domain adaptation for ultrasound transducer localization.

PubMed

Heimann, Tobias; Mountney, Peter; John, Matthias; Ionasec, Razvan

2013-01-01

The fusion of image data from trans-esophageal echography (TEE) and X-ray fluoroscopy is attracting increasing interest in minimally-invasive treatment of structural heart disease. In order to calculate the needed transform between both imaging systems, we employ a discriminative learning based approach to localize the TEE transducer in X-ray images. Instead of time-consuming manual labeling, we generate the required training data automatically from a single volumetric image of the transducer. In order to adapt this system to real X-ray data, we use unlabeled fluoroscopy images to estimate differences in feature space density and correct covariate shift by instance weighting. An evaluation on more than 1900 images reveals that our approach reduces detection failures by 95% compared to cross validation on the test set and improves the localization error from 1.5 to 0.8 mm. Due to the automatic generation of training data, the proposed system is highly flexible and can be adapted to any medical device with minimal efforts.

Comparison of Fluoroscopy and Computed Tomography for Tracheal Lumen Diameter Measurement and Determination of Intraluminal Stent Size in Healthy Dogs

PubMed Central

Williams, Jackie M.; Krebs, Ingar A.; Riedesel, Elizabeth A.; Zhao, Qianqian

2015-01-01

Tracheal collapse is a progressive airway disease that can ultimately result in complete airway obstruction. Intraluminal tracheal stents are a minimally invasive and viable treatment for tracheal collapse once the disease becomes refractory to medical management. Intraluminal stent size is chosen based on the maximum measured tracheal diameter during maximum inflation. The purpose of this prospective, cross-sectional study was to compare tracheal lumen diameter measurements and subsequent selected stent size using both fluoroscopy and CT and to evaluate inter- and intraobserver variability of the measurements. Seventeen healthy Beagles were anesthetized and imaged with fluoroscopy and CT with positive pressure ventilation to 20 cm H2O. Fluoroscopic and CT maximum tracheal diameters were measured by 3 readers. Three individual measurements were made at 8 pre-determined tracheal sites for dorsoventral (height) and laterolateral (width) dimensions. Tracheal diameters and stent sizes (based on the maximum tracheal diameter + 10%) were analyzed using a linear mixed model. CT tracheal lumen diameters were larger compared to fluoroscopy at all locations. When comparing modalities, fluoroscopic and CT stent sizes were statistically different. Greater overall variation in tracheal diameter measurement (height or width) existed for fluoroscopy compared to CT, both within and among observers. The greater tracheal diameter and lower measurement variability supported the use of CT for appropriate stent selection to minimize complications in veterinary patients. PMID:26784924

Depth-resolved registration of transesophageal echo to x-ray fluoroscopy using an inverse geometry fluoroscopy system

DOE Office of Scientific and Technical Information (OSTI.GOV)

Hatt, Charles R.; Tomkowiak, Michael T.; Dunkerley, David A. P.

2015-12-15

Purpose: Image registration between standard x-ray fluoroscopy and transesophageal echocardiography (TEE) has recently been proposed. Scanning-beam digital x-ray (SBDX) is an inverse geometry fluoroscopy system designed for cardiac procedures. This study presents a method for 3D registration of SBDX and TEE images based on the tomosynthesis and 3D tracking capabilities of SBDX. Methods: The registration algorithm utilizes the stack of tomosynthetic planes produced by the SBDX system to estimate the physical 3D coordinates of salient key-points on the TEE probe. The key-points are used to arrive at an initial estimate of the probe pose, which is then refined using amore » 2D/3D registration method adapted for inverse geometry fluoroscopy. A phantom study was conducted to evaluate probe pose estimation accuracy relative to the ground truth, as defined by a set of coregistered fiducial markers. This experiment was conducted with varying probe poses and levels of signal difference-to-noise ratio (SDNR). Additional phantom and in vivo studies were performed to evaluate the correspondence of catheter tip positions in TEE and x-ray images following registration of the two modalities. Results: Target registration error (TRE) was used to characterize both pose estimation and registration accuracy. In the study of pose estimation accuracy, successful pose estimates (3D TRE < 5.0 mm) were obtained in 97% of cases when the SDNR was 5.9 or higher in seven out of eight poses. Under these conditions, 3D TRE was 2.32 ± 1.88 mm, and 2D (projection) TRE was 1.61 ± 1.36 mm. Probe localization error along the source-detector axis was 0.87 ± 1.31 mm. For the in vivo experiments, mean 3D TRE ranged from 2.6 to 4.6 mm and mean 2D TRE ranged from 1.1 to 1.6 mm. Anatomy extracted from the echo images appeared well aligned when projected onto the SBDX images. Conclusions: Full 6 DOF image registration between SBDX and TEE is feasible and accurate to within 5 mm. Future studies will focus on real-time implementation and application-specific analysis.« less

Automatic Localization of Vertebral Levels in X-Ray Fluoroscopy Using 3D-2D Registration: A Tool to Reduce Wrong-Site Surgery

PubMed Central

Otake, Y.; Schafer, S.; Stayman, J. W.; Zbijewski, W.; Kleinszig, G.; Graumann, R.; Khanna, A. J.; Siewerdsen, J. H.

2012-01-01

Surgical targeting of the incorrect vertebral level (“wrong-level” surgery) is among the more common wrong-site surgical errors, attributed primarily to a lack of uniquely identifiable radiographic landmarks in the mid-thoracic spine. Conventional localization method involves manual counting of vertebral bodies under fluoroscopy, is prone to human error, and carries additional time and dose. We propose an image registration and visualization system (referred to as LevelCheck), for decision support in spine surgery by automatically labeling vertebral levels in fluoroscopy using a GPU-accelerated, intensity-based 3D-2D (viz., CT-to-fluoroscopy) registration. A gradient information (GI) similarity metric and CMA-ES optimizer were chosen due to their robustness and inherent suitability for parallelization. Simulation studies involved 10 patient CT datasets from which 50,000 simulated fluoroscopic images were generated from C-arm poses selected to approximate C-arm operator and positioning variability. Physical experiments used an anthropomorphic chest phantom imaged under real fluoroscopy. The registration accuracy was evaluated as the mean projection distance (mPD) between the estimated and true center of vertebral levels. Trials were defined as successful if the estimated position was within the projection of the vertebral body (viz., mPD < 5mm). Simulation studies showed a success rate of 99.998% (1 failure in 50,000 trials) and computation time of 4.7 sec on a midrange GPU. Analysis of failure modes identified cases of false local optima in the search space arising from longitudinal periodicity in vertebral structures. Physical experiments demonstrated robustness of the algorithm against quantum noise and x-ray scatter. The ability to automatically localize target anatomy in fluoroscopy in near-real-time could be valuable in reducing the occurrence of wrong-site surgery while helping to reduce radiation exposure. The method is applicable beyond the specific case of vertebral labeling, since any structure defined in pre-operative (or intra-operative) CT or cone-beam CT can be automatically registered to the fluoroscopic scene. PMID:22864366

Low dose tomographic fluoroscopy: 4D intervention guidance with running prior

DOE Office of Scientific and Technical Information (OSTI.GOV)

Flach, Barbara; Kuntz, Jan; Brehm, Marcus

Purpose: Today's standard imaging technique in interventional radiology is the single- or biplane x-ray fluoroscopy which delivers 2D projection images as a function of time (2D+T). This state-of-the-art technology, however, suffers from its projective nature and is limited by the superposition of the patient's anatomy. Temporally resolved tomographic volumes (3D+T) would significantly improve the visualization of complex structures. A continuous tomographic data acquisition, if carried out with today's technology, would yield an excessive patient dose. Recently the authors proposed a method that enables tomographic fluoroscopy at the same dose level as projective fluoroscopy which means that if scanning time ofmore » an intervention guided by projective fluoroscopy is the same as that of an intervention guided by tomographic fluoroscopy, almost the same dose is administered to the patient. The purpose of this work is to extend authors' previous work and allow for patient motion during the intervention.Methods: The authors propose the running prior technique for adaptation of a prior image. This adaptation is realized by a combination of registration and projection replacement. In a first step the prior is deformed to the current position via affine and deformable registration. Then the information from outdated projections is replaced by newly acquired projections using forward and backprojection steps. The thus adapted volume is the running prior. The proposed method is validated by simulated as well as measured data. To investigate motion during intervention a moving head phantom was simulated. Real in vivo data of a pig are acquired by a prototype CT system consisting of a flat detector and a continuously rotating clinical gantry.Results: With the running prior technique it is possible to correct for motion without additional dose. For an application in intervention guidance both steps of the running prior technique, registration and replacement, are necessary. Reconstructed volumes based on the running prior show high image quality without introducing new artifacts and the interventional materials are displayed at the correct position.Conclusions: The running prior improves the robustness of low dose 3D+T intervention guidance toward intended or unintended patient motion.« less

Area navigation and required navigation performance procedures and depictions

DOT National Transportation Integrated Search

2012-09-30

Area navigation (RNAV) and required navigation performance (RNP) procedures are fundamental to the implementation of a performance based navigation (PBN) system, which is a key enabling technology for the Next Generation Air Transportation System (Ne...

Design of all-weather celestial navigation system

NASA Astrophysics Data System (ADS)

Sun, Hongchi; Mu, Rongjun; Du, Huajun; Wu, Peng

2018-03-01

In order to realize autonomous navigation in the atmosphere, an all-weather celestial navigation system is designed. The research of celestial navigation system include discrimination method of comentropy and the adaptive navigation algorithm based on the P value. The discrimination method of comentropy is studied to realize the independent switching of two celestial navigation modes, starlight and radio. Finally, an adaptive filtering algorithm based on P value is proposed, which can greatly improve the disturbance rejection capability of the system. The experimental results show that the accuracy of the three axis attitude is better than 10″, and it can work all weather. In perturbation environment, the position accuracy of the integrated navigation system can be increased 20% comparing with the traditional method. It basically meets the requirements of the all-weather celestial navigation system, and it has the ability of stability, reliability, high accuracy and strong anti-interference.

Preliminary study of rib articulated model based on dynamic fluoroscopy images

NASA Astrophysics Data System (ADS)

Villard, Pierre-Frederic; Escamilla, Pierre; Kerrien, Erwan; Gorges, Sebastien; Trousset, Yves; Berger, Marie-Odile

2014-03-01

We present in this paper a preliminary study of rib motion tracking during Interventional Radiology (IR) fluoroscopy guided procedures. It consists in providing a physician with moving rib three-dimensional (3D) models projected in the fluoroscopy plane during a treatment. The strategy is to help to quickly recognize the target and the no-go areas i.e. the tumor and the organs to avoid. The method consists in i) elaborating a kinematic model of each rib from a preoperative computerized tomography (CT) scan, ii) processing the on-line fluoroscopy image and iii) optimizing the parameters of the kinematic law such as the transformed 3D rib projected on the medical image plane fit well with the previously processed image. The results show a visually good rib tracking that has been quantitatively validated by showing a periodic motion as well as a good synchronism between ribs.

Registration of 2D to 3D joint images using phase-based mutual information

NASA Astrophysics Data System (ADS)

Dalvi, Rupin; Abugharbieh, Rafeef; Pickering, Mark; Scarvell, Jennie; Smith, Paul

2007-03-01

Registration of two dimensional to three dimensional orthopaedic medical image data has important applications particularly in the area of image guided surgery and sports medicine. Fluoroscopy to computer tomography (CT) registration is an important case, wherein digitally reconstructed radiographs derived from the CT data are registered to the fluoroscopy data. Traditional registration metrics such as intensity-based mutual information (MI) typically work well but often suffer from gross misregistration errors when the image to be registered contains a partial view of the anatomy visible in the target image. Phase-based MI provides a robust alternative similarity measure which, in addition to possessing the general robustness and noise immunity that MI provides, also employs local phase information in the registration process which makes it less susceptible to the aforementioned errors. In this paper, we propose using the complex wavelet transform for computing image phase information and incorporating that into a phase-based MI measure for image registration. Tests on a CT volume and 6 fluoroscopy images of the knee are presented. The femur and the tibia in the CT volume were individually registered to the fluoroscopy images using intensity-based MI, gradient-based MI and phase-based MI. Errors in the coordinates of fiducials present in the bone structures were used to assess the accuracy of the different registration schemes. Quantitative results demonstrate that the performance of intensity-based MI was the worst. Gradient-based MI performed slightly better, while phase-based MI results were the best consistently producing the lowest errors.

A motion-compensated image filter for low-dose fluoroscopy in a real-time tumor-tracking radiotherapy system

PubMed Central

Miyamoto, Naoki; Ishikawa, Masayori; Sutherland, Kenneth; Suzuki, Ryusuke; Matsuura, Taeko; Toramatsu, Chie; Takao, Seishin; Nihongi, Hideaki; Shimizu, Shinichi; Umegaki, Kikuo; Shirato, Hiroki

2015-01-01

In the real-time tumor-tracking radiotherapy system, a surrogate fiducial marker inserted in or near the tumor is detected by fluoroscopy to realize respiratory-gated radiotherapy. The imaging dose caused by fluoroscopy should be minimized. In this work, an image processing technique is proposed for tracing a moving marker in low-dose imaging. The proposed tracking technique is a combination of a motion-compensated recursive filter and template pattern matching. The proposed image filter can reduce motion artifacts resulting from the recursive process based on the determination of the region of interest for the next frame according to the current marker position in the fluoroscopic images. The effectiveness of the proposed technique and the expected clinical benefit were examined by phantom experimental studies with actual tumor trajectories generated from clinical patient data. It was demonstrated that the marker motion could be traced in low-dose imaging by applying the proposed algorithm with acceptable registration error and high pattern recognition score in all trajectories, although some trajectories were not able to be tracked with the conventional spatial filters or without image filters. The positional accuracy is expected to be kept within ±2 mm. The total computation time required to determine the marker position is a few milliseconds. The proposed image processing technique is applicable for imaging dose reduction. PMID:25129556

Increasing the automation of a 2D-3D registration system.

PubMed

Varnavas, Andreas; Carrell, Tom; Penney, Graeme

2013-02-01

Routine clinical use of 2D-3D registration algorithms for Image Guided Surgery remains limited. A key aspect for routine clinical use of this technology is its degree of automation, i.e., the amount of necessary knowledgeable interaction between the clinicians and the registration system. Current image-based registration approaches usually require knowledgeable manual interaction during two stages: for initial pose estimation and for verification of produced results. We propose four novel techniques, particularly suited to vertebra-based registration systems, which can significantly automate both of the above stages. Two of these techniques are based upon the intraoperative "insertion" of a virtual fiducial marker into the preoperative data. The remaining two techniques use the final registration similarity value between multiple CT vertebrae and a single fluoroscopy vertebra. The proposed methods were evaluated with data from 31 operations (31 CT scans, 419 fluoroscopy images). Results show these methods can remove the need for manual vertebra identification during initial pose estimation, and were also very effective for result verification, producing a combined true positive rate of 100% and false positive rate equal to zero. This large decrease in required knowledgeable interaction is an important contribution aiming to enable more widespread use of 2D-3D registration technology.

Magnetic resonance venography and three-dimensional image fusion guidance provide a novel paradigm for endovascular recanalization of chronic central venous occlusion.

PubMed

Schwein, Adeline; Lu, Tony; Chinnadurai, Ponraj; Kitkungvan, Danai; Shah, Dipan J; Chakfe, Nabil; Lumsden, Alan B; Bismuth, Jean

2017-01-01

Endovascular recanalization is considered first-line therapy for chronic central venous occlusion (CVO). Unlike arteries, in which landmarks such as wall calcifications provide indirect guidance for endovascular navigation, sclerotic veins without known vascular branching patterns impose significant challenges. Therefore, safe wire access through such chronic lesions mostly relies on intuition and experience. Studies have shown that magnetic resonance venography (MRV) can be performed safely in these patients, and the boundaries of occluded veins may be visualized on specific MRV sequences. Intraoperative image fusion techniques have become more common to guide complex arterial endovascular procedures. The aim of this study was to assess the feasibility and utility of MRV and intraoperative cone-beam computed tomography (CBCT) image fusion technique during endovascular CVO recanalization. During the study period, patients with symptomatic CVO and failed standard endovascular recanalization underwent further recanalization attempts with use of intraoperative MRV image fusion guidance. After preoperative MRV and intraoperative CBCT image coregistration, a virtual centerline path of the occluded segment was electronically marked in MRV and overlaid on real-time two-dimensional fluoroscopy images. Technical success, fluoroscopy times, radiation doses, number of venograms before recanalization, and accuracy of the virtual centerline overlay were evaluated. Four patients underwent endovascular CVO recanalization with use of intraoperative MRV image fusion guidance. Mean (± standard deviation) time for image fusion was 6:36 ± 00:51 mm:ss. The lesion was successfully crossed in all patients without complications. Mean fluoroscopy time for lesion crossing was 12.5 ± 3.4 minutes. Mean total fluoroscopy time was 28.8 ± 6.5 minutes. Mean total radiation dose was 15,185 ± 7747 μGy/m 2 , and mean radiation dose from CBCT acquisition was 2788 ± 458 μGy/m 2 (18% of mean total radiation dose). Mean number of venograms before recanalization was 1.6 ± 0.9, whereas two lesions were crossed without any prior venography. On qualitative analysis, virtual centerlines from MRV were aligned with actual guidewire trajectory on fluoroscopy in all four cases. MRV image fusion is feasible and may improve success, safety, and the surgeon's confidence during CVO recanalization. Similar to arterial interventions, three-dimensional MRV imaging and image fusion techniques could foster innovative solutions for such complex venous interventions and have the potential to affect a great number of patients. Copyright © 2016 Society for Vascular Surgery. Published by Elsevier Inc. All rights reserved.

An MR-based Model for Cardio-Respiratory Motion Compensation of Overlays in X-Ray Fluoroscopy

PubMed Central

Fischer, Peter; Faranesh, Anthony; Pohl, Thomas; Maier, Andreas; Rogers, Toby; Ratnayaka, Kanishka; Lederman, Robert; Hornegger, Joachim

2017-01-01

In X-ray fluoroscopy, static overlays are used to visualize soft tissue. We propose a system for cardiac and respiratory motion compensation of these overlays. It consists of a 3-D motion model created from real-time MR imaging. Multiple sagittal slices are acquired and retrospectively stacked to consistent 3-D volumes. Slice stacking considers cardiac information derived from the ECG and respiratory information extracted from the images. Additionally, temporal smoothness of the stacking is enhanced. Motion is estimated from the MR volumes using deformable 3-D/3-D registration. The motion model itself is a linear direct correspondence model using the same surrogate signals as slice stacking. In X-ray fluoroscopy, only the surrogate signals need to be extracted to apply the motion model and animate the overlay in real time. For evaluation, points are manually annotated in oblique MR slices and in contrast-enhanced X-ray images. The 2-D Euclidean distance of these points is reduced from 3.85 mm to 2.75 mm in MR and from 3.0 mm to 1.8 mm in X-ray compared to the static baseline. Furthermore, the motion-compensated overlays are shown qualitatively as images and videos. PMID:28692969

Interference and deception detection technology of satellite navigation based on deep learning

NASA Astrophysics Data System (ADS)

Chen, Weiyi; Deng, Pingke; Qu, Yi; Zhang, Xiaoguang; Li, Yaping

2017-10-01

Satellite navigation system plays an important role in people's daily life and war. The strategic position of satellite navigation system is prominent, so it is very important to ensure that the satellite navigation system is not disturbed or destroyed. It is a critical means to detect the jamming signal to avoid the accident in a navigation system. At present, the detection technology of jamming signal in satellite navigation system is not intelligent , mainly relying on artificial decision and experience. For this issue, the paper proposes a method based on deep learning to monitor the interference source in a satellite navigation. By training the interference signal data, and extracting the features of the interference signal, the detection sys tem model is constructed. The simulation results show that, the detection accuracy of our detection system can reach nearly 70%. The method in our paper provides a new idea for the research on intelligent detection of interference and deception signal in a satellite navigation system.

Combined CT-based and image-free navigation systems in TKA reduces postoperative outliers of rotational alignment of the tibial component.

PubMed

Mitsuhashi, Shota; Akamatsu, Yasushi; Kobayashi, Hideo; Kusayama, Yoshihiro; Kumagai, Ken; Saito, Tomoyuki

2018-02-01

Rotational malpositioning of the tibial component can lead to poor functional outcome in TKA. Although various surgical techniques have been proposed, precise rotational placement of the tibial component was difficult to accomplish even with the use of a navigation system. The purpose of this study is to assess whether combined CT-based and image-free navigation systems replicate accurately the rotational alignment of tibial component that was preoperatively planned on CT, compared with the conventional method. We compared the number of outliers for rotational alignment of the tibial component using combined CT-based and image-free navigation systems (navigated group) with those of conventional method (conventional group). Seventy-two TKAs were performed between May 2012 and December 2014. In the navigated group, the anteroposterior axis was prepared using CT-based navigation system and the tibial component was positioned under control of the navigation. In the conventional group, the tibial component was placed with reference to the Akagi line that was determined visually. Fisher's exact probability test was performed to evaluate the results. There was a significant difference between the two groups with regard to the number of outliers: 3 outliers in the navigated group compared with 12 outliers in the conventional group (P < 0.01). We concluded that combined CT-based and image-free navigation systems decreased the number of rotational outliers of tibial component, and was helpful for the replication of the accurate rotational alignment of the tibial component that was preoperatively planned.

Bundle Adjustment-Based Stability Analysis Method with a Case Study of a Dual Fluoroscopy Imaging System

NASA Astrophysics Data System (ADS)

Al-Durgham, K.; Lichti, D. D.; Detchev, I.; Kuntze, G.; Ronsky, J. L.

2018-05-01

A fundamental task in photogrammetry is the temporal stability analysis of a camera/imaging-system's calibration parameters. This is essential to validate the repeatability of the parameters' estimation, to detect any behavioural changes in the camera/imaging system and to ensure precise photogrammetric products. Many stability analysis methods exist in the photogrammetric literature; each one has different methodological bases, and advantages and disadvantages. This paper presents a simple and rigorous stability analysis method that can be straightforwardly implemented for a single camera or an imaging system with multiple cameras. The basic collinearity model is used to capture differences between two calibration datasets, and to establish the stability analysis methodology. Geometric simulation is used as a tool to derive image and object space scenarios. Experiments were performed on real calibration datasets from a dual fluoroscopy (DF; X-ray-based) imaging system. The calibration data consisted of hundreds of images and thousands of image observations from six temporal points over a two-day period for a precise evaluation of the DF system stability. The stability of the DF system - for a single camera analysis - was found to be within a range of 0.01 to 0.66 mm in terms of 3D coordinates root-mean-square-error (RMSE), and 0.07 to 0.19 mm for dual cameras analysis. It is to the authors' best knowledge that this work is the first to address the topic of DF stability analysis.

a New Survey on Self-Tuning Integrated Low-Cost Gps/ins Vehicle Navigation System in Harsh Environment

NASA Astrophysics Data System (ADS)

Navidi, N.; Landry, R., Jr.

2015-08-01

Nowadays, Global Positioning System (GPS) receivers are aided by some complementary radio navigation systems and Inertial Navigation Systems (INS) to obtain more accuracy and robustness in land vehicular navigation. Extended Kalman Filter (EKF) is an acceptable conventional method to estimate the position, the velocity, and the attitude of the navigation system when INS measurements are fused with GPS data. However, the usage of the low-cost Inertial Measurement Units (IMUs) based on the Micro-Electro-Mechanical Systems (MEMS), for the land navigation systems, reduces the precision and stability of the navigation system due to their inherent errors. The main goal of this paper is to provide a new model for fusing low-cost IMU and GPS measurements. The proposed model is based on EKF aided by Fuzzy Inference Systems (FIS) as a promising method to solve the mentioned problems. This model considers the parameters of the measurement noise to adjust the measurement and noise process covariance. The simulation results show the efficiency of the proposed method to reduce the navigation system errors compared with EKF.

Fluoroscopic radiation exposure: are we protecting ourselves adequately?

PubMed

Hoffler, C Edward; Ilyas, Asif M

2015-05-06

While traditional intraoperative fluoroscopy protection relies on thyroid shields and aprons, recent data suggest that the surgeon's eyes and hands receive more exposure than previously appreciated. Using a distal radial fracture surgery model, we examined (1) radiation exposure to the eyes, thyroid, chest, groin, and hands of a surgeon mannequin; (2) the degree to which shielding equipment can decrease exposure; and (3) how exposure varies with fluoroscopy unit size. An anthropomorphic model was fit with radiation-attenuating glasses, a thyroid shield, an apron, and gloves. "Exposed" thermoluminescent dosimeters overlaid the protective equipment at the eyes, thyroid, chest, groin, and index finger while "shielded" dosimeters were placed beneath the protective equipment. Fluoroscopy position and settings were standardized. The mini-c-arm milliampere-seconds were fixed based on the selection of the kilovolt peak (kVp). Three mini and three standard c-arms scanned a model of the patient's wrist continuously for fifteen minutes each. Ten dosimeter exposures were recorded for each c-arm. Hand exposure averaged 31 μSv/min (range, 22 to 48 μSv/min), which was 13.0 times higher than the other recorded exposures. Eye exposure averaged 4 μSv/min, 2.2 times higher than the mean thyroid, chest, and groin exposure. Gloves reduced hand exposure by 69.4%. Glasses decreased eye exposure by 65.6%. There was no significant difference in exposure between mini and standard fluoroscopy. Surgeons' hands receive the most radiation exposure during distal radial plate fixation under fluoroscopy. There was a small but insignificant difference in mean exposure between standard fluoroscopy and mini-fluoroscopy, but some standard units resulted in lower exposure than some mini-units. On the basis of these findings, we recommend routine protective equipment to mitigate exposure to surgeons' hands and eyes, in addition to the thyroid, chest, and groin, during fluoroscopy procedures. Copyright © 2015 by The Journal of Bone and Joint Surgery, Incorporated.

A 3D Model Based Imdoor Navigation System for Hubei Provincial Museum

NASA Astrophysics Data System (ADS)

Xu, W.; Kruminaite, M.; Onrust, B.; Liu, H.; Xiong, Q.; Zlatanova, S.

2013-11-01

3D models are more powerful than 2D maps for indoor navigation in a complicate space like Hubei Provincial Museum because they can provide accurate descriptions of locations of indoor objects (e.g., doors, windows, tables) and context information of these objects. In addition, the 3D model is the preferred navigation environment by the user according to the survey. Therefore a 3D model based indoor navigation system is developed for Hubei Provincial Museum to guide the visitors of museum. The system consists of three layers: application, web service and navigation, which is built to support localization, navigation and visualization functions of the system. There are three main strengths of this system: it stores all data needed in one database and processes most calculations on the webserver which make the mobile client very lightweight, the network used for navigation is extracted semi-automatically and renewable, the graphic user interface (GUI), which is based on a game engine, has high performance of visualizing 3D model on a mobile display.

SU-E-J-59: Feasibility of Markerless Tumor Tracking by Sequential Dual-Energy Fluoroscopy On a Clinical Tumor Tracking System

DOE Office of Scientific and Technical Information (OSTI.GOV)

Dhont, J; Poels, K; Verellen, D

2015-06-15

Purpose: To evaluate the feasibility of markerless tumor tracking through the implementation of a novel dual-energy imaging approach into the clinical dynamic tracking (DT) workflow of the Vero SBRT system. Methods: Two sequential 20 s (11 Hz) fluoroscopy sequences were acquired at the start of one fraction for 7 patients treated for primary and metastatic lung cancer with DT on the Vero system. Sequences were acquired using 2 on-board kV imaging systems located at ±45° from the MV beam axis, at respectively 60 kVp (3.2 mAs) and 120 kVp (2.0 mAs). Offline, a normalized cross-correlation algorithm was applied to matchmore » the high (HE) and low energy (LE) images. Per breathing phase (inhale, exhale, maximum inhale and maximum exhale), the 5 best-matching HE and LE couples were extracted for DE subtraction. A contrast analysis according to gross tumor volume was conducted based on contrast-to-noise ratio (CNR). Improved tumor visibility was quantified using an improvement ratio. Results: Using the implanted fiducial as a benchmark, HE-LE sequence matching was effective for 13 out of 14 imaging angles. Overlying bony anatomy was removed on all DE images. With the exception of two imaging angles, the DE images showed no significantly improved tumor visibility compared to HE images, with an improvement ratio averaged over all patients of 1.46 ± 1.64. Qualitatively, it was observed that for those imaging angles that showed no significantly improved CNR, the tumor tissue could not be reliably visualized on neither HE nor DE images due to a total or partial overlap with other soft tissue. Conclusion: Dual-energy subtraction imaging by sequential orthogonal fluoroscopy was shown feasible by implementing an additional LE fluoroscopy sequence. However, for most imaging angles, DE images did not provide improved tumor visibility over single-energy images. Optimizing imaging angles is likely to improve tumor visibility and the efficacy of dual-energy imaging. This work was in part sponsored by corporate funding from BrainLAB AG.(BrainLAB AG, Feldkirchen, Germany)« less

The AAPM/RSNA physics tutorial for residents: digital fluoroscopy.

PubMed

Pooley, R A; McKinney, J M; Miller, D A

2001-01-01

A digital fluoroscopy system is most commonly configured as a conventional fluoroscopy system (tube, table, image intensifier, video system) in which the analog video signal is converted to and stored as digital data. Other methods of acquiring the digital data (eg, digital or charge-coupled device video and flat-panel detectors) will become more prevalent in the future. Fundamental concepts related to digital imaging in general include binary numbers, pixels, and gray levels. Digital image data allow the convenient use of several image processing techniques including last image hold, gray-scale processing, temporal frame averaging, and edge enhancement. Real-time subtraction of digital fluoroscopic images after injection of contrast material has led to widespread use of digital subtraction angiography (DSA). Additional image processing techniques used with DSA include road mapping, image fade, mask pixel shift, frame summation, and vessel size measurement. Peripheral angiography performed with an automatic moving table allows imaging of the peripheral vasculature with a single contrast material injection.

A novel technique for ventriculoperitoneal shunting by flat panel detector CT-guided real-time fluoroscopy

PubMed Central

Kobayashi, Shinya; Ishikawa, Tatsuya; Mutoh, Tatsushi; Hikichi, Kentaro; Suzuki, Akifumi

2012-01-01

Background: Surgical placement of a ventriculoperitoneal shunt (VPS) is the main strategy to manage hydrocephalus. However, the failure rate associated with placement of ventricular catheters remains high. Methods: A hybrid operating room, equipped with a flat-panel detector digital subtraction angiography system containing C-arm cone-beam computed tomography (CB-CT) imaging, has recently been developed and utilized to assist neurosurgical procedures. We have developed a novel technique using intraoperative fluoroscopy and a C-arm CB-CT system to facilitate accurate placement of a VPS. Results: Using this novel technique, 39 consecutive ventricular catheters were placed accurately, and no ventricular catheter failures were experienced during the follow-up period. Only two patients experienced obstruction of the VPS, both of which occurred in the extracranial portion of the shunt system. Conclusion: Surgical placement of a VPS assisted by flat panel detector CT-guided real-time fluoroscopy enabled accurate placement of ventricular catheters and was associated with a decreased need for shunt revision. PMID:23226605

A Strapdown Interial Navigation System/Beidou/Doppler Velocity Log Integrated Navigation Algorithm Based on a Cubature Kalman Filter

PubMed Central

Gao, Wei; Zhang, Ya; Wang, Jianguo

2014-01-01

The integrated navigation system with strapdown inertial navigation system (SINS), Beidou (BD) receiver and Doppler velocity log (DVL) can be used in marine applications owing to the fact that the redundant and complementary information from different sensors can markedly improve the system accuracy. However, the existence of multisensor asynchrony will introduce errors into the system. In order to deal with the problem, conventionally the sampling interval is subdivided, which increases the computational complexity. In this paper, an innovative integrated navigation algorithm based on a Cubature Kalman filter (CKF) is proposed correspondingly. A nonlinear system model and observation model for the SINS/BD/DVL integrated system are established to more accurately describe the system. By taking multi-sensor asynchronization into account, a new sampling principle is proposed to make the best use of each sensor's information. Further, CKF is introduced in this new algorithm to enable the improvement of the filtering accuracy. The performance of this new algorithm has been examined through numerical simulations. The results have shown that the positional error can be effectively reduced with the new integrated navigation algorithm. Compared with the traditional algorithm based on EKF, the accuracy of the SINS/BD/DVL integrated navigation system is improved, making the proposed nonlinear integrated navigation algorithm feasible and efficient. PMID:24434842

Preliminary navigation accuracy analysis for the TDRSS Onboard Navigation System (TONS) experiment on EP/EUVE

NASA Technical Reports Server (NTRS)

Gramling, C. J.; Long, A. C.; Lee, T.; Ottenstein, N. A.; Samii, M. V.

1991-01-01

A Tracking and Data Relay Satellite System (TDRSS) Onboard Navigation System (TONS) is currently being developed by NASA to provide a high accuracy autonomous navigation capability for users of TDRSS and its successor, the Advanced TDRSS (ATDRSS). The fully autonomous user onboard navigation system will support orbit determination, time determination, and frequency determination, based on observation of a continuously available, unscheduled navigation beacon signal. A TONS experiment will be performed in conjunction with the Explorer Platform (EP) Extreme Ultraviolet Explorer (EUVE) mission to flight quality TONS Block 1. An overview is presented of TONS and a preliminary analysis of the navigation accuracy anticipated for the TONS experiment. Descriptions of the TONS experiment and the associated navigation objectives, as well as a description of the onboard navigation algorithms, are provided. The accuracy of the selected algorithms is evaluated based on the processing of realistic simulated TDRSS one way forward link Doppler measurements. The analysis process is discussed and the associated navigation accuracy results are presented.

A SINS/SRS/GNS Autonomous Integrated Navigation System Based on Spectral Redshift Velocity Measurements.

PubMed

Wei, Wenhui; Gao, Zhaohui; Gao, Shesheng; Jia, Ke

2018-04-09

In order to meet the requirements of autonomy and reliability for the navigation system, combined with the method of measuring speed by using the spectral redshift information of the natural celestial bodies, a new scheme, consisting of Strapdown Inertial Navigation System (SINS)/Spectral Redshift (SRS)/Geomagnetic Navigation System (GNS), is designed for autonomous integrated navigation systems. The principle of this SINS/SRS/GNS autonomous integrated navigation system is explored, and the corresponding mathematical model is established. Furthermore, a robust adaptive central difference particle filtering algorithm is proposed for this autonomous integrated navigation system. The simulation experiments are conducted and the results show that the designed SINS/SRS/GNS autonomous integrated navigation system possesses good autonomy, strong robustness and high reliability, thus providing a new solution for autonomous navigation technology.

Biplane interventional pediatric system with cone‐beam CT: dose and image quality characterization for the default protocols

PubMed Central

Vañó, Eliseo; Alejo, Luis; Ubeda, Carlos; Gutiérrez‐Larraya, Federico; Garayoa, Julia

2016-01-01

The aim of this study was to assess image quality and radiation dose of a biplane angiographic system with cone‐beam CT (CBCT) capability tuned for pediatric cardiac procedures. The results of this study can be used to explore dose reduction techniques. For pulsed fluoroscopy and cine modes, polymethyl methacrylate phantoms of various thicknesses and a Leeds TOR 18‐FG test object were employed. Various fields of view (FOV) were selected. For CBCT, the study employed head and body dose phantoms, Catphan 504, and an anthropomorphic cardiology phantom. The study also compared two 3D rotational angiography protocols. The entrance surface air kerma per frame increases by a factor of 3–12 when comparing cine and fluoroscopy frames. The biggest difference in the signal‐to‐noise ratio between fluoroscopy and cine modes occurs at FOV 32 cm because fluoroscopy is acquired at a 1440×1440 pixel matrix size and in unbinned mode, whereas cine is acquired at 720×720 pixels and in binned mode. The high‐contrast spatial resolution of cine is better than that of fluoroscopy, except for FOV 32 cm, because fluoroscopy mode with 32 cm FOV is unbinned. Acquiring CBCT series with a 16 cm head phantom using the standard dose protocol results in a threefold dose increase compared with the low‐dose protocol. Although the amount of noise present in the images acquired with the low‐dose protocol is much higher than that obtained with the standard mode, the images present better spatial resolution. A 1 mm diameter rod with 250 Hounsfield units can be distinguished in reconstructed images with an 8 mm slice width. Pediatric‐specific protocols provide lower doses while maintaining sufficient image quality. The system offers a novel 3D imaging mode. The acquisition of CBCT images results in increased doses administered to the patients, but also provides further diagnostic information contained in the volumetric images. The assessed CBCT protocols provide images that are noisy, but with very good spatial resolution. PACS number(s): 87.59.‐e, 87.59.‐C, 87.59.‐cf, 87.59.Dj, 87.57. uq PMID:27455474

Biplane interventional pediatric system with cone-beam CT: dose and image quality characterization for the default protocols.

PubMed

Corredoira, Eva; Vañó, Eliseo; Alejo, Luis; Ubeda, Carlos; Gutiérrez-Larraya, Federico; Garayoa, Julia

2016-07-08

The aim of this study was to assess image quality and radiation dose of a biplane angiographic system with cone-beam CT (CBCT) capability tuned for pediatric cardiac procedures. The results of this study can be used to explore dose reduction techniques. For pulsed fluoroscopy and cine modes, polymethyl methacrylate phantoms of various thicknesses and a Leeds TOR 18-FG test object were employed. Various fields of view (FOV) were selected. For CBCT, the study employed head and body dose phantoms, Catphan 504, and an anthropomorphic cardiology phantom. The study also compared two 3D rotational angiography protocols. The entrance surface air kerma per frame increases by a factor of 3-12 when comparing cine and fluoroscopy frames. The biggest difference in the signal-to- noise ratio between fluoroscopy and cine modes occurs at FOV 32 cm because fluoroscopy is acquired at a 1440 × 1440 pixel matrix size and in unbinned mode, whereas cine is acquired at 720 × 720 pixels and in binned mode. The high-contrast spatial resolution of cine is better than that of fluoroscopy, except for FOV 32 cm, because fluoroscopy mode with 32 cm FOV is unbinned. Acquiring CBCT series with a 16 cm head phantom using the standard dose protocol results in a threefold dose increase compared with the low-dose protocol. Although the amount of noise present in the images acquired with the low-dose protocol is much higher than that obtained with the standard mode, the images present better spatial resolution. A 1 mm diameter rod with 250 Hounsfield units can be distinguished in reconstructed images with an 8 mm slice width. Pediatric-specific protocols provide lower doses while maintaining sufficient image quality. The system offers a novel 3D imaging mode. The acquisition of CBCT images results in increased doses administered to the patients, but also provides further diagnostic information contained in the volumetric images. The assessed CBCT protocols provide images that are noisy, but with very good spatial resolution. © 2016 The Authors.

Comparative advantage between traditional and smart navigation systems

NASA Astrophysics Data System (ADS)

Shin, Jeongkyu; Kim, Pan-Jun; Kim, Seunghwan

2013-03-01

The smart navigation system that refers to real-time traffic data is believed to be superior to traditional navigation systems. To verify this belief, we created an agent-based traffic model and examined the effect of changing market share of the traditional shortest-travel-time algorithm based navigation and the smart navigation system. We tested our model on the grid and actual metropolitan road network structures. The result reveals that the traditional navigation system have better performance than the smart one as the market share of the smart navigation system exceeds a critical value, which is contrary to conventional expectation. We suggest that the superiority inversion between agent groups is strongly related to the traffic weight function form, and is general. We also found that the relationship of market share, traffic flow density and travel time is determined by the combination of congestion avoidance behavior of the smartly navigated agents and the inefficiency of shortest-travel-time based navigated agents. Our results can be interpreted with the minority game and extended to the diverse topics of opinion dynamics. This work was supported by the Original Technology Research Program for Brain Science through the National Research Foundation of Korea funded by the Ministry of Education, Science and Technology(No. 2010-0018847).

Implementation of a vector-based tracking loop receiver in a pseudolite navigation system.

PubMed

So, Hyoungmin; Lee, Taikjin; Jeon, Sanghoon; Kim, Chongwon; Kee, Changdon; Kim, Taehee; Lee, Sanguk

2010-01-01

We propose a vector tracking loop (VTL) algorithm for an asynchronous pseudolite navigation system. It was implemented in a software receiver and experiments in an indoor navigation system were conducted. Test results show that the VTL successfully tracks signals against the near-far problem, one of the major limitations in pseudolite navigation systems, and could improve positioning availability by extending pseudolite navigation coverage.

A SINS/SRS/GNS Autonomous Integrated Navigation System Based on Spectral Redshift Velocity Measurements

PubMed Central

Wei, Wenhui; Gao, Zhaohui; Gao, Shesheng; Jia, Ke

2018-01-01

In order to meet the requirements of autonomy and reliability for the navigation system, combined with the method of measuring speed by using the spectral redshift information of the natural celestial bodies, a new scheme, consisting of Strapdown Inertial Navigation System (SINS)/Spectral Redshift (SRS)/Geomagnetic Navigation System (GNS), is designed for autonomous integrated navigation systems. The principle of this SINS/SRS/GNS autonomous integrated navigation system is explored, and the corresponding mathematical model is established. Furthermore, a robust adaptive central difference particle filtering algorithm is proposed for this autonomous integrated navigation system. The simulation experiments are conducted and the results show that the designed SINS/SRS/GNS autonomous integrated navigation system possesses good autonomy, strong robustness and high reliability, thus providing a new solution for autonomous navigation technology. PMID:29642549

Real-time ultrasound transducer localization in fluoroscopy images by transfer learning from synthetic training data.

PubMed

Heimann, Tobias; Mountney, Peter; John, Matthias; Ionasec, Razvan

2014-12-01

The fusion of image data from trans-esophageal echography (TEE) and X-ray fluoroscopy is attracting increasing interest in minimally-invasive treatment of structural heart disease. In order to calculate the needed transformation between both imaging systems, we employ a discriminative learning (DL) based approach to localize the TEE transducer in X-ray images. The successful application of DL methods is strongly dependent on the available training data, which entails three challenges: (1) the transducer can move with six degrees of freedom meaning it requires a large number of images to represent its appearance, (2) manual labeling is time consuming, and (3) manual labeling has inherent errors. This paper proposes to generate the required training data automatically from a single volumetric image of the transducer. In order to adapt this system to real X-ray data, we use unlabeled fluoroscopy images to estimate differences in feature space density and correct covariate shift by instance weighting. Two approaches for instance weighting, probabilistic classification and Kullback-Leibler importance estimation (KLIEP), are evaluated for different stages of the proposed DL pipeline. An analysis on more than 1900 images reveals that our approach reduces detection failures from 7.3% in cross validation on the test set to zero and improves the localization error from 1.5 to 0.8mm. Due to the automatic generation of training data, the proposed system is highly flexible and can be adapted to any medical device with minimal efforts. Copyright © 2014 Elsevier B.V. All rights reserved.

Differential GNSS and Vision-Based Tracking to Improve Navigation Performance in Cooperative Multi-UAV Systems.

PubMed

Vetrella, Amedeo Rodi; Fasano, Giancarmine; Accardo, Domenico; Moccia, Antonio

2016-12-17

Autonomous navigation of micro-UAVs is typically based on the integration of low cost Global Navigation Satellite System (GNSS) receivers and Micro-Electro-Mechanical Systems (MEMS)-based inertial and magnetic sensors to stabilize and control the flight. The resulting navigation performance in terms of position and attitude accuracy may not suffice for other mission needs, such as the ones relevant to fine sensor pointing. In this framework, this paper presents a cooperative UAV navigation algorithm that allows a chief vehicle, equipped with inertial and magnetic sensors, a Global Positioning System (GPS) receiver, and a vision system, to improve its navigation performance (in real time or in the post processing phase) exploiting formation flying deputy vehicles equipped with GPS receivers. The focus is set on outdoor environments and the key concept is to exploit differential GPS among vehicles and vision-based tracking (DGPS/Vision) to build a virtual additional navigation sensor whose information is then integrated in a sensor fusion algorithm based on an Extended Kalman Filter. The developed concept and processing architecture are described, with a focus on DGPS/Vision attitude determination algorithm. Performance assessment is carried out on the basis of both numerical simulations and flight tests. In the latter ones, navigation estimates derived from the DGPS/Vision approach are compared with those provided by the onboard autopilot system of a customized quadrotor. The analysis shows the potential of the developed approach, mainly deriving from the possibility to exploit magnetic- and inertial-independent accurate attitude information.

Survey of computer vision technology for UVA navigation

NASA Astrophysics Data System (ADS)

Xie, Bo; Fan, Xiang; Li, Sijian

2017-11-01

Navigation based on computer version technology, which has the characteristics of strong independence, high precision and is not susceptible to electrical interference, has attracted more and more attention in the filed of UAV navigation research. Early navigation project based on computer version technology mainly applied to autonomous ground robot. In recent years, the visual navigation system is widely applied to unmanned machine, deep space detector and underwater robot. That further stimulate the research of integrated navigation algorithm based on computer version technology. In China, with many types of UAV development and two lunar exploration, the three phase of the project started, there has been significant progress in the study of visual navigation. The paper expounds the development of navigation based on computer version technology in the filed of UAV navigation research and draw a conclusion that visual navigation is mainly applied to three aspects as follows.(1) Acquisition of UAV navigation parameters. The parameters, including UAV attitude, position and velocity information could be got according to the relationship between the images from sensors and carrier's attitude, the relationship between instant matching images and the reference images and the relationship between carrier's velocity and characteristics of sequential images.(2) Autonomous obstacle avoidance. There are many ways to achieve obstacle avoidance in UAV navigation. The methods based on computer version technology ,including feature matching, template matching, image frames and so on, are mainly introduced. (3) The target tracking, positioning. Using the obtained images, UAV position is calculated by using optical flow method, MeanShift algorithm, CamShift algorithm, Kalman filtering and particle filter algotithm. The paper expounds three kinds of mainstream visual system. (1) High speed visual system. It uses parallel structure, with which image detection and processing are carried out at high speed. The system is applied to rapid response system. (2) The visual system of distributed network. There are several discrete image data acquisition sensor in different locations, which transmit image data to the node processor to increase the sampling rate. (3) The visual system combined with observer. The system combines image sensors with the external observers to make up for lack of visual equipment. To some degree, these systems overcome lacks of the early visual system, including low frequency, low processing efficiency and strong noise. In the end, the difficulties of navigation based on computer version technology in practical application are briefly discussed. (1) Due to the huge workload of image operation , the real-time performance of the system is poor. (2) Due to the large environmental impact , the anti-interference ability of the system is poor.(3) Due to the ability to work in a particular environment, the system has poor adaptability.

Accuracy in identifying the elbow rotation axis on simulated fluoroscopic images using a new anatomical landmark.

PubMed

Wiggers, J K; Snijders, R M; Dobbe, J G G; Streekstra, G J; den Hartog, D; Schep, N W L

2017-11-01

External fixation of the elbow requires identification of the elbow rotation axis, but the accuracy of traditional landmarks (capitellum and trochlea) on fluoroscopy is limited. The relative distance (RD) of the humerus may be helpful as additional landmark. The first aim of this study was to determine the optimal RD that corresponds to an on-axis lateral image of the elbow. The second aim was to assess whether the use of the optimal RD improves the surgical accuracy to identify the elbow rotation axis on fluoroscopy. CT scans of elbows from five volunteers were used to simulate fluoroscopy; the actual rotation axis was calculated with CT-based flexion-extension analysis. First, three observers measured the optimal RD on simulated fluoroscopy. The RD is defined as the distance between the dorsal part of the humerus and the projection of the posteromedial cortex of the distal humerus, divided by the anteroposterior diameter of the humerus. Second, eight trauma surgeons assessed the elbow rotation axis on simulated fluoroscopy. In a preteaching session, surgeons used traditional landmarks. The surgeons were then instructed how to use the optimal RD as additional landmark in a postteaching session. The deviation from the actual rotation axis was expressed as rotational and translational error (±SD). Measurement of the RD was robust and easily reproducible; the optimal RD was 45%. The surgeons identified the elbow rotation axis with a mean rotational error decreasing from 7.6° ± 3.4° to 6.7° ± 3.3° after teaching how to use the RD. The mean translational error decreased from 4.2 ± 2.0 to 3.7 ± 2.0 mm after teaching. The humeral RD as additional landmark yielded small but relevant improvements. Although fluoroscopy-based external fixator alignment to the elbow remains prone to error, it is recommended to use the RD as additional landmark.

Navigation technique for MR-endoscope system using a wireless accelerometer-based remote control device.

PubMed

Kumamoto, Etsuko; Takahashi, Akihiro; Matsuoka, Yuichiro; Morita, Yoshinori; Kutsumi, Hiromu; Azuma, Takeshi; Kuroda, Kagayaki

2013-01-01

The MR-endoscope system can perform magnetic resonance (MR) imaging during endoscopy and show the images obtained by using endoscope and MR. The MR-endoscope system can acquire a high-spatial resolution MR image with an intraluminal radiofrequency (RF) coil, and the navigation system shows the scope's location and orientation inside the human body and indicates MR images with a scope view. In order to conveniently perform an endoscopy and MR procedure, the design of the user interface is very important because it provides useful information. In this study, we propose a navigation system using a wireless accelerometer-based controller with Bluetooth technology and a navigation technique to set the intraluminal RF coil using the navigation system. The feasibility of using this wireless controller in the MR shield room was validated via phantom examinations of the influence on MR procedures and navigation accuracy. In vitro examinations using an isolated porcine stomach demonstrated the effectiveness of the navigation technique using a wireless remote-control device.

A Novel Grid SINS/DVL Integrated Navigation Algorithm for Marine Application

PubMed Central

Kang, Yingyao; Zhao, Lin; Cheng, Jianhua; Fan, Xiaoliang

2018-01-01

Integrated navigation algorithms under the grid frame have been proposed based on the Kalman filter (KF) to solve the problem of navigation in some special regions. However, in the existing study of grid strapdown inertial navigation system (SINS)/Doppler velocity log (DVL) integrated navigation algorithms, the Earth models of the filter dynamic model and the SINS mechanization are not unified. Besides, traditional integrated systems with the KF based correction scheme are susceptible to measurement errors, which would decrease the accuracy and robustness of the system. In this paper, an adaptive robust Kalman filter (ARKF) based hybrid-correction grid SINS/DVL integrated navigation algorithm is designed with the unified reference ellipsoid Earth model to improve the navigation accuracy in middle-high latitude regions for marine application. Firstly, to unify the Earth models, the mechanization of grid SINS is introduced and the error equations are derived based on the same reference ellipsoid Earth model. Then, a more accurate grid SINS/DVL filter model is designed according to the new error equations. Finally, a hybrid-correction scheme based on the ARKF is proposed to resist the effect of measurement errors. Simulation and experiment results show that, compared with the traditional algorithms, the proposed navigation algorithm can effectively improve the navigation performance in middle-high latitude regions by the unified Earth models and the ARKF based hybrid-correction scheme. PMID:29373549

An Agent-Based Model for Navigation Simulation in a Heterogeneous Environment

ERIC Educational Resources Information Center

Shanklin, Teresa A.

2012-01-01

Complex navigation (e.g. indoor and outdoor environments) can be studied as a system-of-systems problem. The model is made up of disparate systems that can aid a user in navigating from one location to another, utilizing whatever sensor system or information is available. By using intelligent navigation sensors and techniques (e.g. RFID, Wifi,…

Monte Carlo based estimation of organ and effective doses to patients undergoing hysterosalpingography and retrograde urethrography fluoroscopy procedures

NASA Astrophysics Data System (ADS)

Ngaile, J. E.; Msaki, P. K.; Kazema, R. R.

2018-04-01

Contrast investigations of hysterosalpingography (HSG) and retrograde urethrography (RUG) fluoroscopy procedures remain the dominant diagnostic tools for the investigation of infertility in females and urethral strictures in males, respectively, owing to the scarcity and high cost of services of alternative diagnostic technologies. In light of the radiological risks associated with contrast based investigations of the genitourinary tract systems, there is a need to assess the magnitude of radiation burden imparted to patients undergoing HSG and RUG fluoroscopy procedures in Tanzania. The air kerma area product (KAP), fluoroscopy time, number of images, organ dose and effective dose to patients undergoing HSG and RUG procedures were obtained from four hospitals. The KAP was measured using a flat transmission ionization chamber, while the organ and effective doses were estimated using the knowledge of the patient characteristics, patient related exposure parameters, geometry of examination, KAP and Monte Carlo calculations (PCXMC). The median values of KAP for the HSG and RUG were 2.2 Gy cm2 and 3.3 Gy cm2, respectively. The median organ doses in the present study for the ovaries, urinary bladder and uterus for the HSG procedures, were 1.0 mGy, 4.0 mGy and 1.6 mGy, respectively, while for urinary bladder and testes of the RUG were 3.4 mGy and 5.9 mGy, respectively. The median values of effective doses for the HSG and RUG procedures were 0.65 mSv and 0.59 mSv, respectively. The median values of effective dose per hospital for the HSG and RUG procedures had a range of 1.6-2.8 mSv and 1.9-5.6 mSv, respectively, while the overall differences between individual effective doses across the four hospitals varied by factors of up to 22.0 and 46.7, respectively for the HSG and RUG procedures. The proposed diagnostic reference levels (DRLs) for the HSG and RUG were for KAP 2.8 Gy cm2 and 3.9 Gy cm2, for fluoroscopy time 0.8 min and 0.9 min, and for number of images 5 and 4, respectively. The suggested DRLs for the HSG and RUG procedures may be used by the radiology departments in Tanzania for management of attained dose levels until the national DRLs are established.

Integration of a synthetic vision system with airborne laser range scanner-based terrain referenced navigation for precision approach guidance

NASA Astrophysics Data System (ADS)

Uijt de Haag, Maarten; Campbell, Jacob; van Graas, Frank

2005-05-01

Synthetic Vision Systems (SVS) provide pilots with a virtual visual depiction of the external environment. When using SVS for aircraft precision approach guidance systems accurate positioning relative to the runway with a high level of integrity is required. Precision approach guidance systems in use today require ground-based electronic navigation components with at least one installation at each airport, and in many cases multiple installations to service approaches to all qualifying runways. A terrain-referenced approach guidance system is envisioned to provide precision guidance to an aircraft without the use of ground-based electronic navigation components installed at the airport. This autonomy makes it a good candidate for integration with an SVS. At the Ohio University Avionics Engineering Center (AEC), work has been underway in the development of such a terrain referenced navigation system. When used in conjunction with an Inertial Measurement Unit (IMU) and a high accuracy/resolution terrain database, this terrain referenced navigation system can provide navigation and guidance information to the pilot on a SVS or conventional instruments. The terrain referenced navigation system, under development at AEC, operates on similar principles as other terrain navigation systems: a ground sensing sensor (in this case an airborne laser scanner) gathers range measurements to the terrain; this data is then matched in some fashion with an onboard terrain database to find the most likely position solution and used to update an inertial sensor-based navigator. AEC's system design differs from today's common terrain navigators in its use of a high resolution terrain database (~1 meter post spacing) in conjunction with an airborne laser scanner which is capable of providing tens of thousands independent terrain elevation measurements per second with centimeter-level accuracies. When combined with data from an inertial navigator the high resolution terrain database and laser scanner system is capable of providing near meter-level horizontal and vertical position estimates. Furthermore, the system under development capitalizes on 1) The position and integrity benefits provided by the Wide Area Augmentation System (WAAS) to reduce the initial search space size and; 2) The availability of high accuracy/resolution databases. This paper presents results from flight tests where the terrain reference navigator is used to provide guidance cues for a precision approach.

New-Generation Laser-lithographed Dual-Axis Magnetically Assisted Remote-controlled Endovascular Catheter for Interventional MR Imaging: In Vitro Multiplanar Navigation at 1.5 T and 3 T versus X-ray Fluoroscopy.

PubMed

Moftakhar, Parham; Lillaney, Prasheel; Losey, Aaron D; Cooke, Daniel L; Martin, Alastair J; Thorne, Bradford R H; Arenson, Ronald L; Saeed, Maythem; Wilson, Mark W; Hetts, Steven W

2015-12-01

To assess the feasibility of multiplanar vascular navigation with a new magnetically assisted remote-controlled (MARC) catheter with real-time magnetic resonance (MR) imaging at 1.5 T and 3 T and to compare it with standard x-ray guidance in simulated endovascular catheterization procedures. A 1.6-mm-diameter custom clinical-grade microcatheter prototype with lithographed double-saddle coils at the distal tip was deflected with real-time MR imaging. Two inexperienced operators and two experienced operators catheterized anteroposterior (celiac, superior mesenteric, and inferior mesenteric arteries) and mediolateral (renal arteries) branch vessels in a cryogel abdominal aortic phantom. This was repeated with conventional x-ray fluoroscopy by using clinical catheters and guidewires. Mean procedure times and percentage success data were analyzed with linear mixed-effects regression. The MARC catheter tip was visible at 1.5 T and 3 T. Among inexperienced operators, MARC MR imaging guidance was not statistically different from x-ray guidance at 1.5 T (67% successful vessel selection turns with MR imaging vs 76% with x-ray guidance, P = .157) and at 3 T (75% successful turns with MR imaging vs 76% with x-ray guidance, P = .869). Experienced operators were more successful in catheterizing vessels with x-ray guidance (98% success within 60 seconds) than with 1.5-T (65%, P < .001) or 3-T (75%) MR imaging. Among inexperienced operators, mean procedure time was nearly equivalent by using MR imaging (31 seconds) and x-ray guidance (34 seconds, P = .436). Among experienced operators, catheterization was faster with x-ray guidance (20 seconds) compared with 1.5-T MR imaging (42 seconds, P < .001), but MARC guidance improved at 3 T (31 seconds). MARC MR imaging guidance at 3 T was not significantly different from x-ray guidance for the celiac (P = .755), superior mesenteric (P = .358), and inferior mesenteric (P = .065) arteries. Multiplanar navigation with a new MARC catheter with real-time MR imaging at 1.5 T and 3 T is feasible and comparable to x-ray guidance for anteroposterior vessels at 3 T in a vascular phantom.

New-Generation Laser-lithographed Dual-Axis Magnetically Assisted Remote-controlled Endovascular Catheter for Interventional MR Imaging: In Vitro Multiplanar Navigation at 1.5 T and 3 T versus X-ray Fluoroscopy

PubMed Central

Moftakhar, Parham; Lillaney, Prasheel; Losey, Aaron D.; Cooke, Daniel L.; Martin, Alastair J.; Thorne, Bradford R. H.; Arenson, Ronald L.; Saeed, Maythem; Wilson, Mark W.

2015-01-01

Purpose To assess the feasibility of multiplanar vascular navigation with a new magnetically assisted remote-controlled (MARC) catheter with real-time magnetic resonance (MR) imaging at 1.5 T and 3 T and to compare it with standard x-ray guidance in simulated endovascular catheterization procedures. Materials and Methods A 1.6-mm–diameter custom clinical-grade microcatheter prototype with lithographed double-saddle coils at the distal tip was deflected with real-time MR imaging. Two inexperienced operators and two experienced operators catheterized anteroposterior (celiac, superior mesenteric, and inferior mesenteric arteries) and mediolateral (renal arteries) branch vessels in a cryogel abdominal aortic phantom. This was repeated with conventional x-ray fluoroscopy by using clinical catheters and guidewires. Mean procedure times and percentage success data were analyzed with linear mixed-effects regression. Results The MARC catheter tip was visible at 1.5 T and 3 T. Among inexperienced operators, MARC MR imaging guidance was not statistically different from x-ray guidance at 1.5 T (67% successful vessel selection turns with MR imaging vs 76% with x-ray guidance, P = .157) and at 3 T (75% successful turns with MR imaging vs 76% with x-ray guidance, P = .869). Experienced operators were more successful in catheterizing vessels with x-ray guidance (98% success within 60 seconds) than with 1.5-T (65%, P < .001) or 3-T (75%) MR imaging. Among inexperienced operators, mean procedure time was nearly equivalent by using MR imaging (31 seconds) and x-ray guidance (34 seconds, P = .436). Among experienced operators, catheterization was faster with x-ray guidance (20 seconds) compared with 1.5-T MR imaging (42 seconds, P < .001), but MARC guidance improved at 3 T (31 seconds). MARC MR imaging guidance at 3 T was not significantly different from x-ray guidance for the celiac (P = .755), superior mesenteric (P = .358), and inferior mesenteric (P = .065) arteries. Conclusion Multiplanar navigation with a new MARC catheter with real-time MR imaging at 1.5 T and 3 T is feasible and comparable to x-ray guidance for anteroposterior vessels at 3 T in a vascular phantom. © RSNA, 2015 Online supplemental material is available for this article. PMID:26030659

Long-term efficacy of single procedure remote magnetic catheter navigation for ablation of ischemic ventricular tachycardia: a retrospective study.

PubMed

Dinov, Borislav; Schönbauer, Robert; Wojdyla-Hordynska, Agnieska; Braunschweig, Frieder; Richter, Sergio; Altmann, David; Sommer, Philipp; Gaspar, Thomas; Bollmann, Andreas; Wetzel, Ulrike; Rolf, Sascha; Piorkowski, Christopher; Hindricks, Gerhard; Arya, Arash

2012-05-01

Remote magnetic navigation (RMN) aims to reduce some inherent limitations of manual radiofrequency (RF) ablation. However, data comparing the effectiveness of both methods are scarce. This study evaluated the acute and long-term success of RMN guided versus manual RF ablation in patients with ischemic sustained ventricular tachycardia (sVT). One hundred two consecutive patients (age 68 ± 10 years, LVEF 32 ± 12%, 88 men) with ischemic sVT were ablated with RMN (Stereotaxis; 49%) or manually (51%) using substrate and/or activation mapping (Carto) and open-irrigated-tip catheters. All received implantable defibrillators or loop recorders. Acute success was defined as noninducibility of any sVT at the end of the ablation procedure and long-term success as freedom from VT upon follow-up. There was no difference in the baseline characteristics between the groups. Three patients died in hospital. Acute success rate was similar for RMN and manual ablation (82% vs 71%, P = 0.246). RMN was associated with significantly shorter fluoroscopy time (13 ± 12 minutes vs 32 ± 17 minutes, P = 0.0001) and RF time (2337.59 ± 1248.22 seconds vs 1589.95 ± 1047.42 seconds, P = 0.049), although total procedure time was similar (157 ± 40 minutes vs 148 ± 50 minutes, P = 0.42). There was a nonsignificant trend toward better long-term success in RMN group: after a median of 13 (range 1-34) months, 63% in the RMN and 53% in the manual ablation group were free from VT recurrence (P = 0.206). RMN guided RF ablation of ischemic sustained VT is equally efficient compared with manual ablation in terms of acute and long-term success rate. These results are achieved with a significantly reduced fluoroscopy time and shorter RF time. © 2012 Wiley Periodicals, Inc.

Implementation of a near-zero fluoroscopy approach in interventional electrophysiology: impact of operator experience.

PubMed

Wannagat, Severin; Loehr, Lena; Lask, Sebastian; Völk, Katharina; Karaköse, Tamer; Özcelik, Cemil; Mügge, Andreas; Wutzler, Alexander

2018-04-01

Catheter ablation is performed under fluoroscopic guidance. Reduction of radiation dose for patients and staff is emphasized by current recommendations. Previous studies have shown that lower operator experience leads to increased radiation dose. On the other hand, less experienced operators may depend even more on fluoroscopic guidance. Our study aimed to evaluate feasibility and efficacy of a non-fluoroscopic approach in different training levels. From January 2017, a near-zero fluoroscopy approach was established in two centers. Four operators (beginner, 1st year fellow, 2nd year fellow, expert) were instructed to perform the complete procedure with the use of a 3-D mapping system without fluoroscopy. A historical cohort that underwent procedures with fluoroscopy use served as control group. Dose area product (DPA), procedure duration, acute procedural success, and complications were compared between the groups and for each operator. Procedures were performed in 157 patients. The first 100 patients underwent procedures with fluoroscopic guidance, the following 57 procedures were performed with the near-zero fluoroscopy approach. The results show a significant reduction in DPA for all operators immediately after implementation of the near-zero fluoroscopy protocol (control 637 ± 611 μGy/m 2 ; beginner 44.1 ± 79.5 μGy/m 2 , p = 0.002; 1st year fellow 24.3 ± 46.4.5 μGy/m 2 , p = 0.001; 2nd year fellow 130.3 ± 233.3 μGy/m 2 , p = 0.003; expert 9.3 ± 37.4 μGy/m 2 , P < 0.001). Procedure duration, acute success, and complications were not significantly different between the groups. Our results show a 90% reduction of DPA shortly after implementation of a near-zero fluoroscopy approach in interventional electrophysiology even in operators in training.

Study on UKF based federal integrated navigation for high dynamic aviation

NASA Astrophysics Data System (ADS)

Zhao, Gang; Shao, Wei; Chen, Kai; Yan, Jie

2011-08-01

High dynamic aircraft is a very attractive new generation vehicles, in which provides near space aviation with large flight envelope both speed and altitude, for example the hypersonic vehicles. The complex flight environments for high dynamic vehicles require high accuracy and stability navigation scheme. Since the conventional Strapdown Inertial Navigation System (SINS) and Global Position System (GPS) federal integrated scheme based on EKF (Extended Kalman Filter) is invalidation in GPS single blackout situation because of high speed flight, a new high precision and stability integrated navigation approach is presented in this paper, in which the SINS, GPS and Celestial Navigation System (CNS) is combined as a federal information fusion configuration based on nonlinear Unscented Kalman Filter (UKF) algorithm. Firstly, the new integrated system state error is modeled. According to this error model, the SINS system is used as the navigation solution mathematic platform. The SINS combine with GPS constitute one error estimation filter subsystem based on UKF to obtain local optimal estimation, and the SINS combine with CNS constitute another error estimation subsystem. A non-reset federated configuration filter based on partial information is proposed to fuse two local optimal estimations to get global optimal error estimation, and the global optimal estimation is used to correct the SINS navigation solution. The χ 2 fault detection method is used to detect the subsystem fault, and the fault subsystem is isolation through fault interval to protect system away from the divergence. The integrated system takes advantages of SINS, GPS and CNS to an immense improvement for high accuracy and reliably high dynamic navigation application. Simulation result shows that federated fusion of using GPS and CNS to revise SINS solution is reasonable and availably with good estimation performance, which are satisfied with the demands of high dynamic flight navigation. The UKF is superior than EKF based integrated scheme, in which has smaller estimation error and quickly convergence rate.

Differential GNSS and Vision-Based Tracking to Improve Navigation Performance in Cooperative Multi-UAV Systems

PubMed Central

Vetrella, Amedeo Rodi; Fasano, Giancarmine; Accardo, Domenico; Moccia, Antonio

2016-01-01

Autonomous navigation of micro-UAVs is typically based on the integration of low cost Global Navigation Satellite System (GNSS) receivers and Micro-Electro-Mechanical Systems (MEMS)-based inertial and magnetic sensors to stabilize and control the flight. The resulting navigation performance in terms of position and attitude accuracy may not suffice for other mission needs, such as the ones relevant to fine sensor pointing. In this framework, this paper presents a cooperative UAV navigation algorithm that allows a chief vehicle, equipped with inertial and magnetic sensors, a Global Positioning System (GPS) receiver, and a vision system, to improve its navigation performance (in real time or in the post processing phase) exploiting formation flying deputy vehicles equipped with GPS receivers. The focus is set on outdoor environments and the key concept is to exploit differential GPS among vehicles and vision-based tracking (DGPS/Vision) to build a virtual additional navigation sensor whose information is then integrated in a sensor fusion algorithm based on an Extended Kalman Filter. The developed concept and processing architecture are described, with a focus on DGPS/Vision attitude determination algorithm. Performance assessment is carried out on the basis of both numerical simulations and flight tests. In the latter ones, navigation estimates derived from the DGPS/Vision approach are compared with those provided by the onboard autopilot system of a customized quadrotor. The analysis shows the potential of the developed approach, mainly deriving from the possibility to exploit magnetic- and inertial-independent accurate attitude information. PMID:27999318

Multi-Purpose Avionic Architecture for Vision Based Navigation Systems for EDL and Surface Mobility Scenarios

NASA Astrophysics Data System (ADS)

Tramutola, A.; Paltro, D.; Cabalo Perucha, M. P.; Paar, G.; Steiner, J.; Barrio, A. M.

2015-09-01

Vision Based Navigation (VBNAV) has been identified as a valid technology to support space exploration because it can improve autonomy and safety of space missions. Several mission scenarios can benefit from the VBNAV: Rendezvous & Docking, Fly-Bys, Interplanetary cruise, Entry Descent and Landing (EDL) and Planetary Surface exploration. For some of them VBNAV can improve the accuracy in state estimation as additional relative navigation sensor or as absolute navigation sensor. For some others, like surface mobility and terrain exploration for path identification and planning, VBNAV is mandatory. This paper presents the general avionic architecture of a Vision Based System as defined in the frame of the ESA R&T study “Multi-purpose Vision-based Navigation System Engineering Model - part 1 (VisNav-EM-1)” with special focus on the surface mobility application.

Update on the recommended viewing protocol for FAXIL threshold contrast detail detectability test objects used in television fluoroscopy.

PubMed

Launders, J H; McArdle, S; Workman, A; Cowen, A R

1995-01-01

The significance of varying the viewing conditions that may affect the perceived threshold contrast of X-ray television fluoroscopy systems has been investigated. Factors investigated include the ambient room lighting and the viewing distance. The purpose of this study is to find the optimum viewing protocol with which to measure the threshold detection index. This is a particular problem when trying to compare the image quality of television fluoroscopy systems in different input field sizes. The results show that the viewing distance makes a significant difference to the perceived threshold contrast, whereas the ambient light conditions make no significant difference. Experienced observers were found to be capable of finding the optimum viewing distance for detecting details of each size, in effect using a flexible viewing distance. This allows the results from different field sizes to be normalized to account for both the magnification and the entrance air kerma rate differences, which in turn allow for a direct comparison of performance in different field sizes.

Initial clinical experience of remote magnetic navigation system for catheter mapping and ablation of supraventricular tachycardias.

PubMed

Xu, Dongjie; Yang, Bin; Shan, Qijun; Zou, Jiangang; Chen, Minglong; Chen, Chun; Hou, Xiaofeng; Zhang, Fengxiang; Li, Wen-Qi; Cao, Kejiang; Tse, Hung-Fat

2009-09-01

A remote magnetic navigation system (MNS) has been developed for mapping and catheter ablation of cardiac arrhythmias. The present study evaluates the safety and feasibility of this system to perform radiofrequency (RF) ablation in patients with supraventricular tachycardias (SVT). A total of 32 patients (22 female; mean age 44 +/- 16 years) with documented SVT underwent mapping and ablation using Helios II (a 4-mm-tip magnetic catheter), under the guidance of the MNS (Niobe II, Stereotaxis, Inc.). Catheter ablation procedure with MNS was successful in 30/32 (94%) patients including all patients (27/27, 100%) with atrioventricular nodal reentrant tachycardia (AVNRT) and three of five patients (60%) with atrioventricular reentrant tachycardia (AVRT) without any complication. The procedural successful rate in patients with AVNRT was significantly higher than those in patients with AVRT (P < 0.001). Overall, the medium number of RF application using the MNS was 2 (mean 2.7 +/- 1.6, range 1 to 7), and the medium numbers of RF for AVNRT and AVRT were 2 and 3, respectively. There was no significant difference in the mean procedural time between patients with AVNRT and AVRT (126.3 +/- 38.6 vs. 138.0 +/- 40.3 min, P = 0.54). However, the mean fluoroscopy time was significantly shorter in patients with AVNRT than those with AVRT (5.7 +/- 3.0 vs. 16.5 +/- 2.5 min, P < 0.001). Among those patients with AVNRT, the mean procedural time (139.3 +/- 45.0 vs. 112.3 +/- 24.9 min, P = 0.07) and fluoroscopic time (3.2 +/- 1.0 vs. 8.0 +/- 2.2 min, P < 0.001) were shorter for the later 13 patients than the first 14 patients, suggesting a learning curve in using the MNS for RF ablation. The Niobe MNS is a new technique that can allow safe and effective remote-controlled navigation and minimize the need for fluoroscopic guidance for ablation catheter of AVNRT. However, further improvement is required to achieve a higher successful rate for treatment of AVRT.

Distributed Ship Navigation Control System Based on Dual Network

NASA Astrophysics Data System (ADS)

Yao, Ying; Lv, Wu

2017-10-01

Navigation system is very important for ship’s normal running. There are a lot of devices and sensors in the navigation system to guarantee ship’s regular work. In the past, these devices and sensors were usually connected via CAN bus for high performance and reliability. However, as the development of related devices and sensors, the navigation system also needs the ability of high information throughput and remote data sharing. To meet these new requirements, we propose the communication method based on dual network which contains CAN bus and industrial Ethernet. Also, we import multiple distributed control terminals with cooperative strategy based on the idea of synchronizing the status by multicasting UDP message contained operation timestamp to make the system more efficient and reliable.

SLS Model Based Design: A Navigation Perspective

NASA Technical Reports Server (NTRS)

Oliver, T. Emerson; Anzalone, Evan; Park, Thomas; Geohagan, Kevin

2018-01-01

The SLS Program has implemented a Model-based Design (MBD) and Model-based Requirements approach for managing component design information and system requirements. This approach differs from previous large-scale design efforts at Marshall Space Flight Center where design documentation alone conveyed information required for vehicle design and analysis and where extensive requirements sets were used to scope and constrain the design. The SLS Navigation Team is responsible for the Program-controlled Design Math Models (DMMs) which describe and represent the performance of the Inertial Navigation System (INS) and the Rate Gyro Assemblies (RGAs) used by Guidance, Navigation, and Controls (GN&C). The SLS Navigation Team is also responsible for navigation algorithms. The navigation algorithms are delivered for implementation on the flight hardware as a DMM. For the SLS Block 1B design, the additional GPS Receiver hardware model is managed as a DMM at the vehicle design level. This paper describes the models, and discusses the processes and methods used to engineer, design, and coordinate engineering trades and performance assessments using SLS practices as applied to the GN&C system, with a particular focus on the navigation components.

The accuracy of an electromagnetic navigation system in lateral skull base approaches.

PubMed

Komune, Noritaka; Matsushima, Ken; Matsuo, Satoshi; Safavi-Abbasi, Sam; Matsumoto, Nozomu; Rhoton, Albert L

2017-02-01

Image-guided optical tracking systems are being used with increased frequency in lateral skull base surgery. Recently, electromagnetic tracking systems have become available for use in this region. However, the clinical accuracy of the electromagnetic tracking system has not been examined in lateral skull base surgery. This study evaluates the accuracy of electromagnetic navigation in lateral skull base surgery. Cadaveric and radiographic study. Twenty cadaveric temporal bones were dissected in a surgical setting under a commercially available, electromagnetic surgical navigation system. The target registration error (TRE) was measured at 28 surgical landmarks during and after performing the standard translabyrinthine and middle cranial fossa surgical approaches to the internal acoustic canal. In addition, three demonstrative procedures that necessitate navigation with high accuracy were performed; that is, canalostomy of the superior semicircular canal from the middle cranial fossa, 1 cochleostomy from the middle cranial fossa, 2 and infralabyrinthine approach to the petrous apex. 3 RESULTS: Eleven of 17 (65%) of the targets in the translabyrinthine approach and five of 11 (45%) of the targets in the middle fossa approach could be identified in the navigation system with TRE of less than 0.5 mm. Three accuracy-dependent procedures were completed without anatomical injury of important anatomical structures. The electromagnetic navigation system had sufficient accuracy to be used in the surgical setting. It was possible to perform complex procedures in the lateral skull base under the guidance of the electromagnetically tracked navigation system. N/A. Laryngoscope, 2016 127:450-459, 2017. © 2016 The American Laryngological, Rhinological and Otological Society, Inc.

Performance of mobile digital X-ray fluoroscopy using a novel flat panel detector for intraoperative use.

PubMed

Jeong, Chang-Won; Ryu, Jong-Hyun; Joo, Su-Chong; Jun, Hong-Young; Heo, Dong-Woon; Lee, Jinseok; Kim, Kyong-Woo; Yoon, Kwon-Ha

2015-01-01

Technologies employing digital X-ray devices are developed for mobile settings. To develop a mobile digital X-ray fluoroscopy (MDF) for intraoperative guidance, using a novel flat panel detector to focus on diagnostics in outpatient clinics, operating and emergency rooms. An MDF for small-scale field diagnostics was configured using an X-ray source and a novel flat panel detector. The imager enabled frame rates reaching 30 fps in full resolution fluoroscopy with maximal running time of 5 minutes. Signal-to-noise (SNR), contrast-to-noise (CNR), and spatial resolution were analyzed. Stray radiation, exposure radiation dose, and effective absorption dose were measured for patients. The system was suitable for small-scale field diagnostics. SNR and CNR were 62.4 and 72.0. Performance at 10% of MTF was 9.6 lp/mm (53 μ m) in the no binned mode. Stray radiation at 100 cm and 150 cm from the source was below 0.2 μ Gy and 0.1 μ Gy. Exposure radiation in radiography and fluoroscopy (5 min) was 10.2 μ Gy and 82.6 mGy. The effective doses during 5-min-long fluoroscopy were 0.26 mSv (wrist), 0.28 mSv (elbow), 0.29 mSv (ankle), and 0.31 mSv (knee). The proposed MDF is suitable for imaging in operating rooms.

A Self-Tuning Kalman Filter for Autonomous Navigation Using the Global Positioning System (GPS)

NASA Technical Reports Server (NTRS)

Truong, Son H.

1999-01-01

Most navigation systems currently operated by NASA are ground-based, and require extensive support to produce accurate results. Recently developed systems that use Kalman filter and GPS (Global Positioning Systems) data for orbit determination greatly reduce dependency on ground support, and have potential to provide significant economies for NASA spacecraft navigation. These systems, however, still rely on manual tuning from analysts. A sophisticated neuro-fuzzy component fully integrated with the flight navigation system can perform the self-tuning capability for the Kalman filter and help the navigation system recover from estimation errors in real time.

Intelligent personal navigator supported by knowledge-based systems for estimating dead reckoning navigation parameters

NASA Astrophysics Data System (ADS)

Moafipoor, Shahram

Personal navigators (PN) have been studied for about a decade in different fields and applications, such as safety and rescue operations, security and emergency services, and police and military applications. The common goal of all these applications is to provide precise and reliable position, velocity, and heading information of each individual in various environments. In the PN system developed in this dissertation, the underlying assumption is that the system does not require pre-existing infrastructure to enable pedestrian navigation. To facilitate this capability, a multisensor system concept, based on the Global Positioning System (GPS), inertial navigation, barometer, magnetometer, and a human pedometry model has been developed. An important aspect of this design is to use the human body as navigation sensor to facilitate Dead Reckoning (DR) navigation in GPS-challenged environments. The system is designed predominantly for outdoor environments, where occasional loss of GPS lock may happen; however, testing and performance demonstration have been extended to indoor environments. DR navigation is based on a relative-measurement approach, with the key idea of integrating the incremental motion information in the form of step direction (SD) and step length (SL) over time. The foundation of the intelligent navigation system concept proposed here rests in exploiting the human locomotion pattern, as well as change of locomotion in varying environments. In this context, the term intelligent navigation represents the transition from the conventional point-to-point DR to dynamic navigation using the knowledge about the mechanism of the moving person. This approach increasingly relies on integrating knowledge-based systems (KBS) and artificial intelligence (AI) methodologies, including artificial neural networks (ANN) and fuzzy logic (FL). In addition, a general framework of the quality control for the real-time validation of the DR processing is proposed, based on a two-stage Kalman Filter approach. The performance comparison of the algorithm based on different field and simulated datasets, with varying levels of sensor errors, showed that 90 per cent success rate was achieved in detection of outliers for SL and 80 per cent for SD. The SL is predicted for both KBS-based ANN and FL approaches with an average accumulated error of 2 per cent, observed for the total distance traveled, which is generally an improvement over most of the existing pedometry systems. The target accuracy of the system is +/-(3-5)m CEP50 (circular error, probable 50%). This dissertation provides a performance analysis in the outdoor and indoor environments for different operators. Another objective of this dissertation is to test the system's navigation limitation in DR mode in terms of time and trajectory length in order to determine the upper limit of indoor operations. It was determined that for more than four indoor loops, where the user walked 261m in about 6.5 minutes, the DR performance met the required accuracy specifications. However, these results are only relevant to the existing data. Future studies should consider more comprehensive performance analysis for longer trajectories in challenging environments and possible extension to image-based navigation to expand the indoor capability of the system.

Fluoroscopically guided transforaminal epidural steroid injections at a quaternary-care teaching institution: effect of trainee involvement and patient body mass index on fluoroscopy time and patient dose.

PubMed

Tiegs-Heiden, C A; Murthy, N S; Geske, J R; Diehn, F E; Schueler, B A; Wald, J T; Kaufmann, T J; Lehman, V T; Carr, C M; Amrami, K K; Morris, J M; Thielen, K R; Maus, T P

2016-01-01

To investigate whether there are differences in fluoroscopy time and patient dose for fluoroscopically guided lumbar transforaminal epidural steroid injections (TFESIs) performed by staff radiologists versus with trainees and to evaluate the effect of patient body mass index (BMI) on fluoroscopy time and patient dose, including their interactions with other variables. Single-level lumbar TFESIs (n=1844) between 1 January 2011 and 31 December 2013 were reviewed. Fluoroscopy time, reference point air kerma (Ka,r), and kerma area product (KAP) were recorded. BMI and trainee involvement were examined as predictors of fluoroscopy time, Ka,r, and KAP in models adjusted for age and gender in multivariable linear models. Stratified models of BMI groups by trainee presence were performed. Increased age was the only significant predictor of increased fluoroscopy time (p<0.0001). Ka,r and KAP were significantly higher in patients with a higher BMI (p<0.0001 and p=0.0009). When stratified by BMI, longer fluoroscopy time predicted increased Ka,r and KAP in all groups (p<0.0001). Trainee involvement was not a statistically significant predictor of fluoroscopy time or Ka,r in any BMI category. KAP was lower with trainees in the overweight group (p=0.0009) and higher in male patients for all BMI categories (p<0.02). Trainee involvement did not result in increased fluoroscopy time or patient dose. BMI did not affect fluoroscopy time; however, overweight and obese patients received significantly higher Ka,r and KAP. Male patients received a higher KAP in all BMI categories. Limiting fluoroscopy time and good collimation practices should be reinforced in these patients. Copyright © 2015 The Royal College of Radiologists. Published by Elsevier Ltd. All rights reserved.

Addressing the Influence of Space Weather on Airline Navigation

NASA Technical Reports Server (NTRS)

Sparks, Lawrence

2012-01-01

The advent of satellite-based augmentation systems has made it possible to navigate aircraft safely using radio signals emitted by global navigation satellite systems (GNSS) such as the Global Positioning System. As a signal propagates through the earth's ionosphere, it suffers delay that is proportional to the total electron content encountered along the raypath. Since the magnitude of this total electron content is strongly influenced by space weather, the safety and reliability of GNSS for airline navigation requires continual monitoring of the state of the ionosphere and calibration of ionospheric delay. This paper examines the impact of space weather on GNSS-based navigation and provides an overview of how the Wide Area Augmentation System protects its users from positioning error due to ionospheric disturbances

CT Fluoroscopy-Guided Lung Biopsy with Novel Steerable Biopsy Canula: Ex-Vivo Evaluation in Ventilated Porcine Lung Explants

DOE Office of Scientific and Technical Information (OSTI.GOV)

Schaefer, Philipp J., E-mail: jp.schaefer@rad.uni-kiel.de; Fabel, Michael; Bolte, Hendrik

2010-08-15

The purpose was to evaluate ex-vivo a prototype of a novel biopsy canula under CT fluoroscopy-guidance in ventilated porcine lung explants in respiratory motion simulations. Using an established chest phantom for porcine lung explants, n = 24 artificial lesions consisting of a fat-wax-Lipiodol mixture (approx. 70HU) were placed adjacent to sensible structures such as aorta, pericardium, diaphragm, bronchus and pulmonary artery. A piston pump connected to a reservoir beneath a flexible silicone reconstruction of a diaphragm simulated respiratory motion by rhythmic inflation and deflation of 1.5 L water. As biopsy device an 18-gauge prototype biopsy canula with a lancet-like, helicallymore » bended cutting edge was used. The artificial lesions were punctured under CT fluoroscopy-guidance (SOMATOM Sensation 64, Siemens, Erlangen, Germany; 30mAs/120 kV/5 mm slice thickness) implementing a dedicated protocol for CT fluoroscopy-guided lung biopsy. The mean-diameter of the artificial lesions was 8.3 {+-} 2.6 mm, and the mean-distance of the phantom wall to the lesions was 54.1 {+-} 13.5 mm. The mean-displacement of the lesions by respiratory motion was 14.1 {+-} 4.0 mm. The mean-duration of CT fluoroscopy was 9.6 {+-} 5.1 s. On a 4-point scale (1 = central; 2 = peripheral; 3 = marginal; 4 = off target), the mean-targeted precision was 1.9 {+-} 0.9. No misplacement of the biopsy canula affecting adjacent structures could be detected. The novel steerable biopsy canula proved to be efficient in the ex-vivo set-up. The chest phantom enabling respiratory motion and the steerable biopsy canula offer a feasible ex-vivo system for evaluating and training CT fluoroscopy-guided lung biopsy adapted to respiratory motion.« less

Navigation concepts for magnetic resonance imaging-guided musculoskeletal interventions.

PubMed

Busse, Harald; Kahn, Thomas; Moche, Michael

2011-08-01

Image-guided musculoskeletal (MSK) interventions are a widely used alternative to open surgical procedures for various pathological findings in different body regions. They traditionally involve one of the established x-ray imaging techniques (radiography, fluoroscopy, computed tomography) or ultrasound scanning. Over the last decades, magnetic resonance imaging (MRI) has evolved into one of the most powerful diagnostic tools for nearly the whole body and has therefore been increasingly considered for interventional guidance as well.The strength of MRI for MSK applications is a combination of well-known general advantages, such as multiplanar and functional imaging capabilities, wide choice of tissue contrasts, and absence of ionizing radiation, as well as a number of MSK-specific factors, for example, the excellent depiction of soft-tissue tumors, nonosteolytic bone changes, and bone marrow lesions. On the downside, the magnetic resonance-compatible equipment needed, restricted space in the magnet, longer imaging times, and the more complex workflow have so far limited the number of MSK procedures under MRI guidance.Navigation solutions are generally a natural extension of any interventional imaging system, in particular, because powerful hardware and software for image processing have become routinely available. They help to identify proper access paths, provide accurate feedback on the instrument positions, facilitate the workflow in an MRI environment, and ultimately contribute to procedural safety and success.The purposes of this work were to describe some basic concepts and devices for MRI guidance of MSK procedures and to discuss technical and clinical achievements and challenges for some selected implementations.

A Self-Tuning Kalman Filter for Autonomous Navigation using the Global Positioning System (GPS)

NASA Technical Reports Server (NTRS)

Truong, S. H.

1999-01-01

Most navigation systems currently operated by NASA are ground-based, and require extensive support to produce accurate results. Recently developed systems that use Kalman filter and GPS data for orbit determination greatly reduce dependency on ground support, and have potential to provide significant economies for NASA spacecraft navigation. These systems, however, still rely on manual tuning from analysts. A sophisticated neuro-fuzzy component fully integrated with the flight navigation system can perform the self-tuning capability for the Kalman filter and help the navigation system recover from estimation errors in real time.

A Modified Personalized Image-Based Drill Guide Template for Atlantoaxial Pedicle Screw Placement: A Clinical Study

PubMed Central

Jiang, Lianghai; Dong, Liang; Tan, Mingsheng; Qi, Yingna; Yang, Feng; Yi, Ping; Tang, Xiangsheng

2017-01-01

Background Atlantoaxial posterior pedicle screw fixation has been widely used for treatment of atlantoaxial instability (AAI). However, precise and safe insertion of atlantoaxial pedicle screws remains challenging. This study presents a modified drill guide template based on a previous template for atlantoaxial pedicle screw placement. Material/Methods Our study included 54 patients (34 males and 20 females) with AAI. All the patients underwent posterior atlantoaxial pedicle screw fixation: 25 patients underwent surgery with the use of a modified drill guide template (template group) and 29 patients underwent surgery via the conventional method (conventional group). In the template group, a modified drill guide template was designed for each patient. The modified drill guide template and intraoperative fluoroscopy were used for surgery in the template group, while only intraoperative fluoroscopy was used in the conventional group. Results Of the 54 patients, 52 (96.3%) completed the follow-up for more than 12 months. The template group had significantly lower intraoperative fluoroscopy frequency (p<0.001) and higher accuracy of screw insertion (p=0.045) than the conventional group. There were no significant differences in surgical duration, intraoperative blood loss, or improvement of neurological function between the 2 groups (p>0.05). Conclusions Based on the results of this study, it is feasible to use the modified drill guide template for atlantoaxial pedicle screw placement. Using the template can significantly lower the screw malposition rate and the frequency of intraoperative fluoroscopy. PMID:28301445

Comparative ergonomic workflow and user experience analysis of MRI versus fluoroscopy-guided vascular interventions: an iliac angioplasty exemplar case study.

PubMed

Fernández-Gutiérrez, Fabiola; Martínez, Santiago; Rube, Martin A; Cox, Benjamin F; Fatahi, Mahsa; Scott-Brown, Kenneth C; Houston, J Graeme; McLeod, Helen; White, Richard D; French, Karen; Gueorguieva, Mariana; Immel, Erwin; Melzer, Andreas

2015-10-01

A methodological framework is introduced to assess and compare a conventional fluoroscopy protocol for peripheral angioplasty with a new magnetic resonant imaging (MRI)-guided protocol. Different scenarios were considered during interventions on a perfused arterial phantom with regard to time-based and cognitive task analysis, user experience and ergonomics. Three clinicians with different expertise performed a total of 43 simulated common iliac angioplasties (9 fluoroscopic, 34 MRI-guided) in two blocks of sessions. Six different configurations for MRI guidance were tested in the first block. Four of them were evaluated in the second block and compared to the fluoroscopy protocol. Relevant stages' durations were collected, and interventions were audio-visually recorded from different perspectives. A cued retrospective protocol analysis (CRPA) was undertaken, including personal interviews. In addition, ergonomic constraints in the MRI suite were evaluated. Significant differences were found when comparing the performance between MRI configurations versus fluoroscopy. Two configurations [with times of 8.56 (0.64) and 9.48 (1.13) min] led to reduce procedure time for MRI guidance, comparable to fluoroscopy [8.49 (0.75) min]. The CRPA pointed out the main influential factors for clinical procedure performance. The ergonomic analysis quantified musculoskeletal risks for interventional radiologists when utilising MRI. Several alternatives were suggested to prevent potential low-back injuries. This work presents a step towards the implementation of efficient operational protocols for MRI-guided procedures based on an integral and multidisciplinary framework, applicable to the assessment of current vascular protocols. The use of first-user perspective raises the possibility of establishing new forms of clinical training and education.

National Airspace System : persistent problems in FAA's new navigation system highlight need for periodic reevaluation

DOT National Transportation Integrated Search

2000-06-01

Currently, the Federal Aviation Administration (FAA) relies principally on a ground-based navigation system that uses various types of equipment to assist pilots in navigating their assigned routes and to provide them with guidance for landing their ...

Uterine Artery Embolization for Leiomyomata: Optimization of the Radiation Dose to the Patient Using a Flat-Panel Detector Angiographic Suite

DOE Office of Scientific and Technical Information (OSTI.GOV)

Sapoval, Marc, E-mail: marc.sapoval2@egp.aphp.fr; Pellerin, Olivier; Rehel, Jean-Luc

The purpose of this study was to assess the ability of low-dose/low-frame fluoroscopy/angiography with a flat-panel detector angiographic suite to reduce the dose delivered to patients during uterine fibroid embolization (UFE). A two-step prospective dosimetric study was conducted, with a flat-panel detector angiography suite (Siemens Axiom Artis) integrating automatic exposure control (AEC), during 20 consecutive UFEs. Patient dosimetry was performed using calibrated thermoluminescent dosimeters placed on the lower posterior pelvis skin. The first step (10 patients; group A) consisted in UFE (bilateral embolization, calibrated microspheres) performed using the following parameters: standard fluoroscopy (15 pulses/s) and angiography (3 frames/s). The secondmore » step (next consecutive 10 patients; group B) used low-dose/low-frame fluoroscopy (7.5 pulses/s for catheterization and 3 pulses/s for embolization) and angiography (1 frame/s). We also recorded the total dose-area product (DAP) delivered to the patient and the fluoroscopy time as reported by the manufacturer's dosimetry report. The mean peak skin dose decreased from 2.4 {+-} 1.3 to 0.4 {+-} 0.3 Gy (P = 0.001) for groups A and B, respectively. The DAP values decreased from 43,113 {+-} 27,207 {mu}Gy m{sup 2} for group A to 9,515 {+-} 4,520 {mu}Gy m{sup 2} for group B (P = 0.003). The dose to ovaries and uterus decreased from 378 {+-} 238 mGy (group A) to 83 {+-} 41 mGy (group B) and from 388 {+-} 246 mGy (group A) to 85 {+-} 39 mGy (group B), respectively. Effective doses decreased from 112 {+-} 71 mSv (group A) to 24 {+-} 12 mSv (group B) (P = 0.003). In conclusion, the use of low-dose/low-frame fluoroscopy/angiography, based on a good understanding of the AEC system and also on the technique during uterine fibroid embolization, allows a significant decrease in the dose exposure to the patient.« less

An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition

PubMed Central

Liu, Bingqi; Wei, Shihui; Su, Guohua; Wang, Jiping; Lu, Jiazhen

2018-01-01

The navigation accuracy of the inertial navigation system (INS) can be greatly improved when the inertial measurement unit (IMU) is effectively calibrated and compensated, such as gyro drifts and accelerometer biases. To reduce the requirement for turntable precision in the classical calibration method, a continuous dynamic self-calibration method based on a three-axis rotating frame for the hybrid inertial navigation system is presented. First, by selecting a suitable IMU frame, the error models of accelerometers and gyros are established. Then, by taking the navigation errors during rolling as the observations, the overall twenty-one error parameters of hybrid inertial navigation system (HINS) are identified based on the calculation of the intermediate parameter. The actual experiment verifies that the method can identify all error parameters of HINS and this method has equivalent accuracy to the classical calibration on a high-precision turntable. In addition, this method is rapid, simple and feasible. PMID:29695041

An Improved Fast Self-Calibration Method for Hybrid Inertial Navigation System under Stationary Condition.

PubMed

Liu, Bingqi; Wei, Shihui; Su, Guohua; Wang, Jiping; Lu, Jiazhen

2018-04-24

The navigation accuracy of the inertial navigation system (INS) can be greatly improved when the inertial measurement unit (IMU) is effectively calibrated and compensated, such as gyro drifts and accelerometer biases. To reduce the requirement for turntable precision in the classical calibration method, a continuous dynamic self-calibration method based on a three-axis rotating frame for the hybrid inertial navigation system is presented. First, by selecting a suitable IMU frame, the error models of accelerometers and gyros are established. Then, by taking the navigation errors during rolling as the observations, the overall twenty-one error parameters of hybrid inertial navigation system (HINS) are identified based on the calculation of the intermediate parameter. The actual experiment verifies that the method can identify all error parameters of HINS and this method has equivalent accuracy to the classical calibration on a high-precision turntable. In addition, this method is rapid, simple and feasible.

Latest-generation catheterization systems enable invasive submillisievert coronary angiography.

PubMed

Kuon, E; Weitmann, K; Hummel, A; Dörr, M; Reffelmann, T; Riad, A; Busch, M C; Felix, S B; Hoffmann, W; Empen, K

2015-05-01

The radiation risk of patients undergoing invasive cardiology remains considerable and includes skin injuries and cancer. To date, submillisievert coronary angiography has not been considered feasible. In 2011, we compared results from 100 consecutive patients undergoing elective coronary angiography using the latest-generation flat-panel angiography system (FPS) with results from examinations by the same operator using 106 historic controls with a conventional image-intensifier system (IIS) that was new in 2002. The median patient exposure parameters were measured as follows: dose-area product (DAP) associated with radiographic cine acquisitions (DAP(R)) and fluoroscopy (DAP(F)) scenes, radiographic frames and runs, and cumulative exposure times for radiography and fluoroscopy. On the FPS as compared to the traditional IIS, radiographic detector entrance dose levels were reduced from 164 to 80 nGy/frame and pulse rates were lowered from 12.5/s to 7.5/s during radiography and from 25/s to 4/s during fluoroscopy. The cardiologist's performance patterns remained comparable over the years: fluoroscopy time was constant and radiography time even slightly increased. Overall patient DAP decreased from 7.0 to 2.4 Gy × cm(2); DAP(R), from 4.2 to 1.7 Gy × cm(2); and DAP(F), from 2.8 to 0.6 Gy × cm(2). Time-adjusted DAP(R)/s decreased from 436 to 130 mGy × cm(2) and DAP(F)/s, from 21.6 to 4.4 mGy × cm(2). Cumulative patient skin dose with the FPS amounted to 67 mGy, and the median (interquartile range) of effective dose was 0.5 (0.3 … 0.7) mSv. Consistent application of radiation-reducing techniques with the latest-generation flat-panel systems enables submillisievert coronary angiography in invasive cardiology.

Human Factors Considerations for Performance-Based Navigation

NASA Technical Reports Server (NTRS)

Barhydt, Richard; Adams, Catherine A.

2006-01-01

A transition toward a performance-based navigation system is currently underway in both the United States and around the world. Performance-based navigation incorporates Area Navigation (RNAV) and Required Navigation Performance (RNP) procedures that do not rely on the location of ground-based navigation aids. These procedures offer significant benefits to both operators and air traffic managers. Under sponsorship from the Federal Aviation Administration (FAA), the National Aeronautics and Space Administration (NASA) has undertaken a project to document human factors issues that have emerged during RNAV and RNP operations and propose areas for further consideration. Issues were found to include aspects of air traffic control and airline procedures, aircraft systems, and procedure design. Major findings suggest the need for human factors-specific instrument procedure design guidelines. Ongoing industry and government activities to address air-ground communication terminology, procedure design improvements, and chart-database commonality are strongly encouraged.

Satellite Imagery Assisted Road-Based Visual Navigation System

NASA Astrophysics Data System (ADS)

Volkova, A.; Gibbens, P. W.

2016-06-01

There is a growing demand for unmanned aerial systems as autonomous surveillance, exploration and remote sensing solutions. Among the key concerns for robust operation of these systems is the need to reliably navigate the environment without reliance on global navigation satellite system (GNSS). This is of particular concern in Defence circles, but is also a major safety issue for commercial operations. In these circumstances, the aircraft needs to navigate relying only on information from on-board passive sensors such as digital cameras. An autonomous feature-based visual system presented in this work offers a novel integral approach to the modelling and registration of visual features that responds to the specific needs of the navigation system. It detects visual features from Google Earth* build a feature database. The same algorithm then detects features in an on-board cameras video stream. On one level this serves to localise the vehicle relative to the environment using Simultaneous Localisation and Mapping (SLAM). On a second level it correlates them with the database to localise the vehicle with respect to the inertial frame. The performance of the presented visual navigation system was compared using the satellite imagery from different years. Based on comparison results, an analysis of the effects of seasonal, structural and qualitative changes of the imagery source on the performance of the navigation algorithm is presented. * The algorithm is independent of the source of satellite imagery and another provider can be used

Novel Three-Dimensional Image Fusion Software to Facilitate Guidance of Complex Cardiac Catheterization : 3D image fusion for interventions in CHD.

PubMed

Goreczny, Sebastian; Dryzek, Pawel; Morgan, Gareth J; Lukaszewski, Maciej; Moll, Jadwiga A; Moszura, Tomasz

2017-08-01

We report initial experience with novel three-dimensional (3D) image fusion software for guidance of transcatheter interventions in congenital heart disease. Developments in fusion imaging have facilitated the integration of 3D roadmaps from computed tomography or magnetic resonance imaging datasets. The latest software allows live fusion of two-dimensional (2D) fluoroscopy with pre-registered 3D roadmaps. We reviewed all cardiac catheterizations guided with this software (Philips VesselNavigator). Pre-catheterization imaging and catheterization data were collected focusing on fusion of 3D roadmap, intervention guidance, contrast and radiation exposure. From 09/2015 until 06/2016, VesselNavigator was applied in 34 patients for guidance (n = 28) or planning (n = 6) of cardiac catheterization. In all 28 patients successful 2D-3D registration was performed. Bony structures combined with the cardiovascular silhouette were used for fusion in 26 patients (93%), calcifications in 9 (32%), previously implanted devices in 8 (29%) and low-volume contrast injection in 7 patients (25%). Accurate initial 3D roadmap alignment was achieved in 25 patients (89%). Six patients (22%) required realignment during the procedure due to distortion of the anatomy after introduction of stiff equipment. Overall, VesselNavigator was applied successfully in 27 patients (96%) without any complications related to 3D image overlay. VesselNavigator was useful in guidance of nearly all of cardiac catheterizations. The combination of anatomical markers and low-volume contrast injections allowed reliable 2D-3D registration in the vast majority of patients.

Magnetic navigation in adults with atrial isomerism (heterotaxy syndrome) and supraventricular arrhythmias.

PubMed

Suman-Horduna, Irina; Babu-Narayan, Sonya V; Ueda, Akiko; Mantziari, Lilian; Gujic, Marko; Marchese, Procolo; Dimopoulos, Konstantinos; Gatzoulis, Michael A; Rigby, Michael L; Ho, Siew Yen; Ernst, Sabine

2013-06-01

We analysed the type and mechanism of supraventricular arrhythmias encountered in a series of symptomatic adults with atrial isomerism undergoing catheter ablation procedures. The study population included consecutive adults with atrial isomerism who had previously undergone surgical repair or palliation of the associated anomalies. Patients underwent electrophysiological study for symptomatic arrhythmia in our institution between 2010 and 2012 using magnetic navigation in conjunction with CARTO RMT and three-dimensional (3D) image integration. Eight patients (five females) with a median age of 33 years [interquartile range (IQR) 24-39] were studied. Access to the cardiac chambers of interest was obtained retrogradely via the aorta using remotely navigated magnetic catheters in six patients. Radiofrequency ablation successfully targeted twin atrioventricular (AV) nodal reentrant tachycardia in two patients, atrial fibrillation (AF) in three, focal atrial tachycardia (AT) mainly originating in the left-sided atrium in four patients, and macro-reentrant AT dependent on a right-sided inferior isthmus in three patients. The median fluoroscopy time was 3.0 min (IQR 2-11). After a median follow-up of 10 months (IQR 6-21), five of the ablated patients are free from arrhythmia; two patients experienced episodes of self-terminated AF and AT, respectively, within one month post-ablation; the remaining patient had only non-sustained AT during the electrophysiological study and was managed medically. Various supraventricular tachycardia mechanisms are possible in adults with heterotaxy syndrome, all potentially amenable to radiofrequency ablation. The use of remote magnetic navigation along with 3D mapping facilitated the procedures and resulted in a short radiation time.

Interplanetary navigation

NASA Technical Reports Server (NTRS)

Stuart, J. R.

1984-01-01

The evolution of NASA's planetary navigation techniques is traced, and radiometric and optical data types are described. Doppler navigation; the Deep Space Network; differenced two-way range techniques; differential very long base interferometry; and optical navigation are treated. The Doppler system enables a spacecraft in cruise at high absolute declination to be located within a total angular uncertainty of 1/4 microrad. The two-station range measurement provides a 1 microrad backup at low declinations. Optical data locate the spacecraft relative to the target to an angular accuracy of 5 microrad. Earth-based radio navigation and its less accurate but target-relative counterpart, optical navigation, thus form complementary measurement sources, which provide a powerful sensory system to produce high-precision orbit estimates.

2D–3D radiograph to cone-beam computed tomography (CBCT) registration for C-arm image-guided robotic surgery

PubMed Central

Liu, Wen Pei; Otake, Yoshito; Azizian, Mahdi; Wagner, Oliver J.; Sorger, Jonathan M.; Armand, Mehran; Taylor, Russell H.

2015-01-01

Purpose C-arm radiographs are commonly used for intraoperative image guidance in surgical interventions. Fluoroscopy is a cost-effective real-time modality, although image quality can vary greatly depending on the target anatomy. Cone-beam computed tomography (CBCT) scans are sometimes available, so 2D–3D registration is needed for intra-procedural guidance. C-arm radiographs were registered to CBCT scans and used for 3D localization of peritumor fiducials during a minimally invasive thoracic intervention with a da Vinci Si robot. Methods Intensity-based 2D–3D registration of intraoperative radiographs to CBCT was performed. The feasible range of X-ray projections achievable by a C-arm positioned around a da Vinci Si surgical robot, configured for robotic wedge resection, was determined using phantom models. Experiments were conducted on synthetic phantoms and animals imaged with an OEC 9600 and a Siemens Artis zeego, representing the spectrum of different C-arm systems currently available for clinical use. Results The image guidance workflow was feasible using either an optically tracked OEC 9600 or a Siemens Artis zeego C-arm, resulting in an angular difference of Δθ : ~ 30°. The two C-arm systems provided TREmean ≤ 2.5 mm and TREmean ≤ 2.0 mm, respectively (i.e., comparable to standard clinical intraoperative navigation systems). Conclusions C-arm 3D localization from dual 2D–3D registered radiographs was feasible and applicable for intraoperative image guidance during da Vinci robotic thoracic interventions using the proposed workflow. Tissue deformation and in vivo experiments are required before clinical evaluation of this system. PMID:25503592

A research on the positioning technology of vehicle navigation system from single source to "ASPN"

NASA Astrophysics Data System (ADS)

Zhang, Jing; Li, Haizhou; Chen, Yu; Chen, Hongyue; Sun, Qian

2017-10-01

Due to the suddenness and complexity of modern warfare, land-based weapon systems need to have precision strike capability on roads and railways. The vehicle navigation system is one of the most important equipments for the land-based weapon systems that have precision strick capability. There are inherent shortcomings for single source navigation systems to provide continuous and stable navigation information. To overcome the shortcomings, the multi-source positioning technology is developed. The All Source Positioning and Navigaiton (ASPN) program was proposed in 2010, which seeks to enable low cost, robust, and seamless navigation solutions for military to use on any operational platform and in any environment with or without GPS. The development trend of vehicle positioning technology was reviewed in this paper. The trend indicates that the positioning technology is developed from single source and multi-source to ASPN. The data fusion techniques based on multi-source and ASPN was analyzed in detail.

A Design Study of Onboard Navigation and Guidance During Aerocapture at Mars. M.S. Thesis

NASA Technical Reports Server (NTRS)

Fuhry, Douglas Paul

1988-01-01

The navigation and guidance of a high lift-to-drag ratio sample return vehicle during aerocapture at Mars are investigated. Emphasis is placed on integrated systems design, with guidance algorithm synthesis and analysis based on vehicle state and atmospheric density uncertainty estimates provided by the navigation system. The latter utilizes a Kalman filter for state vector estimation, with useful update information obtained through radar altimeter measurements and density altitude measurements based on IMU-measured drag acceleration. A three-phase guidance algorithm, featuring constant bank numeric predictor/corrector atmospheric capture and exit phases and an extended constant altitude cruise phase, is developed to provide controlled capture and depletion of orbital energy, orbital plane control, and exit apoapsis control. Integrated navigation and guidance systems performance are analyzed using a four degree-of-freedom computer simulation. The simulation environment includes an atmospheric density model with spatially correlated perturbations to provide realistic variations over the vehicle trajectory. Navigation filter initial conditions for the analysis are based on planetary approach optical navigation results. Results from a selection of test cases are presented to give insight into systems performance.

Miniaturized GPS/MEMS IMU integrated board

NASA Technical Reports Server (NTRS)

Lin, Ching-Fang (Inventor)

2012-01-01

This invention documents the efforts on the research and development of a miniaturized GPS/MEMS IMU integrated navigation system. A miniaturized GPS/MEMS IMU integrated navigation system is presented; Laser Dynamic Range Imager (LDRI) based alignment algorithm for space applications is discussed. Two navigation cameras are also included to measure the range and range rate which can be integrated into the GPS/MEMS IMU system to enhance the navigation solution.

Altair Navigation During Trans-Lunar Cruise, Lunar Orbit, Descent and Landing

NASA Technical Reports Server (NTRS)

Ely, Todd A.; Heyne, Martin; Riedel, Joseph E.

2010-01-01

The Altair lunar lander navigation system is driven by a set of requirements that not only specify a need to land within 100 m of a designated spot on the Moon, but also be capable of a safe return to an orbiting Orion capsule in the event of loss of Earth ground support. These requirements lead to the need for a robust and capable on-board navigation system that works in conjunction with an Earth ground navigation system that uses primarily ground-based radiometric tracking. The resulting system relies heavily on combining a multiplicity of data types including navigation state updates from the ground based navigation system, passive optical imaging from a gimbaled camera, a stable inertial measurement unit, and a capable radar altimeter and velocimeter. The focus of this paper is on navigation performance during the trans-lunar cruise, lunar orbit, and descent/landing mission phases with the goal of characterizing knowledge and delivery errors to key mission events, bound the statistical delta V costs for executing the mission, as well as the determine the landing dispersions due to navigation. This study examines the nominal performance that can be obtained using the current best estimate of the vehicle, sensor, and environment models. Performance of the system under a variety sensor outages and parametric trades is also examined.

Usability Testing of Two Ambulatory EHR Navigators.

PubMed

Hultman, Gretchen; Marquard, Jenna; Arsoniadis, Elliot; Mink, Pamela; Rizvi, Rubina; Ramer, Tim; Khairat, Saif; Fickau, Keri; Melton, Genevieve B

2016-01-01

Despite widespread electronic health record (EHR) adoption, poor EHR system usability continues to be a significant barrier to effective system use for end users. One key to addressing usability problems is to employ user testing and user-centered design. To understand if redesigning an EHR-based navigation tool with clinician input improved user performance and satisfaction. A usability evaluation was conducted to compare two versions of a redesigned ambulatory navigator. Participants completed tasks for five patient cases using the navigators, while employing a think-aloud protocol. The tasks were based on Meaningful Use (MU) requirements. The version of navigator did not affect perceived workload, and time to complete tasks was longer in the redesigned navigator. A relatively small portion of navigator content was used to complete the MU-related tasks, though navigation patterns were highly variable across participants for both navigators. Preferences for EHR navigation structures appeared to be individualized. This study demonstrates the importance of EHR usability assessments to evaluate group and individual performance of different interfaces and preferences for each design.

Performance Enhancement of a USV INS/CNS/DVL Integration Navigation System Based on an Adaptive Information Sharing Factor Federated Filter

PubMed Central

Wang, Qiuying; Cui, Xufei; Li, Yibing; Ye, Fang

2017-01-01

To improve the ability of autonomous navigation for Unmanned Surface Vehicles (USVs), multi-sensor integrated navigation based on Inertial Navigation System (INS), Celestial Navigation System (CNS) and Doppler Velocity Log (DVL) is proposed. The CNS position and the DVL velocity are introduced as the reference information to correct the INS divergence error. The autonomy of the integrated system based on INS/CNS/DVL is much better compared with the integration based on INS/GNSS alone. However, the accuracy of DVL velocity and CNS position are decreased by the measurement noise of DVL and bad weather, respectively. Hence, the INS divergence error cannot be estimated and corrected by the reference information. To resolve the problem, the Adaptive Information Sharing Factor Federated Filter (AISFF) is introduced to fuse data. The information sharing factor of the Federated Filter is adaptively adjusted to maintaining multiple component solutions usable as back-ups, which can improve the reliability of overall system. The effectiveness of this approach is demonstrated by simulation and experiment, the results show that for the INS/CNS/DVL integrated system, when the DVL velocity accuracy is decreased and the CNS cannot work under bad weather conditions, the INS/CNS/DVL integrated system can operate stably based on the AISFF method. PMID:28165369

Performance Enhancement of a USV INS/CNS/DVL Integration Navigation System Based on an Adaptive Information Sharing Factor Federated Filter.

PubMed

Wang, Qiuying; Cui, Xufei; Li, Yibing; Ye, Fang

2017-02-03

To improve the ability of autonomous navigation for Unmanned Surface Vehicles (USVs), multi-sensor integrated navigation based on Inertial Navigation System (INS), Celestial Navigation System (CNS) and Doppler Velocity Log (DVL) is proposed. The CNS position and the DVL velocity are introduced as the reference information to correct the INS divergence error. The autonomy of the integrated system based on INS/CNS/DVL is much better compared with the integration based on INS/GNSS alone. However, the accuracy of DVL velocity and CNS position are decreased by the measurement noise of DVL and bad weather, respectively. Hence, the INS divergence error cannot be estimated and corrected by the reference information. To resolve the problem, the Adaptive Information Sharing Factor Federated Filter (AISFF) is introduced to fuse data. The information sharing factor of the Federated Filter is adaptively adjusted to maintaining multiple component solutions usable as back-ups, which can improve the reliability of overall system. The effectiveness of this approach is demonstrated by simulation and experiment, the results show that for the INS/CNS/DVL integrated system, when the DVL velocity accuracy is decreased and the CNS cannot work under bad weather conditions, the INS/CNS/DVL integrated system can operate stably based on the AISFF method.

A Feasibility Analysis of Land-Based SINS/GNSS Gravimetry for Groundwater Resource Detection in Taiwan

PubMed Central

Chiang, Kai-Wei; Lin, Cheng-An; Kuo, Chung-Yen

2015-01-01

The integration of the Strapdown Inertial Navigation System and Global Navigation Satellite System (SINS/GNSS) has been implemented for land-based gravimetry and has been proven to perform well in estimating gravity. Based on the mGal-level gravimetry results, this research aims to construct and develop a land-based SINS/GNSS gravimetry device containing a navigation-grade Inertial Measurement Unit. This research also presents a feasibility analysis for groundwater resource detection. A preliminary comparison of the kinematic velocities and accelerations using multi-combination of GNSS data including Global Positioning System, Global Navigation Satellite System, and BeiDou Navigation Satellite System, indicates that three-system observations performed better than two-system data in the computation. A comparison of gravity derived from SINS/GNSS and measured using a relative gravimeter also shows that both agree reasonably well with a mean difference of 2.30 mGal. The mean difference between repeat measurements of gravity disturbance using SINS/GNSS is 2.46 mGal with a standard deviation of 1.32 mGal. The gravity variation because of the groundwater at Pingtung Plain, Taiwan could reach 2.72 mGal. Hence, the developed land-based SINS/GNSS gravimetry can sufficiently and effectively detect groundwater resources. PMID:26426019

A Feasibility Analysis of Land-Based SINS/GNSS Gravimetry for Groundwater Resource Detection in Taiwan.

PubMed

Chiang, Kai-Wei; Lin, Cheng-An; Kuo, Chung-Yen

2015-09-29

The integration of the Strapdown Inertial Navigation System and Global Navigation Satellite System (SINS/GNSS) has been implemented for land-based gravimetry and has been proven to perform well in estimating gravity. Based on the mGal-level gravimetry results, this research aims to construct and develop a land-based SINS/GNSS gravimetry device containing a navigation-grade Inertial Measurement Unit. This research also presents a feasibility analysis for groundwater resource detection. A preliminary comparison of the kinematic velocities and accelerations using multi-combination of GNSS data including Global Positioning System, Global Navigation Satellite System, and BeiDou Navigation Satellite System, indicates that three-system observations performed better than two-system data in the computation. A comparison of gravity derived from SINS/GNSS and measured using a relative gravimeter also shows that both agree reasonably well with a mean difference of 2.30 mGal. The mean difference between repeat measurements of gravity disturbance using SINS/GNSS is 2.46 mGal with a standard deviation of 1.32 mGal. The gravity variation because of the groundwater at Pingtung Plain, Taiwan could reach 2.72 mGal. Hence, the developed land-based SINS/GNSS gravimetry can sufficiently and effectively detect groundwater resources.

Using ontologies to model human navigation behavior in information networks: A study based on Wikipedia.

PubMed

Lamprecht, Daniel; Strohmaier, Markus; Helic, Denis; Nyulas, Csongor; Tudorache, Tania; Noy, Natalya F; Musen, Mark A

The need to examine the behavior of different user groups is a fundamental requirement when building information systems. In this paper, we present Ontology-based Decentralized Search (OBDS), a novel method to model the navigation behavior of users equipped with different types of background knowledge. Ontology-based Decentralized Search combines decentralized search, an established method for navigation in social networks, and ontologies to model navigation behavior in information networks. The method uses ontologies as an explicit representation of background knowledge to inform the navigation process and guide it towards navigation targets. By using different ontologies, users equipped with different types of background knowledge can be represented. We demonstrate our method using four biomedical ontologies and their associated Wikipedia articles. We compare our simulation results with base line approaches and with results obtained from a user study. We find that our method produces click paths that have properties similar to those originating from human navigators. The results suggest that our method can be used to model human navigation behavior in systems that are based on information networks, such as Wikipedia. This paper makes the following contributions: (i) To the best of our knowledge, this is the first work to demonstrate the utility of ontologies in modeling human navigation and (ii) it yields new insights and understanding about the mechanisms of human navigation in information networks.

Using ontologies to model human navigation behavior in information networks: A study based on Wikipedia

PubMed Central

Lamprecht, Daniel; Strohmaier, Markus; Helic, Denis; Nyulas, Csongor; Tudorache, Tania; Noy, Natalya F.; Musen, Mark A.

2015-01-01

The need to examine the behavior of different user groups is a fundamental requirement when building information systems. In this paper, we present Ontology-based Decentralized Search (OBDS), a novel method to model the navigation behavior of users equipped with different types of background knowledge. Ontology-based Decentralized Search combines decentralized search, an established method for navigation in social networks, and ontologies to model navigation behavior in information networks. The method uses ontologies as an explicit representation of background knowledge to inform the navigation process and guide it towards navigation targets. By using different ontologies, users equipped with different types of background knowledge can be represented. We demonstrate our method using four biomedical ontologies and their associated Wikipedia articles. We compare our simulation results with base line approaches and with results obtained from a user study. We find that our method produces click paths that have properties similar to those originating from human navigators. The results suggest that our method can be used to model human navigation behavior in systems that are based on information networks, such as Wikipedia. This paper makes the following contributions: (i) To the best of our knowledge, this is the first work to demonstrate the utility of ontologies in modeling human navigation and (ii) it yields new insights and understanding about the mechanisms of human navigation in information networks. PMID:26568745

Needle and catheter navigation using electromagnetic tracking for computer-assisted C-arm CT interventions

NASA Astrophysics Data System (ADS)

Nagel, Markus; Hoheisel, Martin; Petzold, Ralf; Kalender, Willi A.; Krause, Ulrich H. W.

2007-03-01

Integrated solutions for navigation systems with CT, MR or US systems become more and more popular for medical products. Such solutions improve the medical workflow, reduce hardware, space and costs requirements. The purpose of our project was to develop a new electromagnetic navigation system for interventional radiology which is integrated into C-arm CT systems. The application is focused on minimally invasive percutaneous interventions performed under local anaesthesia. Together with a vacuum-based patient immobilization device and newly developed navigation tools (needles, panels) we developed a safe and fully automatic navigation system. The radiologist can directly start with navigated interventions after loading images without any prior user interaction. The complete system is adapted to the requirements of the radiologist and to the clinical workflow. For evaluation of the navigation system we performed different phantom studies and achieved an average accuracy of better than 2.0 mm.

Multi-Spacecraft Autonomous Positioning System

NASA Technical Reports Server (NTRS)

Anzalone, Evan

2015-01-01

As the number of spacecraft in simultaneous operation continues to grow, there is an increased dependency on ground-based navigation support. The current baseline system for deep space navigation utilizes Earth-based radiometric tracking, requiring long-duration observations to perform orbit determination and generate a state update. The age, complexity, and high utilization of the ground assets pose a risk to spacecraft navigation performance. In order to perform complex operations at large distances from Earth, such as extraterrestrial landing and proximity operations, autonomous systems are required. With increasingly complex mission operations, the need for frequent and Earth-independent navigation capabilities is further reinforced. The Multi-spacecraft Autonomous Positioning System (MAPS) takes advantage of the growing interspacecraft communication network and infrastructure to allow for Earth-autonomous state measurements to enable network-based space navigation. A notional concept of operations is given in figure 1. This network is already being implemented and routinely used in Martian communications through the use of the Mars Reconnaissance Orbiter and Mars Odyssey spacecraft as relays for surface assets. The growth of this communications architecture is continued through MAVEN, and future potential commercial Mars telecom orbiters. This growing network provides an initial Marslocal capability for inter-spacecraft communication and navigation. These navigation updates are enabled by cross-communication between assets in the network, coupled with onboard navigation estimation routines to integrate packet travel time to generate ranging measurements. Inter-spacecraft communication allows for frequent state broadcasts and time updates from trusted references. The architecture is a software-based solution, enabling its implementation on a wide variety of current assets, with the operational constraints and measurement accuracy determined by onboard systems.

Research on anti - interference based on GNSS

NASA Astrophysics Data System (ADS)

Yu, Huanran; Liu, Yijun

2017-05-01

Satellite Navigation System has been widely used in military and civil fields. It has all-functional, all-weather, continuity and real-time characteristics, can provide the precise position, velocity and timing information's for the users. The environments where the receiver of satellite navigation system works become more and more complex, and the satellite signals are susceptible to intentional or unintentional interferences, anti-jamming capability has become a key problem of satellite navigation receiver's ability to work normal. In this paper, we study a DOA estimation algorithm based on linear symmetric matrix to improve the anti-jamming capability of the satellite navigation receiver, has great significance to improve the performance of satellite navigation system in complex electromagnetic environment and enhance its applicability in various environments.

A Damping Grid Strapdown Inertial Navigation System Based on a Kalman Filter for Ships in Polar Regions.

PubMed

Huang, Weiquan; Fang, Tao; Luo, Li; Zhao, Lin; Che, Fengzhu

2017-07-03

The grid strapdown inertial navigation system (SINS) used in polar navigation also includes three kinds of periodic oscillation errors as common SINS are based on a geographic coordinate system. Aiming ships which have the external information to conduct a system reset regularly, suppressing the Schuler periodic oscillation is an effective way to enhance navigation accuracy. The Kalman filter based on the grid SINS error model which applies to the ship is established in this paper. The errors of grid-level attitude angles can be accurately estimated when the external velocity contains constant error, and then correcting the errors of the grid-level attitude angles through feedback correction can effectively dampen the Schuler periodic oscillation. The simulation results show that with the aid of external reference velocity, the proposed external level damping algorithm based on the Kalman filter can suppress the Schuler periodic oscillation effectively. Compared with the traditional external level damping algorithm based on the damping network, the algorithm proposed in this paper can reduce the overshoot errors when the state of grid SINS is switched from the non-damping state to the damping state, and this effectively improves the navigation accuracy of the system.

Mobile robots IV; Proceedings of the Meeting, Philadelphia, PA, Nov. 6, 7, 1989

DOE Office of Scientific and Technical Information (OSTI.GOV)

Wolfe, W.J.; Chun, W.H.

1990-01-01

The present conference on mobile robot systems discusses high-speed machine perception based on passive sensing, wide-angle optical ranging, three-dimensional path planning for flying/crawling robots, navigation of autonomous mobile intelligence in an unstructured natural environment, mechanical models for the locomotion of a four-articulated-track robot, a rule-based command language for a semiautonomous Mars rover, and a computer model of the structured light vision system for a Mars rover. Also discussed are optical flow and three-dimensional information for navigation, feature-based reasoning trail detection, a symbolic neural-net production system for obstacle avoidance and navigation, intelligent path planning for robot navigation in an unknown environment,more » behaviors from a hierarchical control system, stereoscopic TV systems, the REACT language for autonomous robots, and a man-amplifying exoskeleton.« less

When a Better Interface and Easy Navigation Aren't Enough: Examining the Information Architecture in a Law Enforcement Agency.

ERIC Educational Resources Information Center

Hauck, Roslin V.; Weisband, Suzanne

2002-01-01

Describes two database systems in a law enforcement agency: one is a legacy, text-based system with cumbersome navigation; the newer system is a graphical user interface with simplified navigation. Discusses results of two user studies that showed personnel preferred the older more familiar system and considers implications for system design and…

Rapid fusion of 2D X-ray fluoroscopy with 3D multislice CT for image-guided electrophysiology procedures

NASA Astrophysics Data System (ADS)

Zagorchev, Lyubomir; Manzke, Robert; Cury, Ricardo; Reddy, Vivek Y.; Chan, Raymond C.

2007-03-01

Interventional cardiac electrophysiology (EP) procedures are typically performed under X-ray fluoroscopy for visualizing catheters and EP devices relative to other highly-attenuating structures such as the thoracic spine and ribs. These projections do not however contain information about soft-tissue anatomy and there is a recognized need for fusion of conventional fluoroscopy with pre-operatively acquired cardiac multislice computed tomography (MSCT) volumes. Rapid 2D-3D integration in this application would allow for real-time visualization of all catheters present within the thorax in relation to the cardiovascular anatomy visible in MSCT. We present a method for rapid fusion of 2D X-ray fluoroscopy with 3DMSCT that can facilitate EP mapping and interventional procedures by reducing the need for intra-operative contrast injections to visualize heart chambers and specialized systems to track catheters within the cardiovascular anatomy. We use hardware-accelerated ray-casting to compute digitally reconstructed radiographs (DRRs) from the MSCT volume and iteratively optimize the rigid-body pose of the volumetric data to maximize the similarity between the MSCT-derived DRR and the intra-operative X-ray projection data.

Comparison of Ultrasound-Guided and Fluoroscopy-Assisted Antegrade Common Femoral Artery Puncture Techniques

DOE Office of Scientific and Technical Information (OSTI.GOV)

Slattery, Michael M.; Goh, Gerard S.; Power, Sarah

PurposeTo prospectively compare the procedural time and complication rates of ultrasound-guided and fluoroscopy-assisted antegrade common femoral artery (CFA) puncture techniques.Materials and MethodsHundred consecutive patients, undergoing a vascular procedure for which an antegrade approach was deemed necessary/desirable, were randomly assigned to undergo either ultrasound-guided or fluoroscopy-assisted CFA puncture. Time taken from administration of local anaesthetic to vascular sheath insertion in the superficial femoral artery (SFA), patients’ age, body mass index (BMI), fluoroscopy radiation dose, haemostasis method and immediate complications were recorded. Mean and median values were calculated and statistically analysed with unpaired t tests.ResultsSixty-nine male and 31 female patients underwent antegrademore » puncture (mean age 66.7 years). The mean BMI was 25.7 for the ultrasound-guided (n = 53) and 25.3 for the fluoroscopy-assisted (n = 47) groups. The mean time taken for the ultrasound-guided puncture was 7 min 46 s and for the fluoroscopy-assisted technique was 9 min 41 s (p = 0.021). Mean fluoroscopy dose area product in the fluoroscopy group was 199 cGy cm{sup 2}. Complications included two groin haematomas in the ultrasound-guided group and two retroperitoneal haematomas and one direct SFA puncture in the fluoroscopy-assisted group.ConclusionUltrasound-guided technique is faster and safer for antegrade CFA puncture when compared to the fluoroscopic-assisted technique alone.« less

Systems and Methods for Determining Inertial Navigation System Faults

NASA Technical Reports Server (NTRS)

Bharadwaj, Raj Mohan (Inventor); Bageshwar, Vibhor L. (Inventor); Kim, Kyusung (Inventor)

2017-01-01

An inertial navigation system (INS) includes a primary inertial navigation system (INS) unit configured to receive accelerometer measurements from an accelerometer and angular velocity measurements from a gyroscope. The primary INS unit is further configured to receive global navigation satellite system (GNSS) signals from a GNSS sensor and to determine a first set of kinematic state vectors based on the accelerometer measurements, the angular velocity measurements, and the GNSS signals. The INS further includes a secondary INS unit configured to receive the accelerometer measurements and the angular velocity measurements and to determine a second set of kinematic state vectors of the vehicle based on the accelerometer measurements and the angular velocity measurements. A health management system is configured to compare the first set of kinematic state vectors and the second set of kinematic state vectors to determine faults associated with the accelerometer or the gyroscope based on the comparison.

Maximum Correntropy Unscented Kalman Filter for Ballistic Missile Navigation System based on SINS/CNS Deeply Integrated Mode.

PubMed

Hou, Bowen; He, Zhangming; Li, Dong; Zhou, Haiyin; Wang, Jiongqi

2018-05-27

Strap-down inertial navigation system/celestial navigation system ( SINS/CNS) integrated navigation is a high precision navigation technique for ballistic missiles. The traditional navigation method has a divergence in the position error. A deeply integrated mode for SINS/CNS navigation system is proposed to improve the navigation accuracy of ballistic missile. The deeply integrated navigation principle is described and the observability of the navigation system is analyzed. The nonlinearity, as well as the large outliers and the Gaussian mixture noises, often exists during the actual navigation process, leading to the divergence phenomenon of the navigation filter. The new nonlinear Kalman filter on the basis of the maximum correntropy theory and unscented transformation, named the maximum correntropy unscented Kalman filter, is deduced, and the computational complexity is analyzed. The unscented transformation is used for restricting the nonlinearity of the system equation, and the maximum correntropy theory is used to deal with the non-Gaussian noises. Finally, numerical simulation illustrates the superiority of the proposed filter compared with the traditional unscented Kalman filter. The comparison results show that the large outliers and the influence of non-Gaussian noises for SINS/CNS deeply integrated navigation is significantly reduced through the proposed filter.

A systematic review of the uses of fluoroscopy in dentistry.

PubMed

Uzbelger Feldman, Daniel; Yang, Jie; Susin, Cristiano

2010-01-01

To determine the quality of the evidence for the uses of fluoroscopy in dentistry. A systematic review using Ovid and MEDLINE was conducted to identify papers showing the uses of fluoroscopy in dentistry published between 1953 and September 2009. Human, animal and phantom/skull/mannequin studies on fluoroscopy with regard to its diagnostic value, research performance, and clinical and safety applications in dentistry were included in this analysis. Studies that were not in English, as well as those that employed fluoroscopy in dentistry without the use of image intensification, were excluded. Articles were evaluated, classified and graded by levels of evidence. Fifty-five out of 139 papers fulfilled the inclusion criteria. Amongst them, 19 were related to diagnosis, 15 to research, 12 to clinical and nine to safety applications. Fluoroscopy has contributed to nine different areas of dentistry. Also, it was used on 895 dental patients, 37 animals and 17 phantoms/skulls/mannequins. Two randomised controlled trials, two cohort studies, two case controls, 48 case reports and one expert opinion were found. Fluoroscopy with image intensification has been a useful, but not consistently used tool in dentistry for over 50 years. Several lines of evidence have shown fluoroscopy's diagnostic potential, research use, and clinical and safety applications in dentistry.

Orthopedic surgeons' knowledge regarding risk of radiation exposition: a survey analysis.

PubMed

Tunçer, Nejat; Kuyucu, Ersin; Sayar, Şafak; Polat, Gökhan; Erdil, İrem; Tuncay, İbrahim

2017-01-01

The purpose of this study is to evaluate the knowledge levels of orthopedic surgeons working in Turkey about the uses and possible risks of fluoroscopy and assess methods for preventing radiation damage. A questionnaire with a total of 12 questions was sent to 1121 orthopedic surgeons working in Turkey. The questionnaire evaluated participants' knowledge about the uses and risks of fluoroscopy and methods for preventing damage. One thousand and twenty-four orthopedic surgeons were found to be suitable for inclusion in the study. The effects of fluoroscopy on patients were not assessed in our study. The data obtained were statistically evaluated. Of the surveyed surgeons, 313 (30%) had used fluoroscopy in over 50% of their operations. The average number of fluoroscopy shots per case was 54.5. A lead apron was the most commonly used (88%) protection from the harmful effects of radiation. Fluoroscopy shots were performed with the help of operating room personnel (86%). A dosimeter was used 5% of the time. According to the survey results, the need for fluoroscopy was very high in orthopedic surgery. However, orthopedic surgeons have inadequate knowledge about the uses and risks of fluoroscopy and methods for preventing damage. Therefore, we believe that training on this topic should be provided to all orthopedic surgeons. © The Authors, published by EDP Sciences, 2017.

Systematic methods for knowledge acquisition and expert system development

NASA Technical Reports Server (NTRS)

Belkin, Brenda L.; Stengel, Robert F.

1991-01-01

Nine cooperating rule-based systems, collectively called AUTOCREW, were designed to automate functions and decisions associated with a combat aircraft's subsystem. The organization of tasks within each system is described; performance metrics were developed to evaluate the workload of each rule base, and to assess the cooperation between the rule-bases. Each AUTOCREW subsystem is composed of several expert systems that perform specific tasks. AUTOCREW's NAVIGATOR was analyzed in detail to understand the difficulties involved in designing the system and to identify tools and methodologies that ease development. The NAVIGATOR determines optimal navigation strategies from a set of available sensors. A Navigation Sensor Management (NSM) expert system was systematically designed from Kalman filter covariance data; four ground-based, a satellite-based, and two on-board INS-aiding sensors were modeled and simulated to aid an INS. The NSM Expert was developed using the Analysis of Variance (ANOVA) and the ID3 algorithm. Navigation strategy selection is based on an RSS position error decision metric, which is computed from the covariance data. Results show that the NSM Expert predicts position error correctly between 45 and 100 percent of the time for a specified navaid configuration and aircraft trajectory. The NSM Expert adapts to new situations, and provides reasonable estimates of hybrid performance. The systematic nature of the ANOVA/ID3 method makes it broadly applicable to expert system design when experimental or simulation data is available.

Precision Time Protocol-Based Trilateration for Planetary Navigation

NASA Technical Reports Server (NTRS)

Murdock, Ron

2015-01-01

Progeny Systems Corporation has developed a high-fidelity, field-scalable, non-Global Positioning System (GPS) navigation system that offers precision localization over communications channels. The system is bidirectional, providing position information to both base and mobile units. It is the first-ever wireless use of the Institute of Electrical and Electronics Engineers (IEEE) Precision Time Protocol (PTP) in a bidirectional trilateration navigation system. The innovation provides a precise and reliable navigation capability to support traverse-path planning systems and other mapping applications, and it establishes a core infrastructure for long-term lunar and planetary occupation. Mature technologies are integrated to provide navigation capability and to support data and voice communications on the same network. On Earth, the innovation is particularly well suited for use in unmanned aerial vehicles (UAVs), as it offers a non-GPS precision navigation and location service for use in GPS-denied environments. Its bidirectional capability provides real-time location data to the UAV operator and to the UAV. This approach optimizes assisted GPS techniques and can be used to determine the presence of GPS degradation, spoofing, or jamming.

Effect of pulsed progressive fluoroscopy on reduction of radiation dose in the cardiac catheterization laboratory

DOE Office of Scientific and Technical Information (OSTI.GOV)

Holmes, D.R. Jr.; Wondrow, M.A.; Gray, J.E.

1990-01-01

The increased application of therapeutic interventional cardiology procedures is associated with increased radiation exposure to physicians, patients and technical personnel. New advances in imaging techniques have the potential for reducing radiation exposure. A progressive scanning video system with a standard vascular phantom has been shown to decrease entrance radiation exposure. The effect of this system on reducing actual radiation exposure to physicians and technicians was assessed from 1984 through 1987. During this time, progressive fluoroscopy was added sequentially to all four adult catheterization laboratories; no changes in shielding procedures were made. During this time, the case load per physician increasedmore » by 63% and the number of percutaneous transluminal coronary angioplasty procedures (a high radiation procedure) increased by 244%. Despite these increases in both case load and higher radiation procedures, the average radiation exposure per physician declined by 37%. During the same time, the radiation exposure for technicians decreased by 35%. Pulsed progressive fluoroscopy is effective for reducing radiation exposure to catheterization laboratory physicians and technical staff.« less

Effectiveness of a Novel Augmented Reality-Based Navigation System in Treatment of Orbital Hypertelorism.

PubMed

Zhu, Ming; Chai, Gang; Lin, Li; Xin, Yu; Tan, Andy; Bogari, Melia; Zhang, Yan; Li, Qingfeng

2016-12-01

Augmented reality (AR) technology can superimpose the virtual image generated by computer onto the real operating field to present an integral image to enhance surgical safety. The purpose of our study is to develop a novel AR-based navigation system for craniofacial surgery. We focus on orbital hypertelorism correction, because the surgery requires high preciseness and is considered tough even for senior craniofacial surgeon. Twelve patients with orbital hypertelorism were selected. The preoperative computed tomography data were imported into 3-dimensional platform for preoperational design. The position and orientation of virtual information and real world were adjusted by image registration process. The AR toolkits were used to realize the integral image. Afterward, computed tomography was also performed after operation for comparing the difference between preoperational plan and actual operational outcome. Our AR-based navigation system was successfully used in these patients, directly displaying 3-dimensional navigational information onto the surgical field. They all achieved a better appearance by the guidance of navigation image. The difference in interdacryon distance and the dacryon point of each side appear no significant (P > 0.05) between preoperational plan and actual surgical outcome. This study reports on an effective visualized approach for guiding orbital hypertelorism correction. Our AR-based navigation system may lay a foundation for craniofacial surgery navigation. The AR technology could be considered as a helpful tool for precise osteotomy in craniofacial surgery.

ATON (Autonomous Terrain-based Optical Navigation) for exploration missions: recent flight test results

NASA Astrophysics Data System (ADS)

Theil, S.; Ammann, N.; Andert, F.; Franz, T.; Krüger, H.; Lehner, H.; Lingenauber, M.; Lüdtke, D.; Maass, B.; Paproth, C.; Wohlfeil, J.

2018-03-01

Since 2010 the German Aerospace Center is working on the project Autonomous Terrain-based Optical Navigation (ATON). Its objective is the development of technologies which allow autonomous navigation of spacecraft in orbit around and during landing on celestial bodies like the Moon, planets, asteroids and comets. The project developed different image processing techniques and optical navigation methods as well as sensor data fusion. The setup—which is applicable to many exploration missions—consists of an inertial measurement unit, a laser altimeter, a star tracker and one or multiple navigation cameras. In the past years, several milestones have been achieved. It started with the setup of a simulation environment including the detailed simulation of camera images. This was continued by hardware-in-the-loop tests in the Testbed for Robotic Optical Navigation (TRON) where images were generated by real cameras in a simulated downscaled lunar landing scene. Data were recorded in helicopter flight tests and post-processed in real-time to increase maturity of the algorithms and to optimize the software. Recently, two more milestones have been achieved. In late 2016, the whole navigation system setup was flying on an unmanned helicopter while processing all sensor information onboard in real time. For the latest milestone the navigation system was tested in closed-loop on the unmanned helicopter. For that purpose the ATON navigation system provided the navigation state for the guidance and control of the unmanned helicopter replacing the GPS-based standard navigation system. The paper will give an introduction to the ATON project and its concept. The methods and algorithms of ATON are briefly described. The flight test results of the latest two milestones are presented and discussed.

Reliable Alignment in Total Knee Arthroplasty by the Use of an iPod-Based Navigation System

PubMed Central

Koenen, Paola; Schneider, Marco M.; Fröhlich, Matthias; Driessen, Arne; Bouillon, Bertil; Bäthis, Holger

2016-01-01

Axial alignment is one of the main objectives in total knee arthroplasty (TKA). Computer-assisted surgery (CAS) is more accurate regarding limb alignment reconstruction compared to the conventional technique. The aim of this study was to analyse the precision of the innovative navigation system DASH® by Brainlab and to evaluate the reliability of intraoperatively acquired data. A retrospective analysis of 40 patients was performed, who underwent CAS TKA using the iPod-based navigation system DASH. Pre- and postoperative axial alignment were measured on standardized radiographs by two independent observers. These data were compared with the navigation data. Furthermore, interobserver reliability was measured. The duration of surgery was monitored. The mean difference between the preoperative mechanical axis by X-ray and the first intraoperatively measured limb axis by the navigation system was 2.4°. The postoperative X-rays showed a mean difference of 1.3° compared to the final navigation measurement. According to radiographic measurements, 88% of arthroplasties had a postoperative limb axis within ±3°. The mean additional time needed for navigation was 5 minutes. We could prove very good precision for the DASH system, which is comparable to established navigation devices with only negligible expenditure of time compared to conventional TKA. PMID:27313898

Open-Loop Flight Testing of COBALT GN&C Technologies for Precise Soft Landing

NASA Technical Reports Server (NTRS)

Carson, John M., III; Amzajerdian, Farzin; Seubert, Carl R.; Restrepo, Carolina I.

2017-01-01

A terrestrial, open-loop (OL) flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) platform was conducted onboard the Masten Xodiac suborbital rocket testbed, with support through the NASA Advanced Exploration Systems (AES), Game Changing Development (GCD), and Flight Opportunities (FO) Programs. The COBALT platform integrates NASA Guidance, Navigation and Control (GN&C) sensing technologies for autonomous, precise soft landing, including the Navigation Doppler Lidar (NDL) velocity and range sensor and the Lander Vision System (LVS) Terrain Relative Navigation (TRN) system. A specialized navigation filter running onboard COBALT fuzes the NDL and LVS data in real time to produce a precise navigation solution that is independent of the Global Positioning System (GPS) and suitable for future, autonomous planetary landing systems. The OL campaign tested COBALT as a passive payload, with COBALT data collection and filter execution, but with the Xodiac vehicle Guidance and Control (G&C) loops closed on a Masten GPS-based navigation solution. The OL test was performed as a risk reduction activity in preparation for an upcoming 2017 closed-loop (CL) flight campaign in which Xodiac G&C will act on the COBALT navigation solution and the GPS-based navigation will serve only as a backup monitor.

Individualized 3D printing navigation template for pedicle screw fixation in upper cervical spine

PubMed Central

Guo, Fei; Dai, Jianhao; Zhang, Junxiang; Ma, Yichuan; Zhu, Guanghui; Shen, Junjie; Niu, Guoqi

2017-01-01

Purpose Pedicle screw fixation in the upper cervical spine is a difficult and high-risk procedure. The screw is difficult to place rapidly and accurately, and can lead to serious injury of spinal cord or vertebral artery. The aim of this study was to design an individualized 3D printing navigation template for pedicle screw fixation in the upper cervical spine. Methods Using CT thin slices data, we employed computer software to design the navigation template for pedicle screw fixation in the upper cervical spine (atlas and axis). The upper cervical spine models and navigation templates were produced by 3D printer with equal proportion, two sets for each case. In one set (Test group), pedicle screws fixation were guided by the navigation template; in the second set (Control group), the screws were fixed under fluoroscopy. According to the degree of pedicle cortex perforation and whether the screw needed to be refitted, the fixation effects were divided into 3 types: Type I, screw is fully located within the vertebral pedicle; Type II, degree of pedicle cortex perforation is <1 mm, but with good internal fixation stability and no need to renovate; Type III, degree of pedicle cortex perforation is >1 mm or with the poor internal fixation stability and in need of renovation. Type I and Type II were acceptable placements; Type III placements were unacceptable. Results A total of 19 upper cervical spine and 19 navigation templates were printed, and 37 pedicle screws were fixed in each group. Type I screw-placements in the test group totaled 32; Type II totaled 3; and Type III totaled 2; with an acceptable rate of 94.60%. Type I screw placements in the control group totaled 23; Type II totaled 3; and Type III totaled 11, with an acceptable rate of 70.27%. The acceptability rate in test group was higher than the rate in control group. The operation time and fluoroscopic frequency for each screw were decreased, compared with control group. Conclusion The individualized 3D printing navigation template for pedicle screw fixation is easy and safe, with a high success rate in the upper cervical spine surgery. PMID:28152039

Individualized 3D printing navigation template for pedicle screw fixation in upper cervical spine.

PubMed

Guo, Fei; Dai, Jianhao; Zhang, Junxiang; Ma, Yichuan; Zhu, Guanghui; Shen, Junjie; Niu, Guoqi

2017-01-01

Pedicle screw fixation in the upper cervical spine is a difficult and high-risk procedure. The screw is difficult to place rapidly and accurately, and can lead to serious injury of spinal cord or vertebral artery. The aim of this study was to design an individualized 3D printing navigation template for pedicle screw fixation in the upper cervical spine. Using CT thin slices data, we employed computer software to design the navigation template for pedicle screw fixation in the upper cervical spine (atlas and axis). The upper cervical spine models and navigation templates were produced by 3D printer with equal proportion, two sets for each case. In one set (Test group), pedicle screws fixation were guided by the navigation template; in the second set (Control group), the screws were fixed under fluoroscopy. According to the degree of pedicle cortex perforation and whether the screw needed to be refitted, the fixation effects were divided into 3 types: Type I, screw is fully located within the vertebral pedicle; Type II, degree of pedicle cortex perforation is <1 mm, but with good internal fixation stability and no need to renovate; Type III, degree of pedicle cortex perforation is >1 mm or with the poor internal fixation stability and in need of renovation. Type I and Type II were acceptable placements; Type III placements were unacceptable. A total of 19 upper cervical spine and 19 navigation templates were printed, and 37 pedicle screws were fixed in each group. Type I screw-placements in the test group totaled 32; Type II totaled 3; and Type III totaled 2; with an acceptable rate of 94.60%. Type I screw placements in the control group totaled 23; Type II totaled 3; and Type III totaled 11, with an acceptable rate of 70.27%. The acceptability rate in test group was higher than the rate in control group. The operation time and fluoroscopic frequency for each screw were decreased, compared with control group. The individualized 3D printing navigation template for pedicle screw fixation is easy and safe, with a high success rate in the upper cervical spine surgery.

A Comprehensive Electronic Health Record Based Patient Navigation Module Including Technology Driven Colorectal Cancer Outreach and Education.

PubMed

Ajeesh, Sunny; Luis, Rustveld

2018-06-01

The purpose of this concept paper is to propose an innovative multifaceted patient navigation module embedded in the Electronic Health Record (EHR) to address barriers to efficient and effective colorectal cancer (CRC) care. The EHR-based CRC patient navigation module will include several patient navigation features: (1) CRC screening registry; (2) patient navigation data, including CRC screening data, outcomes of patient navigation including navigation status (CRC screening referrals, fecal occult blood test (FOBT) completed, colonoscopy scheduled and completed, cancelations, reschedules, and no-shows); (3) CRC counseling aid; and 4) Web-based CRC education application including interactive features such as a standardized colonoscopy preparation guide, modifiable CRC risk factors, and links to existing resources. An essential component of health informatics is the use of EHR systems to not only provide a system for storing and retrieval of patient health data but can also be used to enhance patient decision-making both from a provider and patient perspective.

Systems analysis for ground-based optical navigation

NASA Technical Reports Server (NTRS)

Null, G. W.; Owen, W. M., Jr.; Synnott, S. P.

1992-01-01

Deep-space telecommunications systems will eventually operate at visible or near-infrared regions to provide increased information return from interplanetary spacecraft. This would require an onboard laser transponder in place of (or in addition to) the usual microwave transponder, as well as a network of ground-based and/or space-based optical observing stations. This article examines the expected navigation systems to meet these requirements. Special emphasis is given to optical astrometric (angular) measurements of stars, solar system target bodies, and (when available) laser-bearing spacecraft, since these observations can potentially provide the locations of both spacecraft and target bodies. The role of astrometry in the navigation system and the development options for astrometric observing systems are also discussed.

Image processing and applications based on visualizing navigation service

NASA Astrophysics Data System (ADS)

Hwang, Chyi-Wen

2015-07-01

When facing the "overabundant" of semantic web information, in this paper, the researcher proposes the hierarchical classification and visualizing RIA (Rich Internet Application) navigation system: Concept Map (CM) + Semantic Structure (SS) + the Knowledge on Demand (KOD) service. The aim of the Multimedia processing and empirical applications testing, was to investigating the utility and usability of this visualizing navigation strategy in web communication design, into whether it enables the user to retrieve and construct their personal knowledge or not. Furthermore, based on the segment markets theory in the Marketing model, to propose a User Interface (UI) classification strategy and formulate a set of hypermedia design principles for further UI strategy and e-learning resources in semantic web communication. These research findings: (1) Irrespective of whether the simple declarative knowledge or the complex declarative knowledge model is used, the "CM + SS + KOD navigation system" has a better cognition effect than the "Non CM + SS + KOD navigation system". However, for the" No web design experience user", the navigation system does not have an obvious cognition effect. (2) The essential of classification in semantic web communication design: Different groups of user have a diversity of preference needs and different cognitive styles in the CM + SS + KOD navigation system.

Classical fluoroscopy criteria poorly predict right ventricular lead septal positioning by comparison with echocardiography.

PubMed

Squara, Fabien; Scarlatti, Didier; Riccini, Philippe; Garret, Gauthier; Moceri, Pamela; Ferrari, Emile

2018-03-13

Fluoroscopic criteria have been described for the documentation of septal right ventricular (RV) lead positioning, but their accuracy remains questioned. Consecutive patients undergoing pacemaker or defibrillator implantation were prospectively included. RV lead was positioned using postero-anterior and left anterior oblique 40° incidences, and right anterior oblique 30° to rule out coronary sinus positioning when suspected. RV lead positioning using fluoroscopy was compared to true RV lead positioning as assessed by transthoracic echocardiography (TTE). Precise anatomical localizations were determined with both modalities; then, RV lead positioning was ultimately dichotomized into two simple clinically relevant categories: RV septal or RV free wall. Accuracy of fluoroscopy for RV lead positioning was then assessed by comparison with TTE. We included 100 patients. On TTE, 66/100 had a septal RV lead and 34/100 had a free wall RV lead. Fluoroscopy had moderate agreement with TTE for precise anatomical localization of RV lead (k = 0.53), and poor agreement for septal/free wall localization (k = 0.36). For predicting septal RV lead positioning, classical fluoroscopy criteria had a high sensitivity (95.5%; 63/66 patients having a septal RV lead on TTE were correctly identified by fluoroscopy) but a very low specificity (35.3%; only 12/34 patients having a free wall RV lead on TTE were correctly identified by fluoroscopy). Classical fluoroscopy criteria have a poor accuracy for identifying RV free wall leads, which are most of the time misclassified as septal. This raises important concerns about the efficacy and safety of RV lead positioning using classical fluoroscopy criteria.

Challenges to replicating evidence-based research in real-world settings: training African-American peers as patient navigators for colon cancer screening.

PubMed

Sly, Jamilia R; Jandorf, Lina; Dhulkifl, Rayhana; Hall, Diana; Edwards, Tiffany; Goodman, Adam J; Maysonet, Elithea; Azeez, Sulaiman

2012-12-01

Many cancer-prevention interventions have demonstrated effectiveness in diverse populations, but these evidenced-based findings slowly disseminate into practice. The current study describes the process of disseminating and replicating research (i.e., peer patient navigation for colonoscopy screening) in real-world settings. Two large metropolitan hospitals collaborated to replicate a peer patient navigation model within their existing navigation systems. Six African-American peer volunteers were recruited and trained to navigate patients through colonoscopy scheduling and completion. Major challenges included: (1) operating within multiple institutional settings; (2) operating within nonacademic/research infrastructures; (3) integrating into an established navigation system; (4) obtaining support of hospital staff without overburdening; and (5) competing priorities and time commitments. Bridging the gap between evidence-based research and practice is critical to eliminating many cancer health disparities; therefore, it is crucial that researchers and practitioners continue to work to achieve both diffusion and fusion of evidence-based findings. Recommendations for addressing these challenges are discussed.

NFC Internal: An Indoor Navigation System

PubMed Central

Ozdenizci, Busra; Coskun, Vedat; Ok, Kerem

2015-01-01

Indoor navigation systems have recently become a popular research field due to the lack of GPS signals indoors. Several indoors navigation systems have already been proposed in order to eliminate deficiencies; however each of them has several technical and usability limitations. In this study, we propose NFC Internal, a Near Field Communication (NFC)-based indoor navigation system, which enables users to navigate through a building or a complex by enabling a simple location update, simply by touching NFC tags those are spread around and orient users to the destination. In this paper, we initially present the system requirements, give the design details and study the viability of NFC Internal with a prototype application and a case study. Moreover, we evaluate the performance of the system and compare it with existing indoor navigation systems. It is seen that NFC Internal has considerable advantages and significant contributions to existing indoor navigation systems in terms of security and privacy, cost, performance, robustness, complexity, user preference and commercial availability. PMID:25825976

Decreased Radiation Exposure and Increased Efficacy in Extracorporeal Lithotripsy Using a New Ultrasound Stone Locking System.

PubMed

Abid, Nadia; Ravier, Emmanuel; Promeyrat, Xavier; Codas, Ricardo; Fehri, Hakim Fassi; Crouzet, Sebastien; Martin, Xavier

2015-11-01

To compare fluoroscopy duration, radiation dose, and efficacy of two ultrasound stone localization systems during extracorporeal shockwave lithotripsy (SWL) treatment. Monocentric prospective data were obtained from patients consecutively treated for renal stones using the Sonolith(®) i-sys (EDAP TMS) lithotripter, with fluoroscopy combined with ultrasound localization using an "outline" Automatic Ultrasound Positioning Support (AUPS) (group A), or the "free-line" Visio-Track (VT) (EDAP-TMS) hand-held three-dimensional ultrasound stone locking system (group B). Efficacy rate was defined as the within-groups proportion stone free or with partial stone fragmentation not needing additional procedures. Statistical analysis used Pearson chi-square tests for categoric variables, nonparametric Mann-Whitney tests for continuous variables, and linear regression for operator learning curve with VT. Continuous variables were reported as median (range) values. Patients in group A (n=73) and group B (n=81) were comparable in baseline characteristics (age, kidney stone size, others) and in SWL application (duration, number of shocks, energy [Joules]). During SWL, the median (range) duration (seconds) of radiation exposure was 159.5 (0-690) in group A and 3.5 (0-478) in group B (P<0.001) and irradiation dose (mGy.cm(2)), 10598 (0-54843) in group A and 163 (0-13926) in group B (P<0.001). Fluoroscopy time significantly decreased with operator experience using VT. The efficacy rate was 54.5% in group A and 79.5% in group B (P=0.001). VT significantly reduced fluoroscopy use during SWL and the duration and dose of patient exposure to ionizing radiation. Stone treatment efficacy was significantly greater with VT mainly because of a better real-time monitoring of the stone.

Correlated-Data Fusion and Cooperative Aiding in GNSS-Stressed or Denied Environments

NASA Astrophysics Data System (ADS)

Mokhtarzadeh, Hamid

A growing number of applications require continuous and reliable estimates of position, velocity, and orientation. Price requirements alone disqualify most traditional navigation or tactical-grade sensors and thus navigation systems based on automotive or consumer-grade sensors aided by Global Navigation Satellite Systems (GNSS), like the Global Positioning System (GPS), have gained popularity. The heavy reliance on GPS in these navigation systems is a point of concern and has created interest in alternative or back-up navigation systems to enable robust navigation through GPS-denied or stressed environments. This work takes advantage of current trends for increased sensing capabilities coupled with multilayer connectivity to propose a cooperative navigation-based aiding system as a means to limit dead reckoning error growth in the absence of absolute measurements like GPS. Each vehicle carries a dead reckoning navigation system which is aided by relative measurements, like range, to neighboring vehicles together with information sharing. Detailed architectures and concepts of operation are described for three specific applications: commercial aviation, Unmanned Aerial Vehicles (UAVs), and automotive applications. Both centralized and decentralized implementations of cooperative navigation-based aiding systems are described. The centralized system is based on a single Extended Kalman Filter (EKF). A decentralized implementation suited for applications with very limited communication bandwidth is discussed in detail. The presence of unknown correlation between the a priori state and measurement errors makes the standard Kalman filter unsuitable. Two existing estimators for handling this unknown correlation are Covariance Intersection (CI) and Bounded Covariance Inflation (BCInf) filters. A CI-based decentralized estimator suitable for decentralized cooperative navigation implementation is proposed. A unified derivation is presented for the Kalman filter, CI filter, and BCInf filter measurement update equations. Furthermore, characteristics important to the proper implementation of CI and BCInf in practice are discussed. A new covariance normalization step is proposed as necessary to properly apply CI or BCInf. Lastly, both centralized and decentralized implementations of cooperative aiding are analyzed and evaluated using experimental data in the three applications. In the commercial aviation study aircraft are simulated to use their Automatic Dependent Surveillance - Broadcast (ADS-B) and Traffic Collision Avoidance System (TCAS) systems to cooperatively aid their on board INS during a 60 min GPS outage in the national airspace. An availability study of cooperative navigation as proposed in this work around representative United States airports is performed. Availabilities between 70-100% were common at major airports like LGA and MSP in a 30 nmi radius around the airport during morning to evening hours. A GPS-denied navigation system for small UAVs based on cooperative information sharing is described. Experimentally collected flight data from 7 small UAV flights are played-back to evaluate the performance of the navigation system. The results show that the most effective of the architectures can lead to 5+ minutes of navigation without GPS maintaining position errors less than 200 m (1-sigma). The automotive case study considers 15 minutes of automotive traffic (2,000 + vehicles) driving through a half-mile stretch of highway without access to GPS. Automotive radar coupled with Dedicated Short Range Communication (DSRC) protocol are used to implement cooperative aiding to a low-cost 2-D INS on board each vehicle. The centralized system achieves an order of magnitude reduction in uncertainty by aggressively aiding the INS on board each vehicle. The proposed CI-based decentralized estimator is demonstrated to be conservative and maintain consistency. A quantitative analysis of bandwidth requirements shows that the proposed decentralized estimator falls comfortably within modern connectivity capabilities. A naive implementation of the high-performance centralized estimator is also achievable, but it was demonstrated to be burdensome, nearing the bandwidth limits.

Impact Assessment of GNSS Spoofing Attacks on INS/GNSS Integrated Navigation System.

PubMed

Liu, Yang; Li, Sihai; Fu, Qiangwen; Liu, Zhenbo

2018-05-04

In the face of emerging Global Navigation Satellite System (GNSS) spoofing attacks, there is a need to give a comprehensive analysis on how the inertial navigation system (INS)/GNSS integrated navigation system responds to different kinds of spoofing attacks. A better understanding of the integrated navigation system’s behavior with spoofed GNSS measurements gives us valuable clues to develop effective spoofing defenses. This paper focuses on an impact assessment of GNSS spoofing attacks on the integrated navigation system Kalman filter’s error covariance, innovation sequence and inertial sensor bias estimation. A simple and straightforward measurement-level trajectory spoofing simulation framework is presented, serving as the basis for an impact assessment of both unsynchronized and synchronized spoofing attacks. Recommendations are given for spoofing detection and mitigation based on our findings in the impact assessment process.

Visual navigation using edge curve matching for pinpoint planetary landing

NASA Astrophysics Data System (ADS)

Cui, Pingyuan; Gao, Xizhen; Zhu, Shengying; Shao, Wei

2018-05-01

Pinpoint landing is challenging for future Mars and asteroid exploration missions. Vision-based navigation scheme based on feature detection and matching is practical and can achieve the required precision. However, existing algorithms are computationally prohibitive and utilize poor-performance measurements, which pose great challenges for the application of visual navigation. This paper proposes an innovative visual navigation scheme using crater edge curves during descent and landing phase. In the algorithm, the edge curves of the craters tracked from two sequential images are utilized to determine the relative attitude and position of the lander through a normalized method. Then, considering error accumulation of relative navigation, a method is developed. That is to integrate the crater-based relative navigation method with crater-based absolute navigation method that identifies craters using a georeferenced database for continuous estimation of absolute states. In addition, expressions of the relative state estimate bias are derived. Novel necessary and sufficient observability criteria based on error analysis are provided to improve the navigation performance, which hold true for similar navigation systems. Simulation results demonstrate the effectiveness and high accuracy of the proposed navigation method.

Underwater terrain-aided navigation system based on combination matching algorithm.

PubMed

Li, Peijuan; Sheng, Guoliang; Zhang, Xiaofei; Wu, Jingqiu; Xu, Baochun; Liu, Xing; Zhang, Yao

2018-07-01

Considering that the terrain-aided navigation (TAN) system based on iterated closest contour point (ICCP) algorithm diverges easily when the indicative track of strapdown inertial navigation system (SINS) is large, Kalman filter is adopted in the traditional ICCP algorithm, difference between matching result and SINS output is used as the measurement of Kalman filter, then the cumulative error of the SINS is corrected in time by filter feedback correction, and the indicative track used in ICCP is improved. The mathematic model of the autonomous underwater vehicle (AUV) integrated into the navigation system and the observation model of TAN is built. Proper matching point number is designated by comparing the simulation results of matching time and matching precision. Simulation experiments are carried out according to the ICCP algorithm and the mathematic model. It can be concluded from the simulation experiments that the navigation accuracy and stability are improved with the proposed combinational algorithm in case that proper matching point number is engaged. It will be shown that the integrated navigation system is effective in prohibiting the divergence of the indicative track and can meet the requirements of underwater, long-term and high precision of the navigation system for autonomous underwater vehicles. Copyright © 2017. Published by Elsevier Ltd.

Performance Characteristic Mems-Based IMUs for UAVs Navigation

NASA Astrophysics Data System (ADS)

Mohamed, H. A.; Hansen, J. M.; Elhabiby, M. M.; El-Sheimy, N.; Sesay, A. B.

2015-08-01

Accurate 3D reconstruction has become essential for non-traditional mapping applications such as urban planning, mining industry, environmental monitoring, navigation, surveillance, pipeline inspection, infrastructure monitoring, landslide hazard analysis, indoor localization, and military simulation. The needs of these applications cannot be satisfied by traditional mapping, which is based on dedicated data acquisition systems designed for mapping purposes. Recent advances in hardware and software development have made it possible to conduct accurate 3D mapping without using costly and high-end data acquisition systems. Low-cost digital cameras, laser scanners, and navigation systems can provide accurate mapping if they are properly integrated at the hardware and software levels. Unmanned Aerial Vehicles (UAVs) are emerging as a mobile mapping platform that can provide additional economical and practical advantages. However, such economical and practical requirements need navigation systems that can provide uninterrupted navigation solution. Hence, testing the performance characteristics of Micro-Electro-Mechanical Systems (MEMS) or low cost navigation sensors for various UAV applications is important research. This work focuses on studying the performance characteristics under different manoeuvres using inertial measurements integrated with single point positioning, Real-Time-Kinematic (RTK), and additional navigational aiding sensors. Furthermore, the performance of the inertial sensors is tested during Global Positioning System (GPS) signal outage.

Unified Simulation and Analysis Framework for Deep Space Navigation Design

NASA Technical Reports Server (NTRS)

Anzalone, Evan; Chuang, Jason; Olsen, Carrie

2013-01-01

As the technology that enables advanced deep space autonomous navigation continues to develop and the requirements for such capability continues to grow, there is a clear need for a modular expandable simulation framework. This tool's purpose is to address multiple measurement and information sources in order to capture system capability. This is needed to analyze the capability of competing navigation systems as well as to develop system requirements, in order to determine its effect on the sizing of the integrated vehicle. The development for such a framework is built upon Model-Based Systems Engineering techniques to capture the architecture of the navigation system and possible state measurements and observations to feed into the simulation implementation structure. These models also allow a common environment for the capture of an increasingly complex operational architecture, involving multiple spacecraft, ground stations, and communication networks. In order to address these architectural developments, a framework of agent-based modules is implemented to capture the independent operations of individual spacecraft as well as the network interactions amongst spacecraft. This paper describes the development of this framework, and the modeling processes used to capture a deep space navigation system. Additionally, a sample implementation describing a concept of network-based navigation utilizing digitally transmitted data packets is described in detail. This developed package shows the capability of the modeling framework, including its modularity, analysis capabilities, and its unification back to the overall system requirements and definition.

Real-time fusion of coronary CT angiography with x-ray fluoroscopy during chronic total occlusion PCI.

PubMed

Ghoshhajra, Brian B; Takx, Richard A P; Stone, Luke L; Girard, Erin E; Brilakis, Emmanouil S; Lombardi, William L; Yeh, Robert W; Jaffer, Farouc A

2017-06-01

The purpose of this study was to demonstrate the feasibility of real-time fusion of coronary computed tomography angiography (CTA) centreline and arterial wall calcification with x-ray fluoroscopy during chronic total occlusion (CTO) percutaneous coronary intervention (PCI). Patients undergoing CTO PCI were prospectively enrolled. Pre-procedural CT scans were integrated with conventional coronary fluoroscopy using prototype software. We enrolled 24 patients who underwent CTO PCI using the prototype CT fusion software, and 24 consecutive CTO PCI patients without CT guidance served as a control group. Mean age was 66 ± 11 years, and 43/48 patients were men. Real-time CTA fusion during CTO PCI provided additional information regarding coronary arterial calcification and tortuosity that generated new insights into antegrade wiring, antegrade dissection/reentry, and retrograde wiring during CTO PCI. Overall CTO success rates and procedural outcomes remained similar between the two groups, despite a trend toward higher complexity in the fusion CTA group. This study demonstrates that real-time automated co-registration of coronary CTA centreline and calcification onto live fluoroscopic images is feasible and provides new insights into CTO PCI, and in particular, antegrade dissection reentry-based CTO PCI. • Real-time semi-automated fusion of CTA/fluoroscopy is feasible during CTO PCI. • CTA fusion data can be toggled on/off as desired during CTO PCI • Real-time CT calcium and centreline overlay could benefit antegrade dissection/reentry-based CTO PCI.

Improvement of the insertion axis for cochlear implantation with a robot-based system.

PubMed

Torres, Renato; Kazmitcheff, Guillaume; De Seta, Daniele; Ferrary, Evelyne; Sterkers, Olivier; Nguyen, Yann

2017-02-01

It has previously reported that alignment of the insertion axis along the basal turn of the cochlea was depending on surgeon' experience. In this experimental study, we assessed technological assistances, such as navigation or a robot-based system, to improve the insertion axis during cochlear implantation. A preoperative cone beam CT and a mastoidectomy with a posterior tympanotomy were performed on four temporal bones. The optimal insertion axis was defined as the closest axis to the scala tympani centerline avoiding the facial nerve. A neuronavigation system, a robot assistance prototype, and software allowing a semi-automated alignment of the robot were used to align an insertion tool with an optimal insertion axis. Four procedures were performed and repeated three times in each temporal bone: manual, manual navigation-assisted, robot-based navigation-assisted, and robot-based semi-automated. The angle between the optimal and the insertion tool axis was measured in the four procedures. The error was 8.3° ± 2.82° for the manual procedure (n = 24), 8.6° ± 2.83° for the manual navigation-assisted procedure (n = 24), 5.4° ± 3.91° for the robot-based navigation-assisted procedure (n = 24), and 3.4° ± 1.56° for the robot-based semi-automated procedure (n = 12). A higher accuracy was observed with the semi-automated robot-based technique than manual and manual navigation-assisted (p < 0.01). Combination of a navigation system and a manual insertion does not improve the alignment accuracy due to the lack of friendly user interface. On the contrary, a semi-automated robot-based system reduces both the error and the variability of the alignment with a defined optimal axis.

Laboratory complex for simulation of navigation signals of pseudosatellites

NASA Astrophysics Data System (ADS)

Ratushniak, V. N.; Gladyshev, A. B.; Sokolovskiy, A. V.; Mikhov, E. D.

2018-05-01

In the article, features of the organization, structure and questions of formation of navigation signals of pseudosatellites of the short - range navigation system based on the hardware-software complex National Instruments are considered. A software model that performs the formation and management of a pseudo-random sequence of a navigation signal and the formation and management of the format transmitted pseudosatellite navigation information is presented. The variant of constructing the transmitting equipment of the pseudosatellite base stations is provided.

A Novel Robust H∞ Filter Based on Krein Space Theory in the SINS/CNS Attitude Reference System.

PubMed

Yu, Fei; Lv, Chongyang; Dong, Qianhui

2016-03-18

Owing to their numerous merits, such as compact, autonomous and independence, the strapdown inertial navigation system (SINS) and celestial navigation system (CNS) can be used in marine applications. What is more, due to the complementary navigation information obtained from two different kinds of sensors, the accuracy of the SINS/CNS integrated navigation system can be enhanced availably. Thus, the SINS/CNS system is widely used in the marine navigation field. However, the CNS is easily interfered with by the surroundings, which will lead to the output being discontinuous. Thus, the uncertainty problem caused by the lost measurement will reduce the system accuracy. In this paper, a robust H∞ filter based on the Krein space theory is proposed. The Krein space theory is introduced firstly, and then, the linear state and observation models of the SINS/CNS integrated navigation system are established reasonably. By taking the uncertainty problem into account, in this paper, a new robust H∞ filter is proposed to improve the robustness of the integrated system. At last, this new robust filter based on the Krein space theory is estimated by numerical simulations and actual experiments. Additionally, the simulation and experiment results and analysis show that the attitude errors can be reduced by utilizing the proposed robust filter effectively when the measurements are missing discontinuous. Compared to the traditional Kalman filter (KF) method, the accuracy of the SINS/CNS integrated system is improved, verifying the robustness and the availability of the proposed robust H∞ filter.

Demonstration of new data types for use in interplanetary navigation

NASA Technical Reports Server (NTRS)

Ondrasik, V. J.; Chao, C. C.; Winn, F. B.; Yip, K. B.; Acton, C. H.; Reinbold, S. J.

1974-01-01

Mariner 10 was the first mission which contained many elements of the advanced navigation system which will be used in the late 1970's and 1980's. Preliminary navigation demonstrated were conducted using S/X charged particle calibrations, simultaneous Doppler data, nearly simultaneous range data, and bright object/star imaging data. The results of these demonstrations are very encouraging and a navigation system based upon these data types should be an order of magnitude better than the current system.

Impact of operator experience and training strategy on procedural outcomes with leadless pacing: Insights from the Micra Transcatheter Pacing Study.

PubMed

El-Chami, Mikhael; Kowal, Robert C; Soejima, Kyoko; Ritter, Philippe; Duray, Gabor Z; Neuzil, Petr; Mont, Lluis; Kypta, Alexander; Sagi, Venkata; Hudnall, John Harrison; Stromberg, Kurt; Reynolds, Dwight

2017-07-01

Leadless pacemaker systems have been designed to avoid the need for a pocket and transvenous lead. However, delivery of this therapy requires a new catheter-based procedure. This study evaluates the role of operator experience and different training strategies on procedural outcomes. A total of 726 patients underwent implant attempt with the Micra transcatheter pacing system (TPS; Medtronic, Minneapolis, MN, USA) by 94 operators trained in a teaching laboratory using a simulator, cadaver, and large animal models (lab training) or locally at the hospital with simulator/demo model and proctorship (hospital training). Procedure success, procedure duration, fluoroscopy time, and safety outcomes were compared between training methods and experience (implant case number). The Micra TPS procedure was successful in 99.2% of attempts and did not differ between the 55 operators trained in the lab setting and the 39 operators trained locally at the hospital (P = 0.189). Implant case number was also not a determinant of procedural success (P = 0.456). Each operator performed between one and 55 procedures. Procedure time and fluoroscopy duration decreased by 2.0% (P = 0.002) and 3.2% (P < 0.001) compared to the previous case. Major complication rate and pericardial effusion rate were not associated with case number (P = 0.755 and P = 0.620, respectively). There were no differences in the safety outcomes by training method. Among a large group of operators, implantation success was high regardless of experience. While procedure duration and fluoroscopy times decreased with implant number, complications were low and not associated with case number. Procedure and safety outcomes were similar between distinct training methodologies. © 2017 Wiley Periodicals, Inc.

Impact of attributed audit on procedural performance in cardiac electrophysiology catheter laboratory.

PubMed

Sawhney, V; Volkova, E; Shaukat, M; Khan, F; Segal, O; Ahsan, S; Chow, A; Ezzat, V; Finlay, M; Lambiase, P; Lowe, M; Dhinoja, M; Sporton, S; Earley, M J; Hunter, R J; Schilling, R J

2018-06-01

Audit has played a key role in monitoring and improving clinical practice. However, audit often fails to drive change as summative institutional data alone may be insufficient to do so. We hypothesised that the practice of attributed audit, wherein each individual's procedural performance is presented will have a greater impact on clinical practice. This hypothesis was tested in an observational study evaluating improvement in fluoroscopy times for AF ablation. Retrospective analyses of fluoroscopy times in AF ablations at the Barts Heart Centre (BHC) from 2012-2017. Fluoroscopy times were compared pre- and post- the introduction of attributed audit in 2012 at St Bartholomew's Hospital (SBH). In order to test the hypothesis, this concept was introduced to a second group of experienced operators from the Heart Hospital (HH) as part of a merger of the two institutions in 2015 and change in fluoroscopy times recorded. A significant drop in fluoroscopy times (33.3 ± 9.14 to 8.95 ± 2.50, p < 0.0001) from 2012-2014 was noted after the introduction of attributed audit. At the time of merger, a significant difference in fluoroscopy times between operators from the two centres was seen in 2015. Each operator's procedural performance was shared openly at the audit meeting. Subsequent audits showed a steady decrease in fluoroscopy times for each operator with the fluoroscopy time (min, mean±SD) decreasing from 13.29 ± 7.3 in 2015 to 8.84 ± 4.8 (p < 0.0001) in 2017 across the entire group. Systematic improvement in fluoroscopy times for AF ablation procedures was noted byevaluating individual operators' performance. Attributing data to physicians in attributed audit can promptsignificant improvement and hence should be adopted in clinical practice.

Remote magnetic navigation vs. manual navigation for ablation of ventricular tachycardia: a meta-analysis.

PubMed

Wu, Y; Li, K-L; Zheng, J; Zhang, C-Y; Liu, X-Y; Cui, Z-M; Yu, Z-M; Wang, R-X; Wang, W

2015-09-01

The purpose of this study was to prospectively evaluate the efficacy and safety of remote magnetic navigation (RMN) in comparison with manual catheter navigation (MCN) in performing ventricular tachycardia ablation. An electronic search was performed using PubMed (1948-2013) and EMBASE (1974-2013) studies comparing RMN with MCN which were published prior to 31 December 2013. Outcomes of interest were as follows: acute success, recurrence rate, complications, total procedure and fluoroscopic times. Standard mean difference (SMD) and its 95 % confidence interval (CI) were used for continuous outcomes; odds ratios (OR) were reported for dichotomous variables. Four non-randomised studies, including a total of 328 patients, were identified. RMN was deployed in 191 patients. Acute success and long-term freedom from arrhythmias were not significantly different between the RMN and control groups (OR 1.845, 95 % CI 0.731-4.659, p = 0.195 and OR 0.676, 95 % CI 0.383-1.194, p = 0.177, respectively). RMN was associated with less peri-procedural complications (OR 0.279, 95 % CI 0.092-0.843, p = 0.024). Shorter procedural and fluoroscopy times were achieved (95 % CI -0.487 to -0.035, p = 0.024 and 95 % CI -1.467 to -0.984, p<0.001, respectively). The acute and long-term success rates for VT ablation are equal between RMN and MCN, whereas the RMN-guided procedure can be performed with a lower complication rate and less procedural and fluoroscopic times. More prospective randomised trials will be needed to better evaluate the superior role of RMN for catheter ablation of ventricular tachycardia.

Multi-Sensor Optimal Data Fusion Based on the Adaptive Fading Unscented Kalman Filter

PubMed Central

Gao, Bingbing; Hu, Gaoge; Gao, Shesheng; Gu, Chengfan

2018-01-01

This paper presents a new optimal data fusion methodology based on the adaptive fading unscented Kalman filter for multi-sensor nonlinear stochastic systems. This methodology has a two-level fusion structure: at the bottom level, an adaptive fading unscented Kalman filter based on the Mahalanobis distance is developed and serves as local filters to improve the adaptability and robustness of local state estimations against process-modeling error; at the top level, an unscented transformation-based multi-sensor optimal data fusion for the case of N local filters is established according to the principle of linear minimum variance to calculate globally optimal state estimation by fusion of local estimations. The proposed methodology effectively refrains from the influence of process-modeling error on the fusion solution, leading to improved adaptability and robustness of data fusion for multi-sensor nonlinear stochastic systems. It also achieves globally optimal fusion results based on the principle of linear minimum variance. Simulation and experimental results demonstrate the efficacy of the proposed methodology for INS/GNSS/CNS (inertial navigation system/global navigation satellite system/celestial navigation system) integrated navigation. PMID:29415509

Multi-Sensor Optimal Data Fusion Based on the Adaptive Fading Unscented Kalman Filter.

PubMed

Gao, Bingbing; Hu, Gaoge; Gao, Shesheng; Zhong, Yongmin; Gu, Chengfan

2018-02-06

This paper presents a new optimal data fusion methodology based on the adaptive fading unscented Kalman filter for multi-sensor nonlinear stochastic systems. This methodology has a two-level fusion structure: at the bottom level, an adaptive fading unscented Kalman filter based on the Mahalanobis distance is developed and serves as local filters to improve the adaptability and robustness of local state estimations against process-modeling error; at the top level, an unscented transformation-based multi-sensor optimal data fusion for the case of N local filters is established according to the principle of linear minimum variance to calculate globally optimal state estimation by fusion of local estimations. The proposed methodology effectively refrains from the influence of process-modeling error on the fusion solution, leading to improved adaptability and robustness of data fusion for multi-sensor nonlinear stochastic systems. It also achieves globally optimal fusion results based on the principle of linear minimum variance. Simulation and experimental results demonstrate the efficacy of the proposed methodology for INS/GNSS/CNS (inertial navigation system/global navigation satellite system/celestial navigation system) integrated navigation.

Analysis of navigation performance for the Earth Observing System (EOS) using the TDRSS Onboard Navigation System (TONS)

NASA Technical Reports Server (NTRS)

Elrod, B.; Kapoor, A.; Folta, David C.; Liu, K.

1991-01-01

Use of the Tracking and Data Relay Satellite System (TDRSS) Onboard Navigation System (TONS) was proposed as an alternative to the Global Positioning System (GPS) for supporting the Earth Observing System (EOS) mission. The results are presented of EOS navigation performance evaluation with respect to TONS based orbit, time, and frequency determination (OD/TD/FD). Two TONS modes are considered: one uses scheduled TDRSS forward link service to derive one way Doppler tracking data for OD/FD support (TONS-I); the other uses an unscheduled navigation beacon service (proposed for Advanced TDRSS) to obtain pseudorange and Doppler data for OD/TD/FD support (TONS-II). Key objectives of the analysis were to evaluate nominal performance and potential sensitivities, such as suboptimal tracking geometry, tracking contact scheduling, and modeling parameter selection. OD/TD/FD performance predictions are presented based on covariance and simulation analyses. EOS navigation scenarios and the contributions of principal error sources impacting performance are also described. The results indicate that a TONS mode can be configured to meet current and proposed EOS position accuracy requirements of 100 and 50 m, respectively.

Computed tomography angiography-fluoroscopy image fusion allows visceral vessel cannulation without angiography during fenestrated endovascular aneurysm repair.

PubMed

Schwein, Adeline; Chinnadurai, Ponraj; Behler, Greg; Lumsden, Alan B; Bismuth, Jean; Bechara, Carlos F

2018-07-01

Fenestrated endovascular aneurysm repair (FEVAR) is an evolving technique to treat juxtarenal abdominal aortic aneurysms (AAAs). Catheterization of visceral and renal vessels after the deployment of the fenestrated main body device is often challenging, usually requiring additional fluoroscopy and multiple digital subtraction angiograms. The aim of this study was to assess the clinical utility and accuracy of a computed tomography angiography (CTA)-fluoroscopy image fusion technique in guiding visceral vessel cannulation during FEVAR. Between August 2014 and September 2016, all consecutive patients who underwent FEVAR at our institution using image fusion guidance were included. Preoperative CTA images were fused with intraoperative fluoroscopy after coregistering with non-contrast-enhanced cone beam computed tomography (syngo 3D3D image fusion; Siemens Healthcare, Forchheim, Germany). The ostia of the visceral vessels were electronically marked on CTA images (syngo iGuide Toolbox) and overlaid on live fluoroscopy to guide vessel cannulation after fenestrated device deployment. Clinical utility of image fusion was evaluated by assessing the number of dedicated angiograms required for each visceral or renal vessel cannulation and the use of optimized C-arm angulation. Accuracy of image fusion was evaluated from video recordings by three raters using a binary qualitative assessment scale. A total of 26 patients (17 men; mean age, 73.8 years) underwent FEVAR during the study period for juxtarenal AAA (17), pararenal AAA (6), and thoracoabdominal aortic aneurysm (3). Video recordings of fluoroscopy from 19 cases were available for review and assessment. A total of 46 vessels were cannulated; 38 of 46 (83%) of these vessels were cannulated without angiography but based only on image fusion guidance: 9 of 11 superior mesenteric artery cannulations and 29 of 35 renal artery cannulations. Binary qualitative assessment showed that 90% (36/40) of the virtual ostia overlaid on live fluoroscopy were accurate. Optimized C-arm angulations were achieved in 35% of vessel cannulations (0/9 for superior mesenteric artery cannulation, 12/25 for renal arteries). Preoperative CTA-fluoroscopy image fusion guidance during FEVAR is a valuable and accurate tool that allows visceral and renal vessel cannulation without the need of dedicated angiograms, thus avoiding additional injection of contrast material and radiation exposure. Further refinements, such as accounting for device-induced aortic deformation and automating the image fusion workflow, will bolster this technology toward optimal routine clinical use. Copyright © 2017 Society for Vascular Surgery. Published by Elsevier Inc. All rights reserved.

Learning curve in transradial cardiac catheterization: procedure-related parameters stratified by operators' transradial volume.

PubMed

Kasasbeh, Ehab S; Parvez, Babar; Huang, Robert L; Hasselblad, Michele Marie; Glazer, Mark D; Salloum, Joseph G; Cleator, John H; Zhao, David X

2012-11-01

To determine whether radial artery access is associated with a reduction in fluoroscopy time, procedure time, and other procedural variables over a 27-month period during which the radial artery approach was incorporated in a single academic Medical Center. Although previous studies have demonstrated a relationship between increased volume and decreased procedural time, no studies have looked at the integration of radial access over time. Data were collected from consecutive patients who presented to the Vanderbilt University Medical Center cardiac catheterization laboratory from January 1, 2009 to April 1, 2011. Patients who underwent radial access diagnostic catheterization with and without percutaneous coronary intervention were included in this study. A total of 1112 diagnostic cardiac catheterizations through the radial access site were analyzed. High-volume, intermediate-volume, and low-volume operators were grouped based on the percentage of procedures performed through a radial approach. From 2009 to 2011, there was a significant decrease in fluoroscopy time in all operator groups for diagnostic catheterization (P=.035). The high-volume operator group had 1.88 and 3.66 minute reductions in fluoroscopy time compared to the intermediate- and low-volume operator groups, respectively (both P<.001). Likewise, the intermediate-volume operator group had a 1.77 minute improvement compared to the low-volume operator group, but this did not reach statistical significance (P=.102). The improvement in fluoroscopy time and other procedure-related parameters was seen after approximately 25 cases with further improvement after 75 cases. The incorporation of the radial access approach in the cardiac catheterization laboratory led to a decrease in fluoroscopy time for each operator and operator group over the last 3 years. Our data demonstrated that higher-volume radial operators have better procedure, room, and fluoroscopy times when compared to intermediate- and low-volume operators. However, lower-volume operators have a reduction in procedure-related parameters with increased radial cases. Number of procedures needed to become sufficient was demonstrated in the current study.

STEPPING - Smartphone-Based Portable Pedestrian Indoor Navigation

NASA Astrophysics Data System (ADS)

Lukianto, C.; Sternberg, H.

2011-12-01

Many current smartphones are fitted with GPS receivers, which, in combination with a map application form a pedestrian navigation system for outdoor purposes. However, once an area with insufficient satellite signal coverage is entered, these navigation systems cease to function. For indoor positioning, there are already several solutions available which are usually based on measured distances to reference points. These solutions can achieve resolutions as low as the sub-millimetre range depending on the complexity of the set-up. STEPPING project, developed at HCU Hamburg Germany aims at designing an indoor navigation system consisting of a small inertial navigation system and a new, robust sensor fusion algorithm running on a current smartphone. As this system is theoretically able to integrate any available positioning method, it is independent of a particular method and can thus be realized on a smartphone without affecting user mobility. Potential applications include --but are not limited to: Large trade fairs, airports, parking decks and shopping malls, as well as ambient assisted living scenarios.

CT Guided Bone Biopsy Using a Battery Powered Intraosseous Device

DOE Office of Scientific and Technical Information (OSTI.GOV)

Schnapauff, Dirk, E-mail: dirk.schnapauff@charite.de; Marnitz, Tim, E-mail: tim.marnitz@charite.de; Freyhardt, Patrick, E-mail: Patrick.freyhardt@charite.de

2013-10-15

Purpose: To evaluate the feasibility of a battery powered intraosseous device to perform CT-fluoroscopy guided bone biopsy. Methods: Retrospective analysis of 12 patients in whom bone specimen were acquired from different locations under CT-fluoroscopy guidance using the OnControl bone marrow biopsy system (OBM, Vidacare, Shavano Park, TX, USA). Data of the 12 were compared to a historic cohort in whom the specimen were acquired using the classic Jamshidi Needle, as reference needle using manual force for biopsy. Results: Technical success was reached in 11 of 12 cases, indicated by central localisation of the needle within the target lesion. All specimenmore » sampled were sufficient for histopathological workup. Compared to the historical cohort the time needed for biopsy decreased significantly from 13 {+-} 6 to 6 {+-} 4 min (P = 0.0001). Due to the shortened intervention time the radiation dose (CTDI) during CT-fluoroscopy was lowered significantly from 169 {+-} 87 to 111 {+-} 54 mGy Multiplication-Sign cm (P = 0.0001). Interventional radiologists were confident with the performance of the needle especially when using in sclerotic or osteoblastic lesions. Conclusion: The OBM is an attractive support for CT-fluoroscopy guided bone biopsy which is safe tool and compared to the classical approach using the Jamshidi needle leading to significantly reduced intervention time and radiation exposure.« less

Guidance and Navigation Requirements for Unmanned Flyby and Swingby Missions to the Outer Planets. Volume 3; Low Thrust Missions, Phase B

NASA Technical Reports Server (NTRS)

1970-01-01

The guidance and navigation requirements for unmanned missions to the outer planets, assuming constant, low thrust, ion propulsion are discussed. The navigational capability of the ground based Deep Space Network is compared to the improvements in navigational capability brought about by the addition of guidance and navigation related onboard sensors. Relevant onboard sensors include: (1) the optical onboard navigation sensor, (2) the attitude reference sensors, and (3) highly sensitive accelerometers. The totally ground based, and the combination ground based and onboard sensor systems are compared by means of the estimated errors in target planet ephemeris, and the spacecraft position with respect to the planet.

LABRADOR: a learning autonomous behavior-based robot for adaptive detection and object retrieval

NASA Astrophysics Data System (ADS)

Yamauchi, Brian; Moseley, Mark; Brookshire, Jonathan

2013-01-01

As part of the TARDEC-funded CANINE (Cooperative Autonomous Navigation in a Networked Environment) Program, iRobot developed LABRADOR (Learning Autonomous Behavior-based Robot for Adaptive Detection and Object Retrieval). LABRADOR was based on the rugged, man-portable, iRobot PackBot unmanned ground vehicle (UGV) equipped with an explosives ordnance disposal (EOD) manipulator arm and a custom gripper. For LABRADOR, we developed a vision-based object learning and recognition system that combined a TLD (track-learn-detect) filter based on object shape features with a color-histogram-based object detector. Our vision system was able to learn in real-time to recognize objects presented to the robot. We also implemented a waypoint navigation system based on fused GPS, IMU (inertial measurement unit), and odometry data. We used this navigation capability to implement autonomous behaviors capable of searching a specified area using a variety of robust coverage strategies - including outward spiral, random bounce, random waypoint, and perimeter following behaviors. While the full system was not integrated in time to compete in the CANINE competition event, we developed useful perception, navigation, and behavior capabilities that may be applied to future autonomous robot systems.

The course correction implementation of the inertial navigation system based on the information from the aircraft satellite navigation system before take-off

NASA Astrophysics Data System (ADS)

Markelov, V.; Shukalov, A.; Zharinov, I.; Kostishin, M.; Kniga, I.

2016-04-01

The use of the correction course option before aircraft take-off after inertial navigation system (INS) inaccurate alignment based on the platform attitude-and-heading reference system in azimuth is considered in the paper. A course correction is performed based on the track angle defined by the information received from the satellite navigation system (SNS). The course correction includes a calculated track error definition during ground taxiing along straight sections before take-off with its input in the onboard digital computational system like amendment for using in the current flight. The track error calculation is performed by the statistical evaluation of the track angle comparison defined by the SNS information with the current course measured by INS for a given number of measurements on the realizable time interval. The course correction testing results and recommendation application are given in the paper. The course correction based on the information from SNS can be used for improving accuracy characteristics for determining an aircraft path after making accelerated INS preparation concerning inaccurate initial azimuth alignment.

Flight Test Result for the Ground-Based Radio Navigation System Sensor with an Unmanned Air Vehicle

PubMed Central

Jang, Jaegyu; Ahn, Woo-Guen; Seo, Seungwoo; Lee, Jang Yong; Park, Jun-Pyo

2015-01-01

The Ground-based Radio Navigation System (GRNS) is an alternative/backup navigation system based on time synchronized pseudolites. It has been studied for some years due to the potential vulnerability issue of satellite navigation systems (e.g., GPS or Galileo). In the framework of our study, a periodic pulsed sequence was used instead of the randomized pulse sequence recommended as the RTCM (radio technical commission for maritime services) SC (special committee)-104 pseudolite signal, as a randomized pulse sequence with a long dwell time is not suitable for applications requiring high dynamics. This paper introduces a mathematical model of the post-correlation output in a navigation sensor, showing that the aliasing caused by the additional frequency term of a periodic pulsed signal leads to a false lock (i.e., Doppler frequency bias) during the signal acquisition process or in the carrier tracking loop of the navigation sensor. We suggest algorithms to resolve the frequency false lock issue in this paper, relying on the use of a multi-correlator. A flight test with an unmanned helicopter was conducted to verify the implemented navigation sensor. The results of this analysis show that there were no false locks during the flight test and that outliers stem from bad dilution of precision (DOP) or fluctuations in the received signal quality. PMID:26569251

Is There a Relationship Between Body Mass Index and Fluoroscopy Time During Sacroiliac Joint Injection? A Multicenter Cohort Study.

PubMed

McCormick, Zachary L; Cushman, Daniel; Lee, David T; Scholten, Paul; Chu, Samuel K; Babu, Ashwin N; Caldwell, Mary; Ziegler, Craig; Ashraf, Humaira; Sundar, Bindu; Clark, Ryan; Gross, Claire; Cara, Jeffrey; McCormick, Kristen; Ross, Brendon; Smith, Clark C; Press, Joel; Smuck, Matthew; Walega, David R

2016-07-01

To determine the relationship between BMI and fluoroscopy time during intra-articular sacroiliac joint (SIJ) injections performed for a pain indication. Multicenter retrospective cohort study. Three academic, outpatient pain treatment centers. Patients who underwent fluoroscopy guided SIJ injection with encounter data regarding fluoroscopy time during the procedure and body mass index (BMI). Median and 25-75% Interquartile Range (IQR) fluoroscopy time. 459 SIJ injections (350 patients) were included in this study. Patients had a median age of 57 (IQR 44, 70) years, and 72% were female. The median BMI in the normal weight, overweight, and obese groups were 23 (IQR 21, 24), 27 (IQR 26, 29), and 35 (IQR 32, 40), respectively. There was no significant difference in the median fluoroscopy time recorded between these BMI classes (p = 0.45). First-time SIJ injection (p = 0.53), bilateral injection (p = 0.30), trainee involvement (p = 0.47), and new trainee involvement (trainee participation during the first 2 months of the academic year) (p = 0.85) were not associated with increased fluoroscopy time for any of the three BMI categories. Fluoroscopy time during sacroiliac joint injection is not increased in patients who are overweight or obese, regardless of whether a first-time sacroiliac joint injection was performed, bilateral injections were performed, a trainee was involved, or a new trainee was involved. © 2015 American Academy of Pain Medicine. All rights reserved. For permissions, please e-mail: journals.permissions@oup.com.

Fuzzy adaptive integration scheme for low-cost SINS/GPS navigation system

NASA Astrophysics Data System (ADS)

Nourmohammadi, Hossein; Keighobadi, Jafar

2018-01-01

Due to weak stand-alone accuracy as well as poor run-to-run stability of micro-electro mechanical system (MEMS)-based inertial sensors, special approaches are required to integrate low-cost strap-down inertial navigation system (SINS) with global positioning system (GPS), particularly in long-term applications. This paper aims to enhance long-term performance of conventional SINS/GPS navigation systems using a fuzzy adaptive integration scheme. The main concept behind the proposed adaptive integration is the good performance of attitude-heading reference system (AHRS) in low-accelerated motions and its degradation in maneuvered or accelerated motions. Depending on vehicle maneuvers, gravity-based attitude angles can be intelligently utilized to improve orientation estimation in the SINS. Knowledge-based fuzzy inference system is developed for decision-making between the AHRS and the SINS according to vehicle maneuvering conditions. Inertial measurements are the main input data of the fuzzy system to determine the maneuvering level during the vehicle motions. Accordingly, appropriate weighting coefficients are produced to combine the SINS/GPS and the AHRS, efficiently. The assessment of the proposed integrated navigation system is conducted via real data in airborne tests.

Multiple beacons for supporting lunar landing navigation

NASA Astrophysics Data System (ADS)

Theil, Stephan; Bora, Leonardo

2018-02-01

The exploration and potential future exploitation of solar system bodies requires technologies for precise and safe landings. Current navigation systems for landing probes are relying on a combination of inertial and optical sensor measurements to determine the current flight state with respect to the target body and the desired landing site. With a future transition from single exploration missions to more frequent first exploration and then exploitation missions, the implementation and operation of these missions changes, since it can be expected that a ground infrastructure on the target body is available in the vicinity of the landing site. In a previous paper, the impact of a single ground-based beacon on the navigation performance was investigated depending on the type of radiometric measurements and on the location of the beacon with respect to the landing site. This paper extends this investigation on options for ground-based multiple beacons supporting the on-board navigation system. It analyzes the impact on the achievable navigation accuracy. For that purpose, the paper introduces briefly the existing navigation architecture based on optical navigation and its extension with radiometric measurements. The same scenario of lunar landing as in the previous paper is simulated. The results are analyzed and discussed. They show a single beacon at a large distance along the landing trajectory and multiple beacons close to the landing site can improve the navigation performance. The results show how large the landing area can be increased where a sufficient navigation performance is achieved using the beacons.

A Leapfrog Navigation System

NASA Astrophysics Data System (ADS)

Opshaug, Guttorm Ringstad

There are times and places where conventional navigation systems, such as the Global Positioning System (GPS), are unavailable due to anything from temporary signal occultations to lack of navigation system infrastructure altogether. The goal of the Leapfrog Navigation System (LNS) is to provide localized positioning services for such cases. The concept behind leapfrog navigation is to advance a group of navigation units teamwise into an area of interest. In a practical 2-D case, leapfrogging assumes known initial positions of at least two currently stationary navigation units. Two or more mobile units can then start to advance into the area of interest. The positions of the mobiles are constantly being calculated based on cross-range distance measurements to the stationary units, as well as cross-ranges among the mobiles themselves. At some point the mobile units stop, and the stationary units are released to move. This second team of units (now mobile) can then overtake the first team (now stationary) and travel even further towards the common goal of the group. Since there always is one stationary team, the position of any unit can be referenced back to the initial positions. Thus, LNS provides absolute positioning. I developed navigation algorithms needed to solve leapfrog positions based on cross-range measurements. I used statistical tools to predict how position errors would grow as a function of navigation unit geometry, cross-range measurement accuracy and previous position errors. Using this knowledge I predicted that a 4-unit Leapfrog Navigation System using 100 m baselines and 200 m leap distances could travel almost 15 km before accumulating absolute position errors of 10 m (1sigma). Finally, I built a prototype leapfrog navigation system using 4 GPS transceiver ranging units. I placed the 4 units in the vertices a 10m x 10m square, and leapfrogged the group 20 meters forwards, and then back again (40 m total travel). Average horizontal RMS position errors never exceeded 16 cm during these field tests.

VLC-based indoor location awareness using LED light and image sensors

NASA Astrophysics Data System (ADS)

Lee, Seok-Ju; Yoo, Jong-Ho; Jung, Sung-Yoon

2012-11-01

Recently, indoor LED lighting can be considered for constructing green infra with energy saving and additionally providing LED-IT convergence services such as visible light communication (VLC) based location awareness and navigation services. For example, in case of large complex shopping mall, location awareness to navigate the destination is very important issue. However, the conventional navigation using GPS is not working indoors. Alternative location service based on WLAN has a problem that the position accuracy is low. For example, it is difficult to estimate the height exactly. If the position error of the height is greater than the height between floors, it may cause big problem. Therefore, conventional navigation is inappropriate for indoor navigation. Alternative possible solution for indoor navigation is VLC based location awareness scheme. Because indoor LED infra will be definitely equipped for providing lighting functionality, indoor LED lighting has a possibility to provide relatively high accuracy of position estimation combined with VLC technology. In this paper, we provide a new VLC based positioning system using visible LED lights and image sensors. Our system uses location of image sensor lens and location of reception plane. By using more than two image sensor, we can determine transmitter position less than 1m position error. Through simulation, we verify the validity of the proposed VLC based new positioning system using visible LED light and image sensors.

High-Precision Image Aided Inertial Navigation with Known Features: Observability Analysis and Performance Evaluation

PubMed Central

Jiang, Weiping; Wang, Li; Niu, Xiaoji; Zhang, Quan; Zhang, Hui; Tang, Min; Hu, Xiangyun

2014-01-01

A high-precision image-aided inertial navigation system (INS) is proposed as an alternative to the carrier-phase-based differential Global Navigation Satellite Systems (CDGNSSs) when satellite-based navigation systems are unavailable. In this paper, the image/INS integrated algorithm is modeled by a tightly-coupled iterative extended Kalman filter (IEKF). Tightly-coupled integration ensures that the integrated system is reliable, even if few known feature points (i.e., less than three) are observed in the images. A new global observability analysis of this tightly-coupled integration is presented to guarantee that the system is observable under the necessary conditions. The analysis conclusions were verified by simulations and field tests. The field tests also indicate that high-precision position (centimeter-level) and attitude (half-degree-level)-integrated solutions can be achieved in a global reference. PMID:25330046

Endovascular balloon-assisted embolization of intracranial and cervical arteriovenous malformations using dual-lumen coaxial balloon microcatheters and Onyx: initial experience.

PubMed

Jagadeesan, Bharathi D; Grigoryan, Mikayel; Hassan, Ameer E; Grande, Andrew W; Tummala, Ramachandra P

2013-12-01

Ethylene vinyl alcohol copolymer (Onyx) is widely used for the embolization of arteriovenous malformations (AVMs) of the brain, head, and neck. Balloon-assisted Onyx embolization may provide additional unique advantages in the treatment of AVMs in comparison with traditional catheter-based techniques. To report our initial experience in performing balloon-assisted AVM embolization for brain and neck AVMs with the use of the new Scepter-C and Scepter-XC coaxial dual-lumen balloon microcatheters. Balloon-assisted transarterial embolization was performed in a series of 7 patients with AVMs (4 with brain AVMs, 1 with a dural arteriovenous fistula, and 2 with neck AVMs) by using Onyx delivered through the lumen of Scepter-C or Scepter XC coaxial balloon microcatheters. Following the initial balloon-catheter navigation into a feeding artery and the subsequent inflation of the balloon, the embolization was performed by using Onyx 18, Onyx 34, or both. A total of 12 embolization sessions were performed via 17 arterial feeders in these 7 patients. In 1 patient, there was an arterial perforation from the inflation of the balloon; in all others, the embolization goals were successfully achieved with no adverse events. The balloon microcatheters showed excellent navigability, and there were no problems with retrieval or with the repeated inflation and deflation of the balloons. A proximal Onyx plug, which is crucial in many AVM embolizations, was not necessary with this technique. Additionally, fluoroscopy and procedural times seemed lower with this technique compared with conventional embolization methods.

Relative Navigation of Formation Flying Satellites

NASA Technical Reports Server (NTRS)

Long, Anne; Kelbel, David; Lee, Taesul; Leung, Dominic; Carpenter, Russell; Gramling, Cheryl; Bauer, Frank (Technical Monitor)

2002-01-01

The Guidance, Navigation, and Control Center (GNCC) at Goddard Space Flight Center (GSFC) has successfully developed high-accuracy autonomous satellite navigation systems using the National Aeronautics and Space Administration's (NASA's) space and ground communications systems and the Global Positioning System (GPS). In addition, an autonomous navigation system that uses celestial object sensor measurements is currently under development and has been successfully tested using real Sun and Earth horizon measurements.The GNCC has developed advanced spacecraft systems that provide autonomous navigation and control of formation flyers in near-Earth, high-Earth, and libration point orbits. To support this effort, the GNCC is assessing the relative navigation accuracy achievable for proposed formations using GPS, intersatellite crosslink, ground-to-satellite Doppler, and celestial object sensor measurements. This paper evaluates the performance of these relative navigation approaches for three proposed missions with two or more vehicles maintaining relatively tight formations. High-fidelity simulations were performed to quantify the absolute and relative navigation accuracy as a function of navigation algorithm and measurement type. Realistically-simulated measurements were processed using the extended Kalman filter implemented in the GPS Enhanced Inboard Navigation System (GEONS) flight software developed by GSFC GNCC. Solutions obtained by simultaneously estimating all satellites in the formation were compared with the results obtained using a simpler approach based on differencing independently estimated state vectors.

Bio-Inspired Polarized Skylight-Based Navigation Sensors: A Review

PubMed Central

Karman, Salmah B.; Diah, S. Zaleha M.; Gebeshuber, Ille C.

2012-01-01

Animal senses cover a broad range of signal types and signal bandwidths and have inspired various sensors and bioinstrumentation devices for biological and medical applications. Insects, such as desert ants and honeybees, for example, utilize polarized skylight pattern-based information in their navigation activities. They reliably return to their nests and hives from places many kilometers away. The insect navigation system involves the dorsal rim area in their compound eyes and the corresponding polarization sensitive neurons in the brain. The dorsal rim area is equipped with photoreceptors, which have orthogonally arranged small hair-like structures termed microvilli. These are the specialized sensors for the detection of polarized skylight patterns (e-vector orientation). Various research groups have been working on the development of novel navigation systems inspired by polarized skylight-based navigation in animals. Their major contributions are critically reviewed. One focus of current research activities is on imitating the integration path mechanism in desert ants. The potential for simple, high performance miniaturized bioinstrumentation that can assist people in navigation will be explored. PMID:23202158

Bio-inspired polarized skylight-based navigation sensors: a review.

PubMed

Karman, Salmah B; Diah, S Zaleha M; Gebeshuber, Ille C

2012-10-24

Animal senses cover a broad range of signal types and signal bandwidths and have inspired various sensors and bioinstrumentation devices for biological and medical applications. Insects, such as desert ants and honeybees, for example, utilize polarized skylight pattern-based information in their navigation activities. They reliably return to their nests and hives from places many kilometers away. The insect navigation system involves the dorsal rim area in their compound eyes and the corresponding polarization sensitive neurons in the brain. The dorsal rim area is equipped with photoreceptors, which have orthogonally arranged small hair-like structures termed microvilli. These are the specialized sensors for the detection of polarized skylight patterns (e-vector orientation). Various research groups have been working on the development of novel navigation systems inspired by polarized skylight-based navigation in animals. Their major contributions are critically reviewed. One focus of current research activities is on imitating the integration path mechanism in desert ants. The potential for simple, high performance miniaturized bioinstrumentation that can assist people in navigation will be explored.

Towards active image-guidance: tracking of a fiducial in the thorax during respiration under X-ray fluoroscopy

NASA Astrophysics Data System (ADS)

Siddique, Sami; Jaffray, David

2007-03-01

A central purpose of image-guidance is to assist the interventionalist with feedback of geometric performance in the direction of therapy delivery. Tradeoffs exist between accuracy, precision and the constraints imposed by parameters used in the generation of images. A framework that uses geometric performance as feedback to control these parameters can balance such tradeoffs in order to maintain the requisite localization precision for a given clinical procedure. We refer to this principle as Active Image-Guidance (AIG). This framework requires estimates of the uncertainty in the estimated location of the object of interest. In this study, a simple fiducial marker detected under X-ray fluoroscopy is considered and it is shown that a relation exists between the applied imaging dose and the uncertainty in localization for a given observer. A robust estimator of the location of a fiducial in the thorax during respiration under X-ray fluoroscopy is demonstrated using a particle filter based approach that outputs estimates of the location and the associated spatial uncertainty. This approach gives an rmse of 1.3mm and the uncertainty estimates are found to be correlated with the error in the estimates. Furthermore, the particle filtering approach is employed to output location estimates and the associated uncertainty not only at instances of pulsed exposure but also between exposures. Such a system has applications in image-guided interventions (surgery, radiotherapy, interventional radiology) where there are latencies between the moment of imaging and the act of intervention.

Vision-Aided Context-Aware Framework for Personal Navigation Services

NASA Astrophysics Data System (ADS)

Saeedi, S.; Moussa, A.; El-Sheimy, N., , Dr.

2012-07-01

The ubiquity of mobile devices (such as smartphones and tablet-PCs) has encouraged the use of location-based services (LBS) that are relevant to the current location and context of a mobile user. The main challenge of LBS is to find a pervasive and accurate personal navigation system (PNS) in different situations of a mobile user. In this paper, we propose a method of personal navigation for pedestrians that allows a user to freely move in outdoor environments. This system aims at detection of the context information which is useful for improving personal navigation. The context information for a PNS consists of user activity modes (e.g. walking, stationary, driving, and etc.) and the mobile device orientation and placement with respect to the user. After detecting the context information, a low-cost integrated positioning algorithm has been employed to estimate pedestrian navigation parameters. The method is based on the integration of the relative user's motion (changes of velocity and heading angle) estimation based on the video image matching and absolute position information provided by GPS. A Kalman filter (KF) has been used to improve the navigation solution when the user is walking and the phone is in his/her hand. The Experimental results demonstrate the capabilities of this method for outdoor personal navigation systems.

Fiber sensor assisted in-vivo needle guidance for minimally invasive procedures (Conference Presentation)

NASA Astrophysics Data System (ADS)

Baghdadchi, Saharnaz; Chao, Cherng; Esener, Sadik; Mattrey, Robert F.; Eghtedari, Mohammad A.

2017-02-01

Image-guided procedures are performed frequently by radiologists to insert a catheter within a target vessel or lumen or to perform biopsy of a lesion. For instance, an interventional radiologist uses fluoroscopy during percutaneous biliary drainage procedure (a procedure during which a catheter is inserted through the skin to drain the bile from liver) to identify the location of the needle tip within liver parenchyma, hepatic blood vessel or bile duct. However, the identification of the target organ under fluoroscopy exposes the patient to x-ray irradiation, which may be significant if the time of procedure is prolonged. We have designed a fiber core needle system that may help the radiologist identify the location of the needle tip in real time without exposing the patient to x-ray. Our needle system transmits a low power modulated light into the tissue through a fiber cable embedded in the needle and detects the backscattered light using another fiber inside the needle. We were able to successfully distinguish the location of our prototype needle tip inside a cow liver phantom to identify if the needle tip was within liver parenchyma, liver vessels, or in the bile duct based on the recorded backscattered light.

Minimally invasive neurosurgery within a 0.5 tesla intraoperative magnetic resonance scanner using an off-line neuro-navigation system.

PubMed

Mursch, K; Gotthardt, T; Kröger, R; Bublat, M; Behnke-Mursch, J

2005-08-01

We evaluated an advanced concept for patient-based navigation during minimally invasive neurosurgical procedures. An infrared-based, off-line neuro-navigation system (LOCALITE, Bonn, Germany) was applied during operations within a 0.5 T intraoperative MRI scanner (iMRI) (Signa SF, GE Medical Systems, Milwaukee, WI, USA) in addition to the conventional real-time system. The three-dimensional (3D) data set was acquired intraoperatively and up-dated when brain-shift was suspected. Twenty-three patients with subcortical lesions were operated upon with the aim to minimise the operative trauma. Small craniotomies (median diameter 30 mm, mean diameter 27 mm) could be placed exactly. In all cases, the primary goal of the operation (total resection or biopsy) was achieved in a straightforward procedure without permanent morbidity. The navigation system could be easily used without technical problems. In contrast to the real-time navigation mode of the MR system, the higher quality as well as the real-time display of the MR images reconstructed from the 3D reference data provided sufficient visual-manual coordination. The system combines the advantages of conventional neuro-navigation with the ability to adapt intraoperatively to the continuously changing anatomy. Thus, small and/or deep lesions can be operated upon in straightforward minimally invasive operations.

The use of x-ray pulsar-based navigation method for interplanetary flight

NASA Astrophysics Data System (ADS)

Yang, Bo; Guo, Xingcan; Yang, Yong

2009-07-01

As interplanetary missions are increasingly complex, the existing unique mature interplanetary navigation method mainly based on radiometric tracking techniques of Deep Space Network can not meet the rising demands of autonomous real-time navigation. This paper studied the applications for interplanetary flights of a new navigation technology under rapid development-the X-ray pulsar-based navigation for spacecraft (XPNAV), and valued its performance with a computer simulation. The XPNAV is an excellent autonomous real-time navigation method, and can provide comprehensive navigation information, including position, velocity, attitude, attitude rate and time. In the paper the fundamental principles and time transformation of the XPNAV were analyzed, and then the Delta-correction XPNAV blending the vehicles' trajectory dynamics with the pulse time-of-arrival differences at nominal and estimated spacecraft locations within an Unscented Kalman Filter (UKF) was discussed with a background mission of Mars Pathfinder during the heliocentric transferring orbit. The XPNAV has an intractable problem of integer pulse phase cycle ambiguities similar to the GPS carrier phase navigation. This article innovatively proposed the non-ambiguity assumption approach based on an analysis of the search space array method to resolve pulse phase cycle ambiguities between the nominal position and estimated position of the spacecraft. The simulation results show that the search space array method are computationally intensive and require long processing time when the position errors are large, and the non-ambiguity assumption method can solve ambiguity problem quickly and reliably. It is deemed that autonomous real-time integrated navigation system of the XPNAV blending with DSN, celestial navigation, inertial navigation and so on will be the development direction of interplanetary flight navigation system in the future.

Autonomous navigation system based on GPS and magnetometer data

NASA Technical Reports Server (NTRS)

Julie, Thienel K. (Inventor); Richard, Harman R. (Inventor); Bar-Itzhack, Itzhack Y. (Inventor)

2004-01-01

This invention is drawn to an autonomous navigation system using Global Positioning System (GPS) and magnetometers for low Earth orbit satellites. As a magnetometer is reliable and always provides information on spacecraft attitude, rate, and orbit, the magnetometer-GPS configuration solves GPS initialization problem, decreasing the convergence time for navigation estimate and improving the overall accuracy. Eventually the magnetometer-GPS configuration enables the system to avoid costly and inherently less reliable gyro for rate estimation. Being autonomous, this invention would provide for black-box spacecraft navigation, producing attitude, orbit, and rate estimates without any ground input with high accuracy and reliability.

Navigation study for low-altitude Earth satellites

NASA Technical Reports Server (NTRS)

Pastor, P. R.; Fang, B. T.; Yee, C. P.

1985-01-01

This document describes several navigation studies for low-altitude Earth satellites. The use of Global Positioning System Navigation Package data for LANDSAT-5 orbit determination is evaluated. In addition, a navigation analysis for the proposed Tracking and Data Aquisition System is presented. This analysis, based on simulations employing one-way Doppler data, is used to determine the agreement between the Research and Development Goddard Trajectory Determination System and the Sequential Error Analysis Program results. Properties of several geopotential error models are studied and an exploratory study of orbit smoother process noise is presented.

A Novel Robust H∞ Filter Based on Krein Space Theory in the SINS/CNS Attitude Reference System

PubMed Central

Yu, Fei; Lv, Chongyang; Dong, Qianhui

2016-01-01

Owing to their numerous merits, such as compact, autonomous and independence, the strapdown inertial navigation system (SINS) and celestial navigation system (CNS) can be used in marine applications. What is more, due to the complementary navigation information obtained from two different kinds of sensors, the accuracy of the SINS/CNS integrated navigation system can be enhanced availably. Thus, the SINS/CNS system is widely used in the marine navigation field. However, the CNS is easily interfered with by the surroundings, which will lead to the output being discontinuous. Thus, the uncertainty problem caused by the lost measurement will reduce the system accuracy. In this paper, a robust H∞ filter based on the Krein space theory is proposed. The Krein space theory is introduced firstly, and then, the linear state and observation models of the SINS/CNS integrated navigation system are established reasonably. By taking the uncertainty problem into account, in this paper, a new robust H∞ filter is proposed to improve the robustness of the integrated system. At last, this new robust filter based on the Krein space theory is estimated by numerical simulations and actual experiments. Additionally, the simulation and experiment results and analysis show that the attitude errors can be reduced by utilizing the proposed robust filter effectively when the measurements are missing discontinuous. Compared to the traditional Kalman filter (KF) method, the accuracy of the SINS/CNS integrated system is improved, verifying the robustness and the availability of the proposed robust H∞ filter. PMID:26999153

Feasibility and safety of transfemoral intra-arterial chemotherapy for head and neck cancer using a 3-French catheter system: comparison with a 4-French catheter system.

PubMed

Watanabe, Shigeru; Yamamoto, Akira; Torigoe, Teruyuki; Kanki, Akihiko; Tamada, Tsutomu; Ito, Katsuyoshi

2016-02-01

To assess the technical feasibility of transfemoral intra-arterial chemotherapy for head and neck cancer using a 3-French catheter system (3-Fr). Sixty-two patients with head and neck cancer who underwent transfemoral intra-arterial chemotherapy were included in this study. Thirty-three patients underwent treatment using a 3-Fr (group 3-Fr). Twenty-nine patients underwent treatment using a 4-French catheter system (group 4-Fr). The technical success rate, duration of the procedure with fluoroscopy, and rate of procedure-related complications were compared between group 3-Fr and group 4-Fr. In addition, in group 3-Fr, bleeding at the puncture site after 1.5 h of bed rest was evaluated. The technical success rate was 100% in both groups. The duration of the procedure with fluoroscopy didn't differ between group 3-Fr (mean 28.0 min) and group 4-Fr (mean 30.2 min) (p = 0.524). There was no procedure-related complication in either group. In group 3-Fr, no hemorrhagic complication was observed. A 3-French catheter system can be used to perform transfemoral intra-arterial chemotherapy for head and neck cancer and is technically feasible with approximately the same duration of the procedure with fluoroscopy. Furthermore, this method may shorten the bed rest time without hemorrhagic complication, and may reduce the risk of pulmonary embolism.

Collective navigation of complex networks: Participatory greedy routing.

PubMed

Kleineberg, Kaj-Kolja; Helbing, Dirk

2017-06-06

Many networks are used to transfer information or goods, in other words, they are navigated. The larger the network, the more difficult it is to navigate efficiently. Indeed, information routing in the Internet faces serious scalability problems due to its rapid growth, recently accelerated by the rise of the Internet of Things. Large networks like the Internet can be navigated efficiently if nodes, or agents, actively forward information based on hidden maps underlying these systems. However, in reality most agents will deny to forward messages, which has a cost, and navigation is impossible. Can we design appropriate incentives that lead to participation and global navigability? Here, we present an evolutionary game where agents share the value generated by successful delivery of information or goods. We show that global navigability can emerge, but its complete breakdown is possible as well. Furthermore, we show that the system tends to self-organize into local clusters of agents who participate in the navigation. This organizational principle can be exploited to favor the emergence of global navigability in the system.

Advanced Integration of WiFi and Inertial Navigation Systems for Indoor Mobile Positioning

NASA Astrophysics Data System (ADS)

Evennou, Frédéric; Marx, François

2006-12-01

This paper presents an aided dead-reckoning navigation structure and signal processing algorithms for self localization of an autonomous mobile device by fusing pedestrian dead reckoning and WiFi signal strength measurements. WiFi and inertial navigation systems (INS) are used for positioning and attitude determination in a wide range of applications. Over the last few years, a number of low-cost inertial sensors have become available. Although they exhibit large errors, WiFi measurements can be used to correct the drift weakening the navigation based on this technology. On the other hand, INS sensors can interact with the WiFi positioning system as they provide high-accuracy real-time navigation. A structure based on a Kalman filter and a particle filter is proposed. It fuses the heterogeneous information coming from those two independent technologies. Finally, the benefits of the proposed architecture are evaluated and compared with the pure WiFi and INS positioning systems.

Panama Canal Fog Navigation Study : Candidate System Definition

DOT National Transportation Integrated Search

1984-01-01

A candidate system for solving fog navigation problems in the Panama Canal is defined. The vessel monitoring subsystem is a shore-based, all-weather, precision ranging system with ranging accuracies of 9 feet (2 standard deviations, 95 percent).

Area navigation implementation for a microcomputer-based LORAN-C receiver

NASA Technical Reports Server (NTRS)

Oguri, F.

1983-01-01

Engineering performed to make LORAN-C a more useful and practical navigation system for general aviation is described. Development of new software, and implementation of this software on a (MOS6502) microcomputer to provide high quality practical area navigation information directly to the pilot and considered. Flight tests were performed specifically to examine the efficacy of this new software. Final results were exceptionally good and clearly demonstrate the merits of this new LORAN-C area navigation system.

Performance of magnetic field‐guided navigation system for interventional neurosurgical and cardiac procedures

PubMed Central

Chu, James C.H.; Hsi, Wen Chien; Hubbard, Lincoln; Zhang, Yunkai; Bernard, Damian; Reeder, Pamela; Lopes, Demetrius

2005-01-01

A hospital‐based magnetic guidance system (MGS) was installed to assist a physician in navigating catheters and guide wires during interventional cardiac and neurosurgical procedures. The objective of this study is to examine the performance of this magnetic field‐guided navigation system. Our results show that the system's radiological imaging components produce images with quality similar to that produced by other modern fluoroscopic devices. The system's magnetic navigation components also deflect the wire and catheter tips toward the intended direction. The physician, however, will have to oversteer the wire or catheter when defining the steering angle during the procedure. The MGS could be clinically useful in device navigation deflection and vessel access. PACS numbers: 07.55.Db, 07.85.‐m PMID:16143799

Rule-based navigation control design for autonomous flight

NASA Astrophysics Data System (ADS)

Contreras, Hugo; Bassi, Danilo

2008-04-01

This article depicts a navigation control system design that is based on a set of rules in order to follow a desired trajectory. The full control of the aircraft considered here comprises: a low level stability control loop, based on classic PID controller and the higher level navigation whose main job is to exercise lateral control (course) and altitude control, trying to follow a desired trajectory. The rules and PID gains were adjusted systematically according to the result of flight simulation. In spite of its simplicity, the rule-based navigation control proved to be robust, even with big perturbation, like crossing winds.

Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays.

PubMed

Yan, Zheping; Wang, Lu; Wang, Tongda; Yang, Zewen; Chen, Tao; Xu, Jian

2018-03-30

To solve the navigation accuracy problems of multi-Unmanned Underwater Vehicles (multi-UUVs) in the polar region, a polar cooperative navigation algorithm for multi-UUVs considering communication delays is proposed in this paper. UUVs are important pieces of equipment in ocean engineering for marine development. For UUVs to complete missions, precise navigation is necessary. It is difficult for UUVs to establish true headings because of the rapid convergence of Earth meridians and the severe polar environment. Based on the polar grid navigation algorithm, UUV navigation in the polar region can be accomplished with the Strapdown Inertial Navigation System (SINS) in the grid frame. To save costs, a leader-follower type of system is introduced in this paper. The leader UUV helps the follower UUVs to achieve high navigation accuracy. Follower UUVs correct their own states based on the information sent by the leader UUV and the relative position measured by ultra-short baseline (USBL) acoustic positioning. The underwater acoustic communication delay is quantized by the model. In this paper, considering underwater acoustic communication delay, the conventional adaptive Kalman filter (AKF) is modified to adapt to polar cooperative navigation. The results demonstrate that the polar cooperative navigation algorithm for multi-UUVs that considers communication delays can effectively navigate the sailing of multi-UUVs in the polar region.

Polar Cooperative Navigation Algorithm for Multi-Unmanned Underwater Vehicles Considering Communication Delays

PubMed Central

Yan, Zheping; Wang, Lu; Wang, Tongda; Yang, Zewen; Chen, Tao; Xu, Jian

2018-01-01

To solve the navigation accuracy problems of multi-Unmanned Underwater Vehicles (multi-UUVs) in the polar region, a polar cooperative navigation algorithm for multi-UUVs considering communication delays is proposed in this paper. UUVs are important pieces of equipment in ocean engineering for marine development. For UUVs to complete missions, precise navigation is necessary. It is difficult for UUVs to establish true headings because of the rapid convergence of Earth meridians and the severe polar environment. Based on the polar grid navigation algorithm, UUV navigation in the polar region can be accomplished with the Strapdown Inertial Navigation System (SINS) in the grid frame. To save costs, a leader-follower type of system is introduced in this paper. The leader UUV helps the follower UUVs to achieve high navigation accuracy. Follower UUVs correct their own states based on the information sent by the leader UUV and the relative position measured by ultra-short baseline (USBL) acoustic positioning. The underwater acoustic communication delay is quantized by the model. In this paper, considering underwater acoustic communication delay, the conventional adaptive Kalman filter (AKF) is modified to adapt to polar cooperative navigation. The results demonstrate that the polar cooperative navigation algorithm for multi-UUVs that considers communication delays can effectively navigate the sailing of multi-UUVs in the polar region. PMID:29601537

INS/GNSS Tightly-Coupled Integration Using Quaternion-Based AUPF for USV.

PubMed

Xia, Guoqing; Wang, Guoqing

2016-08-02

This paper addresses the problem of integration of Inertial Navigation System (INS) and Global Navigation Satellite System (GNSS) for the purpose of developing a low-cost, robust and highly accurate navigation system for unmanned surface vehicles (USVs). A tightly-coupled integration approach is one of the most promising architectures to fuse the GNSS data with INS measurements. However, the resulting system and measurement models turn out to be nonlinear, and the sensor stochastic measurement errors are non-Gaussian and distributed in a practical system. Particle filter (PF), one of the most theoretical attractive non-linear/non-Gaussian estimation methods, is becoming more and more attractive in navigation applications. However, the large computation burden limits its practical usage. For the purpose of reducing the computational burden without degrading the system estimation accuracy, a quaternion-based adaptive unscented particle filter (AUPF), which combines the adaptive unscented Kalman filter (AUKF) with PF, has been proposed in this paper. The unscented Kalman filter (UKF) is used in the algorithm to improve the proposal distribution and generate a posterior estimates, which specify the PF importance density function for generating particles more intelligently. In addition, the computational complexity of the filter is reduced with the avoidance of the re-sampling step. Furthermore, a residual-based covariance matching technique is used to adapt the measurement error covariance. A trajectory simulator based on a dynamic model of USV is used to test the proposed algorithm. Results show that quaternion-based AUPF can significantly improve the overall navigation accuracy and reliability.

A novel navigation system for maxillary positioning in orthognathic surgery: Preclinical evaluation.

PubMed

Lutz, Jean-Christophe; Nicolau, Stéphane; Agnus, Vincent; Bodin, Frédéric; Wilk, Astrid; Bruant-Rodier, Catherine; Rémond, Yves; Soler, Luc

2015-11-01

Appropriate positioning of the maxilla is critical in orthognathic surgery. As opposed to splint-based positioning, navigation systems are versatile and appropriate in assessing the vertical dimension. Bulk and disruption to the line of sight are drawbacks of optical navigation systems. Our aim was to develop and assess a novel navigation system based on electromagnetic tracking of the maxilla, including real-time registration of head movements. Since the software interface has proved to greatly influence the accuracy of the procedure, we purposely designed and evaluated an original, user-friendly interface. A sample of 12 surgeons had to navigate the phantom osteotomized maxilla to eight given target positions using the software we have developed. Time and accuracy (translational error and angular error) were compared between a conventional and a navigated session. A questionnaire provided qualitative evaluation. Our system definitely allows a reduction in variability of time and accuracy among different operators. Accuracy was improved in all surgeons (mean terror difference = 1.11 mm, mean aerror difference = 1.32°). Operative time was decreased in trainees. Therefore, they would benefit from such a system that could also serve for educational purposes. The majority of surgeons who strongly agreed that such a navigation system would prove very helpful in complex deformities, also stated that it would be helpful in everyday orthognathic procedures. Copyright © 2015 European Association for Cranio-Maxillo-Facial Surgery. Published by Elsevier Ltd. All rights reserved.

A Low-Cost EEG System-Based Hybrid Brain-Computer Interface for Humanoid Robot Navigation and Recognition

PubMed Central

Choi, Bongjae; Jo, Sungho

2013-01-01

This paper describes a hybrid brain-computer interface (BCI) technique that combines the P300 potential, the steady state visually evoked potential (SSVEP), and event related de-synchronization (ERD) to solve a complicated multi-task problem consisting of humanoid robot navigation and control along with object recognition using a low-cost BCI system. Our approach enables subjects to control the navigation and exploration of a humanoid robot and recognize a desired object among candidates. This study aims to demonstrate the possibility of a hybrid BCI based on a low-cost system for a realistic and complex task. It also shows that the use of a simple image processing technique, combined with BCI, can further aid in making these complex tasks simpler. An experimental scenario is proposed in which a subject remotely controls a humanoid robot in a properly sized maze. The subject sees what the surrogate robot sees through visual feedback and can navigate the surrogate robot. While navigating, the robot encounters objects located in the maze. It then recognizes if the encountered object is of interest to the subject. The subject communicates with the robot through SSVEP and ERD-based BCIs to navigate and explore with the robot, and P300-based BCI to allow the surrogate robot recognize their favorites. Using several evaluation metrics, the performances of five subjects navigating the robot were quite comparable to manual keyboard control. During object recognition mode, favorite objects were successfully selected from two to four choices. Subjects conducted humanoid navigation and recognition tasks as if they embodied the robot. Analysis of the data supports the potential usefulness of the proposed hybrid BCI system for extended applications. This work presents an important implication for the future work that a hybridization of simple BCI protocols provide extended controllability to carry out complicated tasks even with a low-cost system. PMID:24023953

A low-cost EEG system-based hybrid brain-computer interface for humanoid robot navigation and recognition.

PubMed

Choi, Bongjae; Jo, Sungho

2013-01-01

This paper describes a hybrid brain-computer interface (BCI) technique that combines the P300 potential, the steady state visually evoked potential (SSVEP), and event related de-synchronization (ERD) to solve a complicated multi-task problem consisting of humanoid robot navigation and control along with object recognition using a low-cost BCI system. Our approach enables subjects to control the navigation and exploration of a humanoid robot and recognize a desired object among candidates. This study aims to demonstrate the possibility of a hybrid BCI based on a low-cost system for a realistic and complex task. It also shows that the use of a simple image processing technique, combined with BCI, can further aid in making these complex tasks simpler. An experimental scenario is proposed in which a subject remotely controls a humanoid robot in a properly sized maze. The subject sees what the surrogate robot sees through visual feedback and can navigate the surrogate robot. While navigating, the robot encounters objects located in the maze. It then recognizes if the encountered object is of interest to the subject. The subject communicates with the robot through SSVEP and ERD-based BCIs to navigate and explore with the robot, and P300-based BCI to allow the surrogate robot recognize their favorites. Using several evaluation metrics, the performances of five subjects navigating the robot were quite comparable to manual keyboard control. During object recognition mode, favorite objects were successfully selected from two to four choices. Subjects conducted humanoid navigation and recognition tasks as if they embodied the robot. Analysis of the data supports the potential usefulness of the proposed hybrid BCI system for extended applications. This work presents an important implication for the future work that a hybridization of simple BCI protocols provide extended controllability to carry out complicated tasks even with a low-cost system.

TDRSS Augmentation System for Satellites

NASA Technical Reports Server (NTRS)

Heckler, Gregory W.; Gramling, Cheryl; Valdez, Jennifer; Baldwin, Philip

2016-01-01

In 2015, NASA Goddard Space Flight Center (GSFC) reinvigorated the development of the TDRSS Augmentation Service for Satellites (TASS). TASS is a global, space-based, communications and navigation service for users of Global Navigation Satellite Systems(GNSS) and the Tracking and Data Relay Satellite System (TDRSS). TASS leverages the existing TDRSS to provide an S-band beacon radio navigation and messaging source to users at orbital altitudes 1400 km and below.

Investigation on navigation patterns of inertial/celestial integrated systems

NASA Astrophysics Data System (ADS)

Luo, Dacheng; Liu, Yan; Liu, Zhiguo; Jiao, Wei; Wang, Qiuyan

2014-11-01

It is known that Strapdown Inertial Navigation System (SINS), Global Navigation Satellite System (GNSS) and Celestial Navigation System (CNS) can complement each other's advantages. The SINS/CNS integrated system, which has the characteristics of strong autonomy, high accuracy and good anti-jamming, is widely used in military and civilian applications. Similar to SINS/GNSS integrated system, the SINS/CNS integrated system can also be divided into three kinds according to the difference of integrating depth, i.e., loosely coupled pattern, tightly coupled pattern and deeply coupled pattern. In this paper, the principle and characteristics of each pattern of SINS/CNS system are analyzed. Based on the comparison of these patterns, a novel deeply coupled SINS/CNS integrated navigation scheme is proposed. The innovation of this scheme is that a new star pattern matching method aided by SINS information is put forward. Thus the complementary features of these two subsystems are reflected.

Environment exploration and SLAM experiment research based on ROS

NASA Astrophysics Data System (ADS)

Li, Zhize; Zheng, Wei

2017-11-01

Robots need to get the information of surrounding environment by means of map learning. SLAM or navigation based on mobile robots is developing rapidly. ROS (Robot Operating System) is widely used in the field of robots because of the convenient code reuse and open source. Numerous excellent algorithms of SLAM or navigation are ported to ROS package. hector_slam is one of them that can set up occupancy grid maps on-line fast with low computation resources requiring. Its characters above make the embedded handheld mapping system possible. Similarly, hector_navigation also does well in the navigation field. It can finish path planning and environment exploration by itself using only an environmental sensor. Combining hector_navigation with hector_slam can realize low cost environment exploration, path planning and slam at the same time

How does electromagnetic navigation stack up against infrared navigation in minimally invasive total knee arthroplasties?

PubMed

Lionberger, David R; Weise, Jennifer; Ho, David M; Haddad, John L

2008-06-01

Forty-six primary total knee arthroplasties were performed using either an electromagnetic (EM) or infrared (IR) navigation system. In this IRB-approved study, patients were evaluated clinically and for accuracy using spiral computed tomographic imaging and 36-in standing radiographs. Although EM navigation was subject to metal interference, it was not as drastic as line-of-sight interference with IR navigation. Mechanical alignment was ideal in 92.9% of EM and 90.0% of IR cases based on spiral computed tomographic imaging and 100% of EM and 95% of IR cases based on x-ray. Individual measurements of component varus/valgus and sagittal measurements showed EM to be equivalent to IR, with both systems producing subdegree accuracy in 95% of the readings.

Open-Loop Flight Testing of COBALT Navigation and Sensor Technologies for Precise Soft Landing

NASA Technical Reports Server (NTRS)

Carson, John M., III; Restrepo, Caroline I.; Seubert, Carl R.; Amzajerdian, Farzin; Pierrottet, Diego F.; Collins, Steven M.; O'Neal, Travis V.; Stelling, Richard

2017-01-01

An open-loop flight test campaign of the NASA COBALT (CoOperative Blending of Autonomous Landing Technologies) payload was conducted onboard the Masten Xodiac suborbital rocket testbed. The payload integrates two complementary sensor technologies that together provide a spacecraft with knowledge during planetary descent and landing to precisely navigate and softly touchdown in close proximity to targeted surface locations. The two technologies are the Navigation Doppler Lidar (NDL), for high-precision velocity and range measurements, and the Lander Vision System (LVS) for map-relative state esti- mates. A specialized navigation filter running onboard COBALT fuses the NDL and LVS data in real time to produce a very precise Terrain Relative Navigation (TRN) solution that is suitable for future, autonomous planetary landing systems that require precise and soft landing capabilities. During the open-loop flight campaign, the COBALT payload acquired measurements and generated a precise navigation solution, but the Xodiac vehicle planned and executed its maneuvers based on an independent, GPS-based navigation solution. This minimized the risk to the vehicle during the integration and testing of the new navigation sensing technologies within the COBALT payload.

Differentiation of thrombus from pannus as the cause of acquired mechanical prosthetic heart valve obstruction by non-invasive imaging: a review of the literature.

PubMed

Tanis, Wilco; Habets, Jesse; van den Brink, Renee B A; Symersky, Petr; Budde, Ricardo P J; Chamuleau, Steven A J

2014-02-01

For acquired mechanical prosthetic heart valve (PHV) obstruction and suspicion on thrombosis, recently updated European Society of Cardiology guidelines advocate the confirmation of thrombus by transthoracic echocardiography, transesophageal echocardiography (TEE), and fluoroscopy. However, no evidence-based diagnostic algorithm is available for correct thrombus detection, although this is clinically important as fibrinolysis is contraindicated in non-thrombotic obstruction (isolated pannus). Here, we performed a review of the literature in order to propose a diagnostic algorithm. We performed a systematic search in Pubmed and Embase. Included publications were assessed on methodological quality based on the validated Quality Assessment of Diagnostic Accuracy Studies (QUADAS) II checklist. Studies were scarce (n = 15) and the majority were of moderate methodological quality. In total, 238 mechanical PHV's with acquired obstruction and a reliable reference standard were included for the evaluation of the role of fluoroscopy, echocardiography, or multidetector-row computed tomography (MDCT). In acquired PHV obstruction caused by thrombosis, mass detection by TEE and leaflet restriction detected by fluoroscopy were observed in the majority of cases (96 and 100%, respectively). In contrast, in acquired PHV obstruction free of thrombosis (pannus), leaflet restriction detected by fluoroscopy was absent in some cases (17%) and mass detection by TEE was absent in the majority of cases (66%). In case of mass detection by TEE, predictors for obstructive thrombus masses (compared with pannus masses) were leaflet restriction, soft echo density, and increased mass length. In situations of inconclusive echocardiography, MDCT may correctly detect pannus/thrombus based on the morphological aspects and localization. In acquired mechanical PHV obstruction without leaflet restriction and absent mass on TEE, obstructive PHV thrombosis cannot be confirmed and consequently, fibrinolysis is not advised. Based on the literature search and our opinion, a diagnostic algorithm is provided to correctly identify non-thrombotic PHV obstruction, which is highly relevant in daily clinical practice.

Navigation studies based on the ubiquitous positioning technologies

NASA Astrophysics Data System (ADS)

Ye, Lei; Mi, Weijie; Wang, Defeng

2007-11-01

This paper summarized the nowadays positioning technologies, such as absolute positioning methods and relative positioning methods, indoor positioning and outdoor positioning, active positioning and passive positioning. Global Navigation Satellite System (GNSS) technologies were introduced as the omnipresent out-door positioning technologies, including GPS, GLONASS, Galileo and BD-1/2. After analysis of the shortcomings of GNSS, indoor positioning technologies were discussed and compared, including A-GPS, Cellular network, Infrared, Electromagnetism, Computer Vision Cognition, Embedded Pressure Sensor, Ultrasonic, RFID (Radio Frequency IDentification), Bluetooth, WLAN etc.. Then the concept and characteristics of Ubiquitous Positioning was proposed. After the ubiquitous positioning technologies contrast and selection followed by system engineering methodology, a navigation system model based on Incorporate Indoor-Outdoor Positioning Solution was proposed. And this model was simulated in the Galileo Demonstration for World Expo Shanghai project. In the conclusion, the prospects of ubiquitous positioning based navigation were shown, especially to satisfy the public location information acquiring requirement.

Cone Beam Computertomography (CBCT) in Interventional Chest Medicine - High Feasibility for Endobronchial Realtime Navigation.

PubMed

Hohenforst-Schmidt, Wolfgang; Zarogoulidis, Paul; Vogl, Thomas; Turner, J Francis; Browning, Robert; Linsmeier, Bernd; Huang, Haidong; Li, Qiang; Darwiche, Kaid; Freitag, Lutz; Simoff, Michael; Kioumis, Ioannis; Zarogoulidis, Konstantinos; Brachmann, Johannes

2014-01-01

Currently there are several advanced guiding techniques for pathoanatomical diagnosis of incidental solitary pulmonary nodules (iSPN): Electromagnetic navigation (EMN) with or without endobronchial ultrasound (EBUS) with miniprobe, transthoracic ultrasound (TTUS) for needle approach to the pleural wall and adjacent lung and computed tomography (CT) -guidance for (seldom if ever used) endobronchial or (common) transthoracical approach. In several situations one technique is not enough for efficient diagnosis, therefore we investigated a new diagnostic technique of endobronchial guided biopsies by a Cone Beam Computertomography (CBCT) called DynaCT (SIEMENS AG Forchheim, Germany). In our study 33 incidental solitary pulmonary nodules (iSPNs) (28 malignant, 5 benign; mean diameter 25 +/-12mm, shortest distance to pleura 25+/-18mm) were eligible according to in- and exclusion criteria. Realtime and onsite navigation were performed according to our standard protocol.22 All iSPN were controlled with a second technique when necessary and clinical feasible in case of unspecific or unexpected histological result. In all cases common guidelines of treatment of different iSPNs were followed in a routine manner. Overall navigational yield (ny) was 91% and diagnostic yield (dy) 70%, dy for all accomplished malignant cases (n=28) was 82%. In the subgroup analysis of the invisible iSPN (n=12, 11 malignant, 1 benign; mean diameter 15+/-3mm) we found an overall dy of 75%. For the first time we describe a significant difference in specifity of biopsy results in regards to the position of the forceps in the 3-dimensional volume (3DV) of the iSPN in the whole sample group. Comparing the specifity of biopsies of a 3D-uncentered but inside the outer one third of an iSPN-3DV with the specifity of biopsies of centered forceps position (meaning the inner two third of an iSPN-3DV) reveals a significant (p=0,0375 McNemar) difference for the size group (>1cm) of 0,9 for centered biopsies vs. 0,3 for uncentered biopsies. Therefore only 3D-centered biopsies should be relied on especially in case of a benign result. The diagnostic yield of DynaCT navigation guided transbronchial biopsies (TBB) only with forceps is at least up to twofold higher than conventional TBB for iSPNs <2cm. The diagnostic yield of DynaCT navigation guided forceps TBB in invisible SPNs is at least in the range of other navigation studies which were performed partly with multiple navigation tools and multiple instruments. For future diagnostic and therapeutic approaches it is so far the only onsite and realtime extrathoracic navigation approach (except for computed tomography (CT)-fluoroscopy) in the bronchoscopy suite which keeps the working channel open. The system purchase represents an important investment for hospitals but it is a multidisciplinary and multinavigational tool with possible access via bronchial airways, transthoracical or vascular approach at the same time and on the same table without the need for an expensive disposable instrument use.

Colonoscope navigation system using colonoscope tracking method based on line registration

NASA Astrophysics Data System (ADS)

Oda, Masahiro; Kondo, Hiroaki; Kitasaka, Takayuki; Furukawa, Kazuhiro; Miyahara, Ryoji; Hirooka, Yoshiki; Goto, Hidemi; Navab, Nassir; Mori, Kensaku

2014-03-01

This paper presents a new colonoscope navigation system. CT colonography is utilized for colon diagnosis based on CT images. If polyps are found while CT colonography, colonoscopic polypectomy can be performed to remove them. While performing a colonoscopic examination, a physician controls colonoscope based on his/her experience. Inexperienced physicians may occur complications such as colon perforation while colonoscopic examinations. To reduce complications, a navigation system of colonoscope while performing the colonoscopic examinations is necessary. We propose a colonoscope navigation system. This system has a new colonoscope tracking method. This method obtains a colon centerline from a CT volume of a patient. A curved line (colonoscope line) representing the shape of colonoscope inserted to the colon is obtained by using electromagnetic sensors. A coordinate system registration process that employs the ICP algorithm is performed to register the CT and sensor coordinate systems. The colon centerline and colonoscope line are registered by using a line registration method. The position of the colonoscope tip in the colon is obtained from the line registration result. Our colonoscope navigation system displays virtual colonoscopic views generated from the CT volumes. A viewpoint of the virtual colonoscopic view is a point on the centerline that corresponds to the colonoscope tip. Experimental results using a colon phantom showed that the proposed colonoscope tracking method can track the colonoscope tip with small tracking errors.

Evaluation of a technique to simplify area navigation and required navigation performance charts

DOT National Transportation Integrated Search

2013-06-30

Performance based navigation (PBN), an enabler for the Federal Aviation Administration's Next Generation Air Transportation System (NextGEN), supports the design of more precise flight procedures. However, these new procedures can be visually complex...

Tracking Data Acquisition System (TDAS) for the 1990's. Volume 6: TDAS navigation system architecture

NASA Technical Reports Server (NTRS)

Elrod, B. D.; Jacobsen, A.; Cook, R. A.; Singh, R. N. P.

1983-01-01

One-way range and Doppler methods for providing user orbit and time determination are examined. Forward link beacon tracking, with on-board processing of independent navigation signals broadcast continuously by TDAS spacecraft; forward link scheduled tracking; with on-board processing of navigation data received during scheduled TDAS forward link service intervals; and return link scheduled tracking; with ground-based processing of user generated navigation data during scheduled TDAS return link service intervals are discussed. A system level definition and requirements assessment for each alternative, an evaluation of potential navigation performance and comparison with TDAS mission model requirements is included. TDAS satellite tracking is also addressed for two alternatives: BRTS and VLBI tracking.

Accuracy of pedicle screw placement based on preoperative computed tomography versus intraoperative data set acquisition for spinal navigation system.

PubMed

Liu, Hao; Chen, Weikai; Liu, Tao; Meng, Bin; Yang, Huilin

2017-01-01

To investigate the accuracy of pedicle screw placement based on preoperative computed tomography in comparison with intraoperative data set acquisition for spinal navigation system. The PubMed (MEDLINE), EMBASE, and Web of Science were systematically searched for the literature published up to September 2015. This review followed the Preferred Reporting Items for Systematic Reviews and Meta-analysis guidelines. Statistical analysis was performed using the Review Manager 5.3. The dichotomous data for the pedicle violation rate was summarized using relative risk (RR) and 95% confidence intervals (CIs) with the fixed-effects model. The level of significance was set at p < 0.05. For this meta-analysis, seven studies used a total of 579 patients and 2981 screws. The results revealed that the accuracy of intraoperative data set acquisition method is significantly higher than preoperative one using 2 mm grading criteria (RR: 1.82, 95% CI: 1.09, 3.04, I 2 = 0%, p = 0.02). However, there was no significant difference between two kinds of methods at the 0 mm grading criteria (RR: 1.13, 95% CI: 0.88, 1.46, I 2 = 17%, p = 0.34). Using the 2-mm grading criteria, there was a higher accuracy of pedicle screw insertion in O-arm-assisted navigation than CT-based navigation method (RR: 1.96, 95% CI: 1.05, 3.64, I 2 = 0%, p = 0.03). The accuracy between CT-based navigation and two-dimensional-based navigation showed no significant difference (RR: 1.02, 95% CI: 0.35-3.03, I 2 = 0%, p = 0.97). The intraoperative data set acquisition method may decrease the incidence of perforated screws over 2 mm but not increase the number of screws fully contained within the pedicle compared to preoperative CT-based navigation system. A significantly higher accuracy of intraoperative (O-arm) than preoperative CT-based navigation was revealed using 2 mm grading criteria.

Collaborative WiFi Fingerprinting Using Sensor-Based Navigation on Smartphones.

PubMed

Zhang, Peng; Zhao, Qile; Li, You; Niu, Xiaoji; Zhuang, Yuan; Liu, Jingnan

2015-07-20

This paper presents a method that trains the WiFi fingerprint database using sensor-based navigation solutions. Since micro-electromechanical systems (MEMS) sensors provide only a short-term accuracy but suffer from the accuracy degradation with time, we restrict the time length of available indoor navigation trajectories, and conduct post-processing to improve the sensor-based navigation solution. Different middle-term navigation trajectories that move in and out of an indoor area are combined to make up the database. Furthermore, we evaluate the effect of WiFi database shifts on WiFi fingerprinting using the database generated by the proposed method. Results show that the fingerprinting errors will not increase linearly according to database (DB) errors in smartphone-based WiFi fingerprinting applications.

Collaborative WiFi Fingerprinting Using Sensor-Based Navigation on Smartphones

PubMed Central

Zhang, Peng; Zhao, Qile; Li, You; Niu, Xiaoji; Zhuang, Yuan; Liu, Jingnan

2015-01-01

This paper presents a method that trains the WiFi fingerprint database using sensor-based navigation solutions. Since micro-electromechanical systems (MEMS) sensors provide only a short-term accuracy but suffer from the accuracy degradation with time, we restrict the time length of available indoor navigation trajectories, and conduct post-processing to improve the sensor-based navigation solution. Different middle-term navigation trajectories that move in and out of an indoor area are combined to make up the database. Furthermore, we evaluate the effect of WiFi database shifts on WiFi fingerprinting using the database generated by the proposed method. Results show that the fingerprinting errors will not increase linearly according to database (DB) errors in smartphone-based WiFi fingerprinting applications. PMID:26205269

Context-Aware Personal Navigation Using Embedded Sensor Fusion in Smartphones

PubMed Central

Saeedi, Sara; Moussa, Adel; El-Sheimy, Naser

2014-01-01

Context-awareness is an interesting topic in mobile navigation scenarios where the context of the application is highly dynamic. Using context-aware computing, navigation services consider the situation of user, not only in the design process, but in real time while the device is in use. The basic idea is that mobile navigation services can provide different services based on different contexts—where contexts are related to the user's activity and the device placement. Context-aware systems are concerned with the following challenges which are addressed in this paper: context acquisition, context understanding, and context-aware application adaptation. The proposed approach in this paper is using low-cost sensors in a multi-level fusion scheme to improve the accuracy and robustness of context-aware navigation system. The experimental results demonstrate the capabilities of the context-aware Personal Navigation Systems (PNS) for outdoor personal navigation using a smartphone. PMID:24670715

Context-aware personal navigation using embedded sensor fusion in smartphones.

PubMed

Saeedi, Sara; Moussa, Adel; El-Sheimy, Naser

2014-03-25

Context-awareness is an interesting topic in mobile navigation scenarios where the context of the application is highly dynamic. Using context-aware computing, navigation services consider the situation of user, not only in the design process, but in real time while the device is in use. The basic idea is that mobile navigation services can provide different services based on different contexts-where contexts are related to the user's activity and the device placement. Context-aware systems are concerned with the following challenges which are addressed in this paper: context acquisition, context understanding, and context-aware application adaptation. The proposed approach in this paper is using low-cost sensors in a multi-level fusion scheme to improve the accuracy and robustness of context-aware navigation system. The experimental results demonstrate the capabilities of the context-aware Personal Navigation Systems (PNS) for outdoor personal navigation using a smartphone.

Autonomous precision landing using terrain-following navigation

NASA Technical Reports Server (NTRS)

Vaughan, R. M.; Gaskell, R. W.; Halamek, P.; Klumpp, A. R.; Synnott, S. P.

1991-01-01

Terrain-following navigation studies that have been done over the past two years in the navigation system section at JPL are described. A descent to Mars scenario based on Mars Rover and Sample Return mission profiles is described, and navigation and image processing issues pertaining to descent phases where landmark picture can be obtained are examined. A covariance analysis is performed to verify that landmark measurements from a terrain-following navigation system can satisfy precision landing requirements. Image processing problems involving known landmarks in actual pictures are considered. Mission design alternatives that can alleviate some of these problems are suggested.

Performance analysis of device-level SINS/ACFSS deeply integrated navigation method

NASA Astrophysics Data System (ADS)

Zhang, Hao; Qin, Shiqiao; Wang, Xingshu; Jiang, Guangwen; Tan, Wenfeng

2016-10-01

The Strap-Down Inertial Navigation System (SINS) is a widely used navigation system. The combination of SINS and the Celestial Navigation System (CNS) is one of the popular measures to constitute the integrated navigation system. A Star Sensor (SS) is used as a precise attitude determination device in CNS. To solve the problem that the star image obtained by SS under dynamic conditions is motion-blurred, the Attitude Correlated Frames (ACF) is presented and the star sensor which works based on ACF approach is named ACFSS. Depending on the ACF approach, a novel device-level SINS/ACFSS deeply integrated navigation method is proposed in this paper. Feedback to the ACF process from the error of the gyro is one of the typical characters of the SINS/CNS deeply integrated navigation method. Herein, simulation results have verified its validity and efficiency in improving the accuracy of gyro and it can be proved that this method is feasible in theory.

Applications of different design methodologies in navigation systems and development at JPL

NASA Technical Reports Server (NTRS)

Thurman, S. W.

1990-01-01

The NASA/JPL deep space navigation system consists of a complex array of measurement systems, data processing systems, and support facilities, with components located both on the ground and on-board interplanetary spacecraft. From its beginings nearly 30 years ago, this system has steadily evolved and grown to meet the demands for ever-increasing navigation accuracy placed on it by a succession of unmanned planetary missions. Principal characteristics of this system are its capabilities and great complexity. Three examples in the design and development of interplanetary space navigation systems are examined in order to make a brief assessment of the usefulness of three basic design theories, known as normative, rational, and heuristic. Evaluation of the examples indicates that a heuristic approach, coupled with rational-based mathematical and computational analysis methods, is used most often in problems such as orbit determination strategy development and mission navigation system design, while normative methods have seen only limited use is such applications as the development of large software systems and in the design of certain operational navigation subsystems.

Use of Earth's magnetic field for mitigating gyroscope errors regardless of magnetic perturbation.

PubMed

Afzal, Muhammad Haris; Renaudin, Valérie; Lachapelle, Gérard

2011-01-01

Most portable systems like smart-phones are equipped with low cost consumer grade sensors, making them useful as Pedestrian Navigation Systems (PNS). Measurements of these sensors are severely contaminated by errors caused due to instrumentation and environmental issues rendering the unaided navigation solution with these sensors of limited use. The overall navigation error budget associated with pedestrian navigation can be categorized into position/displacement errors and attitude/orientation errors. Most of the research is conducted for tackling and reducing the displacement errors, which either utilize Pedestrian Dead Reckoning (PDR) or special constraints like Zero velocity UPdaTes (ZUPT) and Zero Angular Rate Updates (ZARU). This article targets the orientation/attitude errors encountered in pedestrian navigation and develops a novel sensor fusion technique to utilize the Earth's magnetic field, even perturbed, for attitude and rate gyroscope error estimation in pedestrian navigation environments where it is assumed that Global Navigation Satellite System (GNSS) navigation is denied. As the Earth's magnetic field undergoes severe degradations in pedestrian navigation environments, a novel Quasi-Static magnetic Field (QSF) based attitude and angular rate error estimation technique is developed to effectively use magnetic measurements in highly perturbed environments. The QSF scheme is then used for generating the desired measurements for the proposed Extended Kalman Filter (EKF) based attitude estimator. Results indicate that the QSF measurements are capable of effectively estimating attitude and gyroscope errors, reducing the overall navigation error budget by over 80% in urban canyon environment.

Use of Earth’s Magnetic Field for Mitigating Gyroscope Errors Regardless of Magnetic Perturbation

PubMed Central

Afzal, Muhammad Haris; Renaudin, Valérie; Lachapelle, Gérard

2011-01-01

Most portable systems like smart-phones are equipped with low cost consumer grade sensors, making them useful as Pedestrian Navigation Systems (PNS). Measurements of these sensors are severely contaminated by errors caused due to instrumentation and environmental issues rendering the unaided navigation solution with these sensors of limited use. The overall navigation error budget associated with pedestrian navigation can be categorized into position/displacement errors and attitude/orientation errors. Most of the research is conducted for tackling and reducing the displacement errors, which either utilize Pedestrian Dead Reckoning (PDR) or special constraints like Zero velocity UPdaTes (ZUPT) and Zero Angular Rate Updates (ZARU). This article targets the orientation/attitude errors encountered in pedestrian navigation and develops a novel sensor fusion technique to utilize the Earth’s magnetic field, even perturbed, for attitude and rate gyroscope error estimation in pedestrian navigation environments where it is assumed that Global Navigation Satellite System (GNSS) navigation is denied. As the Earth’s magnetic field undergoes severe degradations in pedestrian navigation environments, a novel Quasi-Static magnetic Field (QSF) based attitude and angular rate error estimation technique is developed to effectively use magnetic measurements in highly perturbed environments. The QSF scheme is then used for generating the desired measurements for the proposed Extended Kalman Filter (EKF) based attitude estimator. Results indicate that the QSF measurements are capable of effectively estimating attitude and gyroscope errors, reducing the overall navigation error budget by over 80% in urban canyon environment. PMID:22247672

Multi-Sensor Fusion with Interaction Multiple Model and Chi-Square Test Tolerant Filter.

PubMed

Yang, Chun; Mohammadi, Arash; Chen, Qing-Wei

2016-11-02

Motivated by the key importance of multi-sensor information fusion algorithms in the state-of-the-art integrated navigation systems due to recent advancements in sensor technologies, telecommunication, and navigation systems, the paper proposes an improved and innovative fault-tolerant fusion framework. An integrated navigation system is considered consisting of four sensory sub-systems, i.e., Strap-down Inertial Navigation System (SINS), Global Navigation System (GPS), the Bei-Dou2 (BD2) and Celestial Navigation System (CNS) navigation sensors. In such multi-sensor applications, on the one hand, the design of an efficient fusion methodology is extremely constrained specially when no information regarding the system's error characteristics is available. On the other hand, the development of an accurate fault detection and integrity monitoring solution is both challenging and critical. The paper addresses the sensitivity issues of conventional fault detection solutions and the unavailability of a precisely known system model by jointly designing fault detection and information fusion algorithms. In particular, by using ideas from Interacting Multiple Model (IMM) filters, the uncertainty of the system will be adjusted adaptively by model probabilities and using the proposed fuzzy-based fusion framework. The paper also addresses the problem of using corrupted measurements for fault detection purposes by designing a two state propagator chi-square test jointly with the fusion algorithm. Two IMM predictors, running in parallel, are used and alternatively reactivated based on the received information form the fusion filter to increase the reliability and accuracy of the proposed detection solution. With the combination of the IMM and the proposed fusion method, we increase the failure sensitivity of the detection system and, thereby, significantly increase the overall reliability and accuracy of the integrated navigation system. Simulation results indicate that the proposed fault tolerant fusion framework provides superior performance over its traditional counterparts.

SU-G-JeP4-12: Real-Time Organ Motion Monitoring Using Ultrasound and KV Fluoroscopy During Lung SBRT Delivery

DOE Office of Scientific and Technical Information (OSTI.GOV)

Omari, E; Tai, A; Li, X

Purpose: Real-time ultrasound monitoring during SBRT is advantageous in understanding and identifying motion irregularities which may cause geometric misses. In this work, we propose to utilize real-time ultrasound to track the diaphragm in conjunction with periodical kV fluoroscopy to monitor motion of tumor or landmarks during SBRT delivery. Methods: Transabdominal Ultrasound (TAUS) b-mode images were collected from 10 healthy volunteers using the Clarity Autoscan System (Elekta). The autoscan transducer, which has a center frequency of 5 MHz, was utilized for the scans. The acquired images were contoured using the Clarity Automatic Fusion and Contouring workstation software. Monitoring sessions of 5more » minute length were observed and recorded. The position correlation between tumor and diaphragm could be established with periodic kV fluoroscopy periodically acquired during treatment with Elekta XVI. We acquired data using a tissue mimicking ultrasound phantom with embedded spheres placed on a motion stand using ultrasound and kV Fluoroscopy. MIM software was utilized for image fusion. Correlation of diaphragm and target motion was also validated using 4D-MRI and 4D-CBCT. Results: The diaphragm was visualized as a hyperechoic region on the TAUS b-mode images. Volunteer set-up can be adjusted such that TAUS probe will not interfere with treatment beams. A segment of the diaphragm was contoured and selected as our tracking structure. Successful monitoring sessions of the diaphragm were recorded. For some volunteers, diaphragm motion over 2 times larger than the initial motion has been observed during tracking. For the phantom study, we were able to register the 2D kV Fluoroscopy with the US images for position comparison. Conclusion: We demonstrated the feasibility of tracking the diaphragm using real-time ultrasound. Real-time tracking can help in identifying such irregularities in the respiratory motion which is correlated to tumor motion. We also showed the feasibility of acquiring 2D KV Fluoroscopy and registering the images with Ultrasound.« less

Research and development for Onboard Navigation (ONAV) ground based expert/trainer system: ONAV entry knowledge requirements specification update

NASA Technical Reports Server (NTRS)

Bochsler, Daniel C.

1988-01-01

A revised version of expert knowledge for the onboard navigation (ONAV) entry system is given. Included is some brief background information together with information describing the knowledge that the system does contain.

Digital tumor fluoroscopy (DTF)--a new direct imaging system in the therapy planning for brain tumors.

PubMed

Herbst, M; Fröder, M

1990-01-01

Digital Tumor Fluoroscopy is an expanded x-ray video chain optimized to iodine contrast with an extended Gy scale up to 64000 Gy values. Series of pictures are taken before and after injection of contrast medium. With the most recent unit, up to ten images can be taken and stored. The microprogrammable processor allows the subtraction of images recorded at any moment of the examination. Dynamic views of the distribution of contrast medium in the intravasal and extravasal spaces of brain and tumor tissue are gained by the subtraction of stored images. Tumors can be differentiated by studying the storage and drainage behavior of the contrast medium during the period of examination. Meningiomas store contrast medium very intensively during the whole time of investigation, whereas astrocytomas grade 2-3 pick it up less strongly at the beginning and release it within 2 min. Glioblastomas show a massive but delayed accumulation of contrast medium and a decreased flow-off-rate. In comparison with radiography and MR-imaging the most important advantage of Digital Tumor Fluoroscopy is that direct information on tumor localization is gained in relation to the skull-cap. This enables the radiotherapist to mark the treatment field directly on the skull. Therefore it is no longer necessary to calculate the tumor volume from several CT scans for localization. In radiotherapy Digital Tumor Fluoroscopy a unit combined with a simulator can replace CT planning. This would help overcome the disadvantages arising from the lack of a collimating system, and the inaccuracies which result from completely different geometric relationships between a CT unit and a therapy machine.

High-Resolution Three-Dimensional Computed Tomography for Assessing Complications Related to Intrathecal Drug Delivery.

PubMed

Morgalla, Matthias; Fortunato, Marcos; Azam, Ala; Tatagiba, Marcos; Lepski, Guillherme

2016-07-01

The assessment of the functionality of intrathecal drug delivery (IDD) systems remains difficult and time-consuming. Catheter-related problems are still very common, and sometimes difficult to diagnose. The aim of the present study is to investigate the accuracy of high-resolution three-dimensional computed tomography (CT) in order to detect catheter-related pump dysfunction. An observational, retrospective investigation. Academic medical center in Germany. We used high-resolution three dimensional (3D) computed tomography with volume rendering technique (VRT) or fluoroscopy and conventional axial-CT to assess IDD-related complications in 51 patients from our institution who had IDD systems implanted for the treatment of chronic pain or spasticity. Twelve patients (23.5%) presented a total of 22 complications. The main type of complication in our series was catheter-related (50%), followed by pump failure, infection, and inappropriate refilling. Fluoroscopy and conventional CT were used in 12 cases. High-resolution 3D CT VRT scan was used in 35 instances with suspected yet unclear complications. Using 3D-CT (VRT) the sensitivity was 58.93% - 100% (CI 95%) and the specificity 87.54% - 100% (CI 95%).The positive predictive value was 58.93% - 100% (CI 95%) and the negative predictive value: 87.54% - 100% (CI 95%).Fluoroscopy and axial CT as a combined diagnostic tool had a sensitivity of 8.3% - 91.7% (CI 95%) and a specificity of 62.9% - 100% (CI 95%). The positive predictive value was 19.29% - 100% (CI 95%) and the negative predictive value: 44.43% - 96.89% (CI 95%). This study is limited by its observational design and the small number of cases. High-resolution 3D CT VRT is a non- invasive method that can identify IDD-related complications with more precision than axial CT and fluoroscopy.

Guidance and navigation requirements for unmanned flyby and swingby missions to the outer planets. Volume 2: impulsive high thrust missions, phase A

NASA Technical Reports Server (NTRS)

1969-01-01

The impulsive, high thrust missions portion of a study on guidance and navigation requirements for unmanned flyby and swingby missions to the outer planet is presented. The proper balance between groundbased navigational capability, using the deep space network (DSN) alone, and an onboard navigational capability with and without supplemental use of DSN tracking, for unmanned missions to the outer planets of the solar system is defined. A general guidance and navigation requirements program is used to survey parametrically the characteristics associated with three types of navigation systems: (1) totally onboard, (2) totally Earth-based, and (3) a combination of these two.

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.

FPGA-based real-time embedded system for RISS/GPS integrated navigation.

PubMed

Abdelfatah, Walid Farid; Georgy, Jacques; Iqbal, Umar; Noureldin, Aboelmagd

2012-01-01

Navigation algorithms integrating measurements from multi-sensor systems overcome the problems that arise from using GPS navigation systems in standalone mode. Algorithms which integrate the data from 2D low-cost reduced inertial sensor system (RISS), consisting of a gyroscope and an odometer or wheel encoders, along with a GPS receiver via a Kalman filter has proved to be worthy in providing a consistent and more reliable navigation solution compared to standalone GPS receivers. It has been also shown to be beneficial, especially in GPS-denied environments such as urban canyons and tunnels. The main objective of this paper is to narrow the idea-to-implementation gap that follows the algorithm development by realizing a low-cost real-time embedded navigation system capable of computing the data-fused positioning solution. The role of the developed system is to synchronize the measurements from the three sensors, relative to the pulse per second signal generated from the GPS, after which the navigation algorithm is applied to the synchronized measurements to compute the navigation solution in real-time. Employing a customizable soft-core processor on an FPGA in the kernel of the navigation system, provided the flexibility for communicating with the various sensors and the computation capability required by the Kalman filter integration algorithm.

FPGA-Based Real-Time Embedded System for RISS/GPS Integrated Navigation

PubMed Central

Abdelfatah, Walid Farid; Georgy, Jacques; Iqbal, Umar; Noureldin, Aboelmagd

2012-01-01

Navigation algorithms integrating measurements from multi-sensor systems overcome the problems that arise from using GPS navigation systems in standalone mode. Algorithms which integrate the data from 2D low-cost reduced inertial sensor system (RISS), consisting of a gyroscope and an odometer or wheel encoders, along with a GPS receiver via a Kalman filter has proved to be worthy in providing a consistent and more reliable navigation solution compared to standalone GPS receivers. It has been also shown to be beneficial, especially in GPS-denied environments such as urban canyons and tunnels. The main objective of this paper is to narrow the idea-to-implementation gap that follows the algorithm development by realizing a low-cost real-time embedded navigation system capable of computing the data-fused positioning solution. The role of the developed system is to synchronize the measurements from the three sensors, relative to the pulse per second signal generated from the GPS, after which the navigation algorithm is applied to the synchronized measurements to compute the navigation solution in real-time. Employing a customizable soft-core processor on an FPGA in the kernel of the navigation system, provided the flexibility for communicating with the various sensors and the computation capability required by the Kalman filter integration algorithm. PMID:22368460

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.

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

Diver-based integrated navigation/sonar sensor

NASA Astrophysics Data System (ADS)

Lent, Keith H.

1999-07-01

Two diver based systems, the Small Object Locating Sonar (SOLS) and the Integrated Navigation and Sonar Sensor (INSS) have been developed at Applied Research Laboratories, the University of Texas at Austin (ARL:UT). They are small and easy to use systems that allow a diver to: detect, classify, and identify underwater objects; render large sector visual images; and track, map and reacquire diver location, diver path, and target locations. The INSS hardware consists of a unique, simple, single beam high resolution sonar, an acoustic navigation systems, an electronic depth gauge, compass, and GPS and RF interfaces, all integrated with a standard 486 based PC. These diver sonars have been evaluated by the very shallow water mine countermeasure detachment since spring 1997. Results are very positive, showing significantly greater capabilities than current diver held systems. For example, the detection ranges are increased over existing systems, and the system allows the divers to classify mines at a significant stand off range. As a result, the INSS design has been chosen for acquisition as the next generation diver navigation and sonar system. The EDMs for this system will be designed and built by ARL:UT during 1998 and 1999 with production planned in 2000.

LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments

PubMed Central

Tang, Jian; Chen, Yuwei; Niu, Xiaoji; Wang, Li; Chen, Liang; Liu, Jingbin; Shi, Chuang; Hyyppä, Juha

2015-01-01

A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Simultaneous Localization and Mapping (SLAM) technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies—INS and LiDAR SLAM—into one navigation frame with a loosely coupled Extended Kalman Filter (EKF) to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV) platform—NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment. PMID:26184206

LiDAR Scan Matching Aided Inertial Navigation System in GNSS-Denied Environments.

PubMed

Tang, Jian; Chen, Yuwei; Niu, Xiaoji; Wang, Li; Chen, Liang; Liu, Jingbin; Shi, Chuang; Hyyppä, Juha

2015-07-10

A new scan that matches an aided Inertial Navigation System (INS) with a low-cost LiDAR is proposed as an alternative to GNSS-based navigation systems in GNSS-degraded or -denied environments such as indoor areas, dense forests, or urban canyons. In these areas, INS-based Dead Reckoning (DR) and Simultaneous Localization and Mapping (SLAM) technologies are normally used to estimate positions as separate tools. However, there are critical implementation problems with each standalone system. The drift errors of velocity, position, and heading angles in an INS will accumulate over time, and on-line calibration is a must for sustaining positioning accuracy. SLAM performance is poor in featureless environments where the matching errors can significantly increase. Each standalone positioning method cannot offer a sustainable navigation solution with acceptable accuracy. This paper integrates two complementary technologies-INS and LiDAR SLAM-into one navigation frame with a loosely coupled Extended Kalman Filter (EKF) to use the advantages and overcome the drawbacks of each system to establish a stable long-term navigation process. Static and dynamic field tests were carried out with a self-developed Unmanned Ground Vehicle (UGV) platform-NAVIS. The results prove that the proposed approach can provide positioning accuracy at the centimetre level for long-term operations, even in a featureless indoor environment.

Multi-Sensor Fusion with Interaction Multiple Model and Chi-Square Test Tolerant Filter

PubMed Central

Yang, Chun; Mohammadi, Arash; Chen, Qing-Wei

2016-01-01

Motivated by the key importance of multi-sensor information fusion algorithms in the state-of-the-art integrated navigation systems due to recent advancements in sensor technologies, telecommunication, and navigation systems, the paper proposes an improved and innovative fault-tolerant fusion framework. An integrated navigation system is considered consisting of four sensory sub-systems, i.e., Strap-down Inertial Navigation System (SINS), Global Navigation System (GPS), the Bei-Dou2 (BD2) and Celestial Navigation System (CNS) navigation sensors. In such multi-sensor applications, on the one hand, the design of an efficient fusion methodology is extremely constrained specially when no information regarding the system’s error characteristics is available. On the other hand, the development of an accurate fault detection and integrity monitoring solution is both challenging and critical. The paper addresses the sensitivity issues of conventional fault detection solutions and the unavailability of a precisely known system model by jointly designing fault detection and information fusion algorithms. In particular, by using ideas from Interacting Multiple Model (IMM) filters, the uncertainty of the system will be adjusted adaptively by model probabilities and using the proposed fuzzy-based fusion framework. The paper also addresses the problem of using corrupted measurements for fault detection purposes by designing a two state propagator chi-square test jointly with the fusion algorithm. Two IMM predictors, running in parallel, are used and alternatively reactivated based on the received information form the fusion filter to increase the reliability and accuracy of the proposed detection solution. With the combination of the IMM and the proposed fusion method, we increase the failure sensitivity of the detection system and, thereby, significantly increase the overall reliability and accuracy of the integrated navigation system. Simulation results indicate that the proposed fault tolerant fusion framework provides superior performance over its traditional counterparts. PMID:27827832

SU-E-J-42: Motion Adaptive Image Filter for Low Dose X-Ray Fluoroscopy in the Real-Time Tumor-Tracking Radiotherapy System.

PubMed

Miyamoto, N; Ishikawa, M; Sutherland, K; Suzuki, R; Matsuura, T; Takao, S; Toramatsu, C; Nihongi, H; Shimizu, S; Onimaru, R; Umegaki, K; Shirato, H

2012-06-01

In the real-time tumor-tracking radiotherapy system, fiducial markers are detected by X-ray fluoroscopy. The fluoroscopic parameters should be optimized as low as possible in order to reduce unnecessary imaging dose. However, the fiducial markers could not be recognized due to effect of statistical noise in low dose imaging. Image processing is envisioned to be a solution to improve image quality and to maintain tracking accuracy. In this study, a recursive image filter adapted to target motion is proposed. A fluoroscopy system was used for the experiment. A spherical gold marker was used as a fiducial marker. About 450 fluoroscopic images of the marker were recorded. In order to mimic respiratory motion of the marker, the images were shifted sequentially. The tube voltage, current and exposure duration were fixed at 65 kV, 50 mA and 2.5 msec as low dose imaging condition, respectively. The tube current was 100 mA as high dose imaging. A pattern recognition score (PRS) ranging from 0 to 100 and image registration error were investigated by performing template pattern matching to each sequential image. The results with and without image processing were compared. In low dose imaging, theimage registration error and the PRS without the image processing were 2.15±1.21 pixel and 46.67±6.40, respectively. Those with the image processing were 1.48±0.82 pixel and 67.80±4.51, respectively. There was nosignificant difference in the image registration error and the PRS between the results of low dose imaging with the image processing and that of high dose imaging without the image processing. The results showed that the recursive filter was effective in order to maintain marker tracking stability and accuracy in low dose fluoroscopy. © 2012 American Association of Physicists in Medicine.

Rigorous accuracy assessment for 3D reconstruction using time-series Dual Fluoroscopy (DF) image pairs

NASA Astrophysics Data System (ADS)

Al-Durgham, Kaleel; Lichti, Derek D.; Kuntze, Gregor; Ronsky, Janet

2017-06-01

High-speed biplanar videoradiography, or clinically referred to as dual fluoroscopy (DF), imaging systems are being used increasingly for skeletal kinematics analysis. Typically, a DF system comprises two X-ray sources, two image intensifiers and two high-speed video cameras. The combination of these elements provides time-series image pairs of articulating bones of a joint, which permits the measurement of bony rotation and translation in 3D at high temporal resolution (e.g., 120-250 Hz). Assessment of the accuracy of 3D measurements derived from DF imaging has been the subject of recent research efforts by several groups, however with methodological limitations. This paper presents a novel and simple accuracy assessment procedure based on using precise photogrammetric tools. We address the fundamental photogrammetry principles for the accuracy evaluation of an imaging system. Bundle adjustment with selfcalibration is used for the estimation of the system parameters. The bundle adjustment calibration uses an appropriate sensor model and applies free-network constraints and relative orientation stability constraints for a precise estimation of the system parameters. A photogrammetric intersection of time-series image pairs is used for the 3D reconstruction of a rotating planar object. A point-based registration method is used to combine the 3D coordinates from the intersection and independently surveyed coordinates. The final DF accuracy measure is reported as the distance between 3D coordinates from image intersection and the independently surveyed coordinates. The accuracy assessment procedure is designed to evaluate the accuracy over the full DF image format and a wide range of object rotation. Experiment of reconstruction of a rotating planar object reported an average positional error of 0.44 +/- 0.2 mm in the derived 3D coordinates (minimum 0.05 and maximum 1.2 mm).

In-motion initial alignment and positioning with INS/CNS/ODO integrated navigation system for lunar rovers

NASA Astrophysics Data System (ADS)

Lu, Jiazhen; Lei, Chaohua; Yang, Yanqiang; Liu, Ming

2017-06-01

Many countries have been paying great attention to space exploration, especially about the Moon and the Mars. Autonomous and high-accuracy navigation systems are needed for probers and rovers to accomplish missions. Inertial navigation system (INS)/celestial navigation system (CNS) based navigation system has been used widely on the lunar rovers. Initialization is a particularly important step for navigation. This paper presents an in-motion alignment and positioning method for lunar rovers by INS/CNS/odometer integrated navigation. The method can estimate not only the position and attitude errors, but also the biases of the accelerometers and gyros using the standard Kalman filter. The differences between the platform star azimuth, elevation angles and the computed star azimuth, elevation angles, and the difference between the velocity measured by odometer and the velocity measured by inertial sensors are taken as measurements. The semi-physical experiments are implemented to demonstrate that the position error can reduce to 10 m and attitude error is within 2″ during 5 min. The experiment results prove that it is an effective and attractive initialization approach for lunar rovers.

Gyroscope-reduced inertial navigation system for flight vehicle motion estimation

NASA Astrophysics Data System (ADS)

Wang, Xin; Xiao, Lu

2017-01-01

In this paper, a novel configuration of strategically distributed accelerometer sensors with the aid of one gyro to infer a flight vehicle's angular motion is presented. The MEMS accelerometer and gyro sensors are integrated to form a gyroscope-reduced inertial measurement unit (GR-IMU). The motivation for gyro aided accelerometers array is to have direct measurements of angular rates, which is an improvement to the traditional gyroscope-free inertial system that employs only direct measurements of specific force. Some technical issues regarding error calibration in accelerometers and gyro in GR-IMU are put forward. The GR-IMU based inertial navigation system can be used to find a complete attitude solution for flight vehicle motion estimation. Results of numerical simulation are given to illustrate the effectiveness of the proposed configuration. The gyroscope-reduced inertial navigation system based on distributed accelerometer sensors can be developed into a cost effective solution for a fast reaction, MEMS based motion capture system. Future work will include the aid from external navigation references (e.g. GPS) to improve long time mission performance.

Analysis of key technologies in geomagnetic navigation

NASA Astrophysics Data System (ADS)

Zhang, Xiaoming; Zhao, Yan

2008-10-01

Because of the costly price and the error accumulation of high precise Inertial Navigation Systems (INS) and the vulnerability of Global Navigation Satellite Systems (GNSS), the geomagnetic navigation technology, a passive autonomous navigation method, is paid attention again. Geomagnetic field is a natural spatial physical field, and is a function of position and time in near earth space. The navigation technology based on geomagnetic field is researched in a wide range of commercial and military applications. This paper presents the main features and the state-of-the-art of Geomagnetic Navigation System (GMNS). Geomagnetic field models and reference maps are described. Obtaining, modeling and updating accurate Anomaly Magnetic Field information is an important step for high precision geomagnetic navigation. In addition, the errors of geomagnetic measurement using strapdown magnetometers are analyzed. The precise geomagnetic data is obtained by means of magnetometer calibration and vehicle magnetic field compensation. According to the measurement data and reference map or model of geomagnetic field, the vehicle's position and attitude can be obtained using matching algorithm or state-estimating method. The tendency of geomagnetic navigation in near future is introduced at the end of this paper.

Navigation Flight Test Results from the Low Power Transceiver Communications and Navigation Demonstration on Shuttle (CANDOS) Experiment

NASA Technical Reports Server (NTRS)

Haas, Lin; Massey, Christopher; Baraban, Dmitri

2003-01-01

This paper presents the Global Positioning System (GPS) navigation results from the Communications and Navigation Demonstration on Shuttle (CANDOS) experiment flown on STS-107. This experiment was the initial flight of a Low Power Transceiver (LPT) that featured high capacity space- space and space-ground communications and GPS- based navigation capabilities. The LPT also hosted the GPS Enhanced Orbit Determination Experiment (GEODE) orbit determination software. All CANDOS test data were recovered during the mission using LPT communications links via the Tracking and Data Relay Satellite System (TDRSS). An overview of the LPT s navigation software and the GPS experiment timeline is presented, along with comparisons of test results to the NASA Johnson Space Center (JSC) real-time ground navigation vectors and Best Estimate of Trajectory (BET).

PubMed

Madeira, João; Parreira, Leonor; Amador, Pedro; Soares, Luís

2013-10-14

Riata and Riata ST silicone defibrillation leads are prone to externalization of conductors due to inside-out abrasion in the high-voltage system, causing structural damage which may be accompanied by electrical failure. These situations are easily detected by fluoroscopy or radiology and by inspection of intracardiac electrograms and/or measurement of impedance. However, older pulse generators do not automatically perform all the measurements needed to assess the integrity of the high-voltage electrical system, nor do they have patient notifier alerts in case of dysfunction. The authors describe the case of a patient in whom structural damage was detected on fluoroscopy during pulse generator replacement. They discuss the best strategy in these patients, considering current knowledge of this dysfunction. Copyright © 2012 Sociedade Portuguesa de Cardiologia. Published by Elsevier España. All rights reserved.

Mobile augmented reality for computer-assisted percutaneous nephrolithotomy.

PubMed

Müller, Michael; Rassweiler, Marie-Claire; Klein, Jan; Seitel, Alexander; Gondan, Matthias; Baumhauer, Matthias; Teber, Dogu; Rassweiler, Jens J; Meinzer, Hans-Peter; Maier-Hein, Lena

2013-07-01

Percutaneous nephrolithotomy (PCNL) plays an integral role in treatment of renal stones. Creating percutaneous renal access is the most important and challenging step in the procedure. To facilitate this step, we evaluated our novel mobile augmented reality (AR) system for its feasibility of use for PCNL. A tablet computer, such as an iPad[Formula: see text], is positioned above the patient with its camera pointing toward the field of intervention. The images of the tablet camera are registered with the CT image by means of fiducial markers. Structures of interest can be superimposed semi-transparently on the video images. We present a systematic evaluation by means of a phantom study. An urological trainee and two experts conducted 53 punctures on kidney phantoms. The trainee performed best with the proposed AR system in terms of puncturing time (mean: 99 s), whereas the experts performed best with fluoroscopy (mean: 59 s). iPad assistance lowered radiation exposure by a factor of 3 for the inexperienced physician and by a factor of 1.8 for the experts in comparison with fluoroscopy usage. We achieve a mean visualization accuracy of 2.5 mm. The proposed tablet computer-based AR system has proven helpful in assisting percutaneous interventions such as PCNL and shows benefits compared to other state-of-the-art assistance systems. A drawback of the system in its current state is the lack of depth information. Despite that, the simple integration into the clinical workflow highlights the potential impact of this approach to such interventions.

Development of a surgical navigation system based on 3D Slicer for intraoperative implant placement surgery

PubMed Central

Chen, Xiaojun; Xu, Lu; Wang, Huixiang; Wang, Fang; Wang, Qiugen; Kikinis, Ron

2017-01-01

Implant placement has been widely used in various kinds of surgery. However, accurate intraoperative drilling performance is essential to avoid injury to adjacent structures. Although some commercially-available surgical navigation systems have been approved for clinical applications, these systems are expensive and the source code is not available to researchers. 3D Slicer is a free, open source software platform for the research community of computer-aided surgery. In this study, a loadable module based on Slicer has been developed and validated to support surgical navigation. This research module allows reliable calibration of the surgical drill, point-based registration and surface matching registration, so that the position and orientation of the surgical drill can be tracked and displayed on the computer screen in real time, aiming at reducing risks. In accuracy verification experiments, the mean target registration error (TRE) for point-based and surface-based registration were 0.31±0.06mm and 1.01±0.06mm respectively, which should meet clinical requirements. Both phantom and cadaver experiments demonstrated the feasibility of our surgical navigation software module. PMID:28109564

Current Role of Computer Navigation in Total Knee Arthroplasty.

PubMed

Jones, Christopher W; Jerabek, Seth A

2018-01-31

Computer-assisted surgical (CAS) navigation has been developed with the aim of improving the accuracy and precision of total knee arthroplasty (TKA) component positioning and therefore overall limb alignment. The historical goal of knee arthroplasty has been to restore the mechanical alignment of the lower limb by aligning the femoral and tibial components perpendicular to the mechanical axis of the femur and tibia. Despite over 4 decades of TKA component development and nearly 2 decades of interest in CAS, the fundamental question remains; does the alignment goal and/or the method of achieving that goal affect the outcome of the TKA in terms of patient-reported outcome measures and/or overall survivorship? The quest for reliable and reproducible achievement of the intraoperative alignment goal has been the primary motivator for the introduction, development, and refinement of CAS navigation. Numerous proprietary systems now exist, and rapid technological advancements in computer processing power are stimulating further development of robotic surgical systems. Three categories of CAS can be defined: image-based large-console navigation; imageless large-console navigation, and more recently, accelerometer-based handheld navigation systems have been developed. A review of the current literature demonstrates that there are enough well-designed studies to conclude that both large-console CAS and handheld navigation systems improve the accuracy and precision of component alignment in TKA. However, missing from the evidence base, other than the subgroup analysis provided by the Australian Orthopaedic Association National Joint Replacement Registry, are any conclusive demonstrations of a clinical superiority in terms of improved patient-reported outcome measures and/or decreased cumulative revision rates in the long term. Few authors would argue that accuracy of alignment is a goal to ignore; therefore, in the absence of clinical evidence, many of the arguments against the use of large-console CAS navigation center on the prohibitive cost of the systems. The utilization of low-cost, handheld CAS navigation systems may therefore bridge this important gap, and over time, further clinical evidence may emerge. Copyright © 2018 Elsevier Inc. All rights reserved.

Evaluation of Design Assurance Regulations for Safety of Space Navigation Services

NASA Astrophysics Data System (ADS)

Ratti, B.; Sarno, M.; De Andreis, C.

2005-12-01

The European Space Agency (ESA), the European Community (EC), and the European Organisation for the Safety of Air Navigation (Eurocontrol) are contributing to the development of a Global positioning and Navigation Satellite System, known as GNSS. The development programme is carried out in two main steps:• GNSS-1: the first-generation system, based on signals received from the GPS (USA) and GLONASS (Russia) constellations, and augmentation systems like EGNOS (European Geostationary Navigation Overlay Service)• GNSS-2: the second-generation system, that will achieve the ultimate objective of European sovereignty for position determination, navigation and time dissemination. This system, named Galileo, comprises a global space and ground control infrastructure.The Galileo navigation signal will be used in the frame of safety-critical transport applications, thus it is necessary to assess the space safety assurance activity against the civil safety regulations and safety management system.. RTCA DO-254 and IEC 61508 standards, considered as part of best practice engineering references, for the development of safety- related systems in most applications, were selected during phases B2 and C0 of the Galileo project for this purpose.

Navigation Architecture For A Space Mobile Network

NASA Technical Reports Server (NTRS)

Valdez, Jennifer E.; Ashman, Benjamin; Gramling, Cheryl; Heckler, Gregory W.; Carpenter, Russell

2016-01-01

The Tracking and Data Relay Satellite System (TDRSS) Augmentation Service for Satellites (TASS) is a proposed beacon service to provide a global, space-based GPS augmentation service based on the NASA Global Differential GPS (GDGPS) System. The TASS signal will be tied to the GPS time system and usable as an additional ranging and Doppler radiometric source. Additionally, it will provide data vital to autonomous navigation in the near Earth regime, including space weather information, TDRS ephemerides, Earth Orientation Parameters (EOP), and forward commanding capability. TASS benefits include enhancing situational awareness, enabling increased autonomy, and providing near real-time command access for user platforms. As NASA Headquarters Space Communication and Navigation Office (SCaN) begins to move away from a centralized network architecture and towards a Space Mobile Network (SMN) that allows for user initiated services, autonomous navigation will be a key part of such a system. This paper explores how a TASS beacon service enables the Space Mobile Networking paradigm, what a typical user platform would require, and provides an in-depth analysis of several navigation scenarios and operations concepts.

Standardized methodology for transfemoral transcatheter aortic valve replacement with the Edwards Sapien XT valve under fluoroscopy guidance.

PubMed

Kasel, Albert M; Shivaraju, Anupama; Schneider, Stephan; Krapf, Stephan; Oertel, Frank; Burgdorf, Christof; Ott, Ilka; Sumer, Christian; Kastrati, Adnan; von Scheidt, Wolfgang; Thilo, Christian

2014-09-01

To provide a simplified, standardized methodology for a successful transfemoral transcatheter aortic valve replacement (TAVR) procedure with the Sapien XT valve in patients with severe aortic stenosis (AS). TAVR is currently reserved for patients with severe, symptomatic AS who are inoperable or at high operative risk. In many institutions, TAVR is performed under general anesthesia with intubation or with conscious sedation. In addition, many institutions still use transesophageal echo (TEE) during the procedure for aortic root angulations and positioning of the valve prior to implantation. Methods. We enrolled 100 consecutive patients (mean age, 80 ± 7 years; range, 50-94 years; female n=59) with severe symptomatic AS. Annulus measurements were based on computed tomography angiograms. All patients underwent fluoroscopy-guided transfemoral TAVR with little to no sedation and without simultaneous TEE. TAVR was predominantly performed with the use of local and central analgesics; only 36% of our cohort received conscious sedation. Procedural success of TAVR was 99%. Transthoracic echocardiography before discharge excluded aortic regurgitation (AR) >2 in all patients (AR >1; n=6). In-hospital stroke rate was 6%. The vessel closure system was successfully employed in 96%. Major vascular complication rate was 1%. The 30-day mortality was 2%. Fluoroscopy-guided TAVR with the use of just analgesics with or without conscious sedation is safe and effective, and this potentially enables a more time-effective and cost-effective procedure. This paper provides simplified, stepwise guidance on how to perform transfemoral TAVR with the Sapien XT valve.

Safety and feasibility of single-catheter ablation using remote magnetic navigation for treatment of slow-fast atrioventricular nodal reentrant tachycardia compared to conventional ablation strategies.

PubMed

Akca, Ferdi; Schwagten, Bruno; Theuns, Dominic A J; Takens, Marieke; Musters, Paul; Szili-Torok, Tamas

2013-12-01

Ablation of atrioventricular nodal re-entrant tachycardia (AVNRT) is a highly effective procedure both with radiofrequency (RF) and cryoenergy (CE). Conventionally, it requires several diagnostic catheters and hospital admission. This study assessed the safety and efficacy of a highly simplified approach using the magnetic navigation system (MNS) compared to CE and manual RF ablation (MAN). In the MNS group a single magnetic-guided quadripolar catheter was inserted through the internal jugular vein to perform ablation. In the CE group cryomapping preceded ablation and for MAN procedures conventional ablation was performed. The following parameters were analysed: success- and recurrence rate, procedure-, fluoroscopy- and total application time. In total 69 eligible patients were treated with MNS (n = 26), CE (n = 25) and MAN (n = 16). The success rates were 100%, 100% and 94%, respectively (p = ns). The mean procedural time was 83 +/- 25 min for MNS, 117 +/- 47 min for CE and 117 +/- 55 min for MAN (P < 0.01). Total radiation time was significantly lower for MNS [0.0 min (IQR 0.0-0.0)] compared to CE [15.1 min (IQR 9.1-23.8), P < 0.001] and MAN [17.5 min (IQR 7.0-31.3), P < 0.001]. The total application time was comparable for both RF groups: 357 +/- 315 s (MNS) vs 204 +/- 177 s (MAN) (P = 0.14). No major adverse events occurred. After 3 months follow-up similar PR intervals were recorded for all patients. During a follow-up of 26 +/- 5 months recurrence rates were 3.8%, 4.0% and 6.3%, respectively, for each group. The MNS-guided single-catheter approach is a feasible and safe technique for the treatment of patients with typical AVNRT.

Remote magnetic navigation with irrigated tip catheter for ablation of paroxysmal atrial fibrillation.

PubMed

Miyazaki, Shinsuke; Shah, Ashok J; Xhaët, Olivier; Derval, Nicolas; Matsuo, Seiichiro; Wright, Matthew; Nault, Isabelle; Forclaz, Andrei; Jadidi, Amir S; Knecht, Sébastien; Rivard, Lena; Liu, Xingpeng; Linton, Nick; Sacher, Frédéric; Hocini, Mélèze; Jaïs, Pierre; Haïssaguerre, Michel

2010-12-01

The remote magnetic navigation system (MNS) has been used with a nonirrigated magnetic catheter for atrial fibrillation (AF) ablation. The objective of this study was to evaluate the feasibility and efficiency of the newly available irrigated tip magnetic catheter for index pulmonary vein isolation (PVI) in patients with paroxysmal AF (PAF). Between January 2008 and June 2009, 30 consecutive patients with drug-resistant PAF underwent circular mapping catheter-guided PVI with MNS (MNS group). The outcomes were compared retrospectively with those of a conventional hand-controlled ablation technique during the same period in 44 consecutive patients (manual group). All 4 pulmonary veins were successfully isolated in both groups except in 4 patients in the MNS group. Radiofrequency and procedure duration were higher in the MNS group (60 ± 27 versus 43 ± 16 minutes; P = 0.0019) than in the manual group (246 ± 50 versus 153 ± 51 minutes; P < 0.0001). In the patients who underwent only PVI, total fluoroscopic time also was longer in the MNS group than in the manual group (58 ± 24 versus 40 ± 14 minutes; P = 0.0002). At 12-month follow-up after a single procedure, 69.0% of the patients in MNS group and 61.8% of patients in manual group were free of atrial tachyarrhythmia without antiarrhythmic drugs. There was no significant difference in the atrial tachyarrhythmia-free survival between the 2 groups (P = 0.961). Cardiac tamponade occurred in 1 patient in the manual group. In patients with PAF, MNS-guided PVI with the newly available irrigated tip magnetic catheter backed up with manual ablation whenever required is feasible. However, it requires longer ablation, fluoroscopy, and procedural times than the conventional approach in the early experience stage.

Endovascular Catheter for Magnetic Navigation under MR Imaging Guidance: Evaluation of Safety in Vivo at 1.5T

PubMed Central

Hetts, S.W.; Saeed, M.; Martin, A.J.; Evans, L.; Bernhardt, A.F.; Malba, V.; Settecase, F.; Do, L.; Yee, E.J.; Losey, A.; Sincic, R.; Roy, S.; Arenson, R.L.; Wilson, M.W.

2013-01-01

BACKGROUND AND PURPOSE: Endovascular navigation under MR imaging guidance can be facilitated by a catheter with steerable microcoils on the tip. Not only do microcoils create visible artifacts allowing catheter tracking, but also they create a small magnetic moment permitting remote-controlled catheter tip deflection. A side product of catheter tip electrical currents, however, is the heat that might damage blood vessels. We sought to determine the upper boundary of electrical currents safely usable at 1.5T in a coil-tipped microcatheter system. MATERIALS AND METHODS: Alumina tubes with solenoid copper coils were attached to neurovascular microcatheters with heat shrink-wrap. Catheters were tested in carotid arteries of 8 pigs. The catheters were advanced under x-ray fluoroscopy and MR imaging. Currents from 0 mA to 700 mA were applied to test heating and potential vascular damage. Postmortem histologic analysis was the primary endpoint. RESULTS: Several heat-mitigation strategies demonstrated negligible vascular damage compared with control arteries. Coil currents ≤300 mA resulted in no damage (0/58 samples) compared with 9 (25%) of 36 samples for > 300-mA activations (P = .0001). Tip coil activation ≤1 minute and a proximal carotid guide catheter saline drip > 2 mL/minute also had a nonsignificantly lower likelihood of vascular damage. For catheter tip coil activations ≤300 mA for ≤1 minute in normal carotid flow, 0 of 43 samples had tissue damage. CONCLUSIONS: Activations of copper coils at the tip of microcatheters at low currents in 1.5T MR scanners can be achieved without significant damage to blood vessel walls in a controlled experimental setting. Further optimization of catheter design and procedure protocols is necessary for safe remote control magnetic catheter guidance. PMID:23846795

Technical advances of interventional fluoroscopy and flat panel image receptor.

PubMed

Lin, Pei-Jan Paul

2008-11-01

In the past decade, various radiation reducing devices and control circuits have been implemented on fluoroscopic imaging equipment. Because of the potential for lengthy fluoroscopic procedures in interventional cardiovascular angiography, these devices and control circuits have been developed for the cardiac catheterization laboratories and interventional angiography suites. Additionally, fluoroscopic systems equipped with image intensifiers have benefited from technological advances in x-ray tube, x-ray generator, and spectral shaping filter technologies. The high heat capacity x-ray tube, the medium frequency inverter generator with high performance switching capability, and the patient dose reduction spectral shaping filter had already been implemented on the image intensified fluoroscopy systems. These three underlying technologies together with the automatic dose rate and image quality (ADRIQ) control logic allow patients undergoing cardiovascular angiography procedures to benefit from "lower patient dose" with "high image quality." While photoconductor (or phosphor plate) x-ray detectors and signal capture thin film transistor (TFT) and charge coupled device (CCD) arrays are analog in nature, the advent of the flat panel image receptor allowed for fluoroscopy procedures to become more streamlined. With the analog-to-digital converter built into the data lines, the flat panel image receptor appears to become a digital device. While the transition from image intensified fluoroscopy systems to flat panel image receptor fluoroscopy systems is part of the on-going "digitization of imaging," the value of a flat panel image receptor may have to be evaluated with respect to patient dose, image quality, and clinical application capabilities. The advantage of flat panel image receptors has yet to be fully explored. For instance, the flat panel image receptor has its disadvantages as compared to the image intensifiers; the cost of the equipment is probably the most obvious. On the other hand, due to its wide dynamic range and linearity, lowering of patient dose beyond current practice could be achieved through the calibration process of the flat panel input dose rate being set to, for example, one half or less of current values. In this article various radiation saving devices and control circuits are briefly described. This includes various types of fluoroscopic systems designed to strive for reduction of patient exposure with the application of spectral shaping filters. The main thrust is to understand the ADRIQ control logic, through equipment testing, as it relates to clinical applications, and to show how this ADRIQ control logic "ties" those three technological advancements together to provide low radiation dose to the patient with high quality fluoroscopic images. Finally, rotational angiography with computed tomography (CT) and three dimensional (3-D) images utilizing flat panel technology will be reviewed as they pertain to diagnostic imaging in cardiovascular disease.

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

NASA Astrophysics Data System (ADS)

Panayiotou, M.; King, A. P.; Ma, Y.; Housden, R. J.; Rinaldi, C. A.; Gill, J.; Cooklin, M.; O'Neill, M.; Rhode, K. S.

2013-11-01

The motion and deformation of catheters that lie inside cardiac structures can provide valuable information about the motion of the heart. In this paper we describe the formation of a novel statistical model of the motion of a coronary sinus (CS) catheter based on principal component analysis of tracked electrode locations from standard mono-plane x-ray fluoroscopy images. We demonstrate the application of our model for the purposes of retrospective cardiac and respiratory gating of x-ray fluoroscopy images in normal dose x-ray fluoroscopy images, and demonstrate how a modification of the technique allows application to very low dose scenarios. We validated our method on ten mono-plane imaging sequences comprising a total of 610 frames from ten different patients undergoing radiofrequency ablation for the treatment of atrial fibrillation. For normal dose images we established systole, end-inspiration and end-expiration gating with success rates of 100%, 92.1% and 86.9%, respectively. For very low dose applications, the method was tested on the same ten mono-plane x-ray fluoroscopy sequences without noise and with added noise at signal to noise ratio (SNR) values of √50, √10, √8, √6, √5, √2 and √1 to simulate the image quality of increasingly lower dose x-ray images. The method was able to detect the CS catheter even in the lowest SNR images with median errors not exceeding 2.6 mm per electrode. Furthermore, gating success rates of 100%, 71.4% and 85.7% were achieved at the low SNR value of √2, representing a dose reduction of more than 25 times. Thus, the technique has the potential to extract useful information whilst substantially reducing the radiation exposure.

Use of NTRIP for optimizing the decoding algorithm for real-time data streams.

PubMed

He, Zhanke; Tang, Wenda; Yang, Xuhai; Wang, Liming; Liu, Jihua

2014-10-10

As a network transmission protocol, Networked Transport of RTCM via Internet Protocol (NTRIP) is widely used in GPS and Global Orbiting Navigational Satellite System (GLONASS) Augmentation systems, such as Continuous Operational Reference System (CORS), Wide Area Augmentation System (WAAS) and Satellite Based Augmentation Systems (SBAS). With the deployment of BeiDou Navigation Satellite system(BDS) to serve the Asia-Pacific region, there are increasing needs for ground monitoring of the BeiDou Navigation Satellite system and the development of the high-precision real-time BeiDou products. This paper aims to optimize the decoding algorithm of NTRIP Client data streams and the user authentication strategies of the NTRIP Caster based on NTRIP. The proposed method greatly enhances the handling efficiency and significantly reduces the data transmission delay compared with the Federal Agency for Cartography and Geodesy (BKG) NTRIP. Meanwhile, a transcoding method is proposed to facilitate the data transformation from the BINary EXchange (BINEX) format to the RTCM format. The transformation scheme thus solves the problem of handing real-time data streams from Trimble receivers in the BeiDou Navigation Satellite System indigenously developed by China.

DQE and system optimization for indirect-detection flat-panel imagers in diagnostic radiology

NASA Astrophysics Data System (ADS)

Siewerdsen, Jeffrey H.; Antonuk, Larry E.

1998-07-01

The performance of indirect-detection flat-panel imagers incorporating CsI:Tl x-ray converters is examined through calculation of the detective quantum efficiency (DQE) under conditions of chest radiography, fluoroscopy, and mammography. Calculations are based upon a cascaded systems model which has demonstrated excellent agreement with empirical signal, noise- power spectra, and DQE results. For each application, the DQE is calculated as a function of spatial-frequency and CsI:Tl thickness. A preliminary investigation into the optimization of flat-panel imaging systems is described, wherein the x-ray converter thickness which provides optimal DQE for a given imaging task is estimated. For each application, a number of example tasks involving detection of an object of variable size and contrast against a noisy background are considered. The method described is fairly general and can be extended to account for a variety of imaging tasks. For the specific examples considered, the preliminary results estimate optimal CsI:Tl thicknesses of approximately 450 micrometer (approximately 200 mg/cm2), approximately 320 micrometer (approximately 140 mg/cm2), and approximately 200 micrometer (approximately 90 mg/cm2) for chest radiography, fluoroscopy, and mammography, respectively. These results are expected to depend upon the imaging task as well as upon the quality of available CsI:Tl, and future improvements in scintillator fabrication could result in increased optimal thickness and DQE.

The feasibility and safety of applying the Magnetic Navigation System to manage chronically occluded vessels: a single centre experience.

PubMed

Ramcharitar, Steve; van der Giessen, Willem J; van der Ent, Martin; de Feyter, Pim; Serruys, Patrick W; van Geuns, Robert-Jan

2011-01-01

Applying the Magnetic Navigation System (MNS) to manage chronic total occlusions (CTOs). The MNS precisely directs a magnetised guidewire in vivo through two permanent external magnets. The first 43 consecutive MNS treated CTOs were retrospectively evaluated. Computed tomography coronary angiography (CTCA) co-integration with the MNS provided a virtual road map through the occlusion. Unsuccessful MNS cases were managed with bailout conventional guidewire techniques. Experienced CTO and MNS operators had unrestricted access to CTO devices and equipments. The MNS crossing success increased from 40% to 56% over 52 months and averaged 44.2% (19/43 patients). In 58.3% (14/24) of failed MNS cases the conventional wire approach was successful, giving an overall procedural success rate of 76.6%. Of those conventionally treated, two patients required pericardiocentesis. On average, 1.8 ± 0.9 stents (lengths 44.7 ± 21.4 mm and diameter 2.8 ± 0.4 mm) were implanted. Procedural times were lengthy (125.0 ± 35.3 min) requiring high fluoroscopy dosage (11980.2 ± 6457.9 Gy/cm2) and contrast media usage (388.8 ± 170.2 ml). Operators persevered less with magnetic wires (20.9 ± 12.4 min vs. 27.7 ± 24.4 min), and preferentially used the least stiff wire as first choice (53.5%). CTCA co-integration did not influence procedural outcome. As with conventional wires, higher magnetic wire successes occurred in low calcified lesions, those with a central stump and without bridging collaterals. In unselected CTOs, the magnetic wires are safe and feasible. Current modest success rates with a high procedural bailout rate implicate the need for improved magnetic guidewire technology comparable to available sophisticated conventional CTO wires. Randomised studies are needed to clarify the value of magnetic guided recanalisation.

Integrated communications and optical navigation system

NASA Astrophysics Data System (ADS)

Mueller, J.; Pajer, G.; Paluszek, M.

2013-12-01

The Integrated Communications and Optical Navigation System (ICONS) is a flexible navigation system for spacecraft that does not require global positioning system (GPS) measurements. The navigation solution is computed using an Unscented Kalman Filter (UKF) that can accept any combination of range, range-rate, planet chord width, landmark, and angle measurements using any celestial object. Both absolute and relative orbit determination is supported. The UKF employs a full nonlinear dynamical model of the orbit including gravity models and disturbance models. The ICONS package also includes attitude determination algorithms using the UKF algorithm with the Inertial Measurement Unit (IMU). The IMU is used as the dynamical base for the attitude determination algorithms. This makes the sensor a more capable plug-in replacement for a star tracker, thus reducing the integration and test cost of adding this sensor to a spacecraft. Recent additions include an integrated optical communications system which adds communications, and integrated range and range rate measurement and timing. The paper includes test results from trajectories based on the NASA New Horizons spacecraft.

Research and development for Onboard Navigation (ONAV) ground based expert/trainer system: Preliminary ascent knowledge requirements

NASA Technical Reports Server (NTRS)

Bochsler, Daniel C.

1988-01-01

The preliminary version of expert knowledge for the Onboard Navigation (ONAV) Ground Based Expert Trainer Ascent system for the space shuttle is presented. Included is some brief background information along with the information describing the knowledge the system will contain. Information is given on rules and heuristics, telemetry status, landing sites, inertial measurement units, and a high speed trajectory determinator (HSTD) state vector.

Feasibility of Using Synthetic Aperture Radar to Aid UAV Navigation

PubMed Central

Nitti, Davide O.; Bovenga, Fabio; Chiaradia, Maria T.; Greco, Mario; Pinelli, Gianpaolo

2015-01-01

This study explores the potential of Synthetic Aperture Radar (SAR) to aid Unmanned Aerial Vehicle (UAV) navigation when Inertial Navigation System (INS) measurements are not accurate enough to eliminate drifts from a planned trajectory. This problem can affect medium-altitude long-endurance (MALE) UAV class, which permits heavy and wide payloads (as required by SAR) and flights for thousands of kilometres accumulating large drifts. The basic idea is to infer position and attitude of an aerial platform by inspecting both amplitude and phase of SAR images acquired onboard. For the amplitude-based approach, the system navigation corrections are obtained by matching the actual coordinates of ground landmarks with those automatically extracted from the SAR image. When the use of SAR amplitude is unfeasible, the phase content can be exploited through SAR interferometry by using a reference Digital Terrain Model (DTM). A feasibility analysis was carried out to derive system requirements by exploring both radiometric and geometric parameters of the acquisition setting. We showed that MALE UAV, specific commercial navigation sensors and SAR systems, typical landmark position accuracy and classes, and available DTMs lead to estimate UAV coordinates with errors bounded within ±12 m, thus making feasible the proposed SAR-based backup system. PMID:26225977

Feasibility of Using Synthetic Aperture Radar to Aid UAV Navigation.

PubMed

Nitti, Davide O; Bovenga, Fabio; Chiaradia, Maria T; Greco, Mario; Pinelli, Gianpaolo

2015-07-28

This study explores the potential of Synthetic Aperture Radar (SAR) to aid Unmanned Aerial Vehicle (UAV) navigation when Inertial Navigation System (INS) measurements are not accurate enough to eliminate drifts from a planned trajectory. This problem can affect medium-altitude long-endurance (MALE) UAV class, which permits heavy and wide payloads (as required by SAR) and flights for thousands of kilometres accumulating large drifts. The basic idea is to infer position and attitude of an aerial platform by inspecting both amplitude and phase of SAR images acquired onboard. For the amplitude-based approach, the system navigation corrections are obtained by matching the actual coordinates of ground landmarks with those automatically extracted from the SAR image. When the use of SAR amplitude is unfeasible, the phase content can be exploited through SAR interferometry by using a reference Digital Terrain Model (DTM). A feasibility analysis was carried out to derive system requirements by exploring both radiometric and geometric parameters of the acquisition setting. We showed that MALE UAV, specific commercial navigation sensors and SAR systems, typical landmark position accuracy and classes, and available DTMs lead to estimated UAV coordinates with errors bounded within ±12 m, thus making feasible the proposed SAR-based backup system.

Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems.

PubMed

Tseng, Chien-Hao; Lin, Sheng-Fuu; Jwo, Dah-Jing

2016-07-26

This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF) and fuzzy logic adaptive system (FLAS) for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system) integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle. In order to resolve the shortcoming for selecting the process noise covariance through personal experience or numerical simulation, a scheme called the fuzzy adaptive cubature Kalman filter (FACKF) is presented by introducing the FLAS to adjust the weighting factor of the process noise covariance matrix. The FLAS is incorporated into the CKF framework as a mechanism for timely implementing the tuning of process noise covariance matrix based on the information of degree of divergence (DOD) parameter. The proposed FACKF algorithm shows promising accuracy improvement as compared to the extended Kalman filter (EKF), unscented Kalman filter (UKF), and CKF approaches.

Fuzzy Adaptive Cubature Kalman Filter for Integrated Navigation Systems

PubMed Central

Tseng, Chien-Hao; Lin, Sheng-Fuu; Jwo, Dah-Jing

2016-01-01

This paper presents a sensor fusion method based on the combination of cubature Kalman filter (CKF) and fuzzy logic adaptive system (FLAS) for the integrated navigation systems, such as the GPS/INS (Global Positioning System/inertial navigation system) integration. The third-degree spherical-radial cubature rule applied in the CKF has been employed to avoid the numerically instability in the system model. In processing navigation integration, the performance of nonlinear filter based estimation of the position and velocity states may severely degrade caused by modeling errors due to dynamics uncertainties of the vehicle. In order to resolve the shortcoming for selecting the process noise covariance through personal experience or numerical simulation, a scheme called the fuzzy adaptive cubature Kalman filter (FACKF) is presented by introducing the FLAS to adjust the weighting factor of the process noise covariance matrix. The FLAS is incorporated into the CKF framework as a mechanism for timely implementing the tuning of process noise covariance matrix based on the information of degree of divergence (DOD) parameter. The proposed FACKF algorithm shows promising accuracy improvement as compared to the extended Kalman filter (EKF), unscented Kalman filter (UKF), and CKF approaches. PMID:27472336

The University of Minnesota's Internet Gopher System: A Tool for Accessing Network-Based Electronic Information.

ERIC Educational Resources Information Center

Wiggins, Rich

1993-01-01

Describes the Gopher system developed at the University of Minnesota for accessing information on the Internet. Highlights include the need for navigation tools; Gopher clients; FTP (File Transfer Protocol); campuswide information systems; navigational enhancements; privacy and security issues; electronic publishing; multimedia; and future…

Integrity Analysis of Real-Time Ppp Technique with Igs-Rts Service for Maritime Navigation

NASA Astrophysics Data System (ADS)

El-Diasty, M.

2017-10-01

Open sea and inland waterways are the most widely used mode for transporting goods worldwide. It is the International Maritime Organization (IMO) that defines the requirements for position fixing equipment for a worldwide radio-navigation system, in terms of accuracy, integrity, continuity, availability and coverage for the various phases of navigation. Satellite positioning systems can contribute to meet these requirements, as well as optimize marine transportation. Marine navigation usually consists of three major phases identified as Ocean/Coastal/Port approach/Inland waterway, in port navigation and automatic docking with alert limit ranges from 25 m to 0.25 m. GPS positioning is widely used for many applications and is currently recognized by IMO for a future maritime navigation. With the advancement in autonomous GPS positioning techniques such as Precise Point Positioning (PPP) and with the advent of new real-time GNSS correction services such as IGS-Real-Time-Service (RTS), it is necessary to investigate the integrity of the PPP-based positioning technique along with IGS-RTS service in terms of availability and reliability for safe navigation in maritime application. This paper monitors the integrity of an autonomous real-time PPP-based GPS positioning system using the IGS real-time service (RTS) for maritime applications that require minimum availability of integrity of 99.8 % to fulfil the IMO integrity standards. To examine the integrity of the real-time IGS-RTS PPP-based technique for maritime applications, kinematic data from a dual frequency GPS receiver is collected onboard a vessel and investigated with the real-time IGS-RTS PPP-based GPS positioning technique. It is shown that the availability of integrity of the real-time IGS-RTS PPP-based GPS solution is 100 % for all navigation phases and therefore fulfil the IMO integrity standards (99.8 % availability) immediately (after 1 second), after 2 minutes and after 42 minutes of convergence time for Ocean/Coastal/Port approach/Inland waterway, in port navigation and automatic docking, respectively. Moreover, the misleading information is about 2 % for all navigation phases that is considered less safe is not in immediate danger because the horizontal position error is less than the navigation alert limits.

Temporal response improvement for computed tomography fluoroscopy

NASA Astrophysics Data System (ADS)

Hsieh, Jiang

1997-10-01

Computed tomography fluoroscopy (CTF) has attracted significant attention recently. This is mainly due to the growing clinical application of CTF in interventional procedures, such as guided biopsy. Although many studies have been conducted for its clinical efficacy, little attention has been paid to the temporal response and the inherent limitations of the CTF system. For example, during a biopsy operation, when needle is inserted at a relatively high speed, the true needle position will not be correctly depicted in the CTF image due to the time delay. This could result in an overshoot or misplacement of the biopsy needle by the operator. In this paper, we first perform a detailed analysis of the temporal response of the CTF by deriving a set of equations to describe the average location of a moving object observed by the CTF system. The accuracy of the equations is verified by computer simulations and experiments. We show that the CT reconstruction process acts as a low pass filter to the motion function. As a result, there is an inherent time delay in the CTF process to the true biopsy needle motion and locations. Based on this study, we propose a generalized underscan weighting scheme which significantly improve the performance of CTF in terms of time lag and delay.

INS/GNSS Integration for Aerobatic Flight Applications and Aircraft Motion Surveying.

PubMed

V Hinüber, Edgar L; Reimer, Christian; Schneider, Tim; Stock, Michael

2017-04-26

This paper presents field tests of challenging flight applications obtained with a new family of lightweight low-power INS/GNSS ( inertial navigation system/global satellite navigation system ) solutions based on MEMS ( micro-electro-mechanical- sensor ) machined sensors, being used for UAV ( unmanned aerial vehicle ) navigation and control as well as for aircraft motion dynamics analysis and trajectory surveying. One key is a 42+ state extended Kalman-filter-based powerful data fusion, which also allows the estimation and correction of parameters that are typically affected by sensor aging, especially when applying MEMS-based inertial sensors, and which is not yet deeply considered in the literature. The paper presents the general system architecture, which allows iMAR Navigation the integration of all classes of inertial sensors and GNSS ( global navigation satellite system ) receivers from very-low-cost MEMS and high performance MEMS over FOG ( fiber optical gyro ) and RLG ( ring laser gyro ) up to HRG ( hemispherical resonator gyro ) technology, and presents detailed flight test results obtained under extreme flight conditions. As a real-world example, the aerobatic maneuvers of the World Champion 2016 (Red Bull Air Race) are presented. Short consideration is also given to surveying applications, where the ultimate performance of the same data fusion, but applied on gravimetric surveying, is discussed.

INS/GNSS Integration for Aerobatic Flight Applications and Aircraft Motion Surveying

PubMed Central

v. Hinüber, Edgar L.; Reimer, Christian; Schneider, Tim; Stock, Michael

2017-01-01

This paper presents field tests of challenging flight applications obtained with a new family of lightweight low-power INS/GNSS (inertial navigation system/global satellite navigation system) solutions based on MEMS (micro-electro-mechanical- sensor) machined sensors, being used for UAV (unmanned aerial vehicle) navigation and control as well as for aircraft motion dynamics analysis and trajectory surveying. One key is a 42+ state extended Kalman-filter-based powerful data fusion, which also allows the estimation and correction of parameters that are typically affected by sensor aging, especially when applying MEMS-based inertial sensors, and which is not yet deeply considered in the literature. The paper presents the general system architecture, which allows iMAR Navigation the integration of all classes of inertial sensors and GNSS (global navigation satellite system) receivers from very-low-cost MEMS and high performance MEMS over FOG (fiber optical gyro) and RLG (ring laser gyro) up to HRG (hemispherical resonator gyro) technology, and presents detailed flight test results obtained under extreme flight conditions. As a real-world example, the aerobatic maneuvers of the World Champion 2016 (Red Bull Air Race) are presented. Short consideration is also given to surveying applications, where the ultimate performance of the same data fusion, but applied on gravimetric surveying, is discussed. PMID:28445417

TDRSS Augmentation Service for Satellites (TASS)

NASA Technical Reports Server (NTRS)

Heckler, Gregory W.; Gramling, Cheryl; Valdez, Jennifer; Baldwin, Philip

2016-01-01

In 2015, NASA Goddard Space Flight Center (GSFC) reinvigorated the development of the TDRSS Augmentation Service for Satellites (TASS). TASS is a global, space-based, communications and navigation service for users of Global Navigation Satellite Systems (GNSS) and the Tracking and Data Relay Satellite System (TDRSS). TASS leverages the existing TDRSS to provide an S-band beacon radio navigation and messaging source to users at orbital altitudes 1400 km and below.

Extracorporeal shockwave therapy in calcifying tendinitis of the shoulder.

PubMed

Farr, Sebastian; Sevelda, Florian; Mader, Patrick; Graf, Alexandra; Petje, Gert; Sabeti-Aschraf, Manuel

2011-12-01

Strategies for extracorporeal shockwave therapy in calcifying tendinitis of the rotator cuff vary concerning quantity of sessions and doses. The purpose of this prospective pilot study was to determine the difference between the outcome of a single high-dosage extracorporeal shockwave therapy and two sessions of low-dosage extracorporeal shockwave therapy. This study compared a single high-level middle-energetic extracorporeal shockwave therapy (0.3 mJ/mm(2)) with a low-level middle-energetic extracorporeal shockwave therapy applied twice in a weekly interval (0.2 mJ/mm(2)). Thirty patients that suffered from calcifying tendinitis for at least 6 months received navigated, fluoroscopy-guided extracorporeal shockwave therapy. The gain of Constant Murley Score, Visual Analogue Scale during state of rest and weight-bearing situations ("stress") and radiographic progress was documented 6 and 12 weeks after therapy. In both groups, a significant reduction in pain during stress and improvement of function was observed. In contrast, no significant reduction in pain during rest was observed. No significant difference between both groups concerning reduction in the calcific deposit after 6 weeks was detected. Group B showed minor advantages in radiographical improvement after 12 weeks. In 36% of the patients, the calcific deposit completely dissoluted after 12 weeks. This pilot study indicates that a single high-level extracorporeal shockwave therapy may be as effective as two applications of a lower-dosed extracorporeal shockwave therapy for calcifying tendinitis. An effective single-session strategy could reduce treatment time, material costs and healthcare expenses and ionizing radiation in case of fluoroscopy guidance.

Analysis of a novel device-level SINS/ACFSS deeply integrated navigation method

NASA Astrophysics Data System (ADS)

Zhang, Hao; Qin, Shiqiao; Wang, Xingshu; Jiang, Guangwen; Tan, Wenfeng; Wu, Wei

2017-02-01

The combination of the strap-down inertial navigation system(SINS) and the celestial navigation system(CNS) is one of the popular measures to constitute the integrated navigation system. A star sensor(SS) is used as a precise attitude determination device in CNS. To solve the problem that the star image obtained by SS is motion-blurred under dynamic conditions, the attitude-correlated frames(ACF) approach is presented and the star sensor which works based on ACF approach is named ACFSS. Depending on the ACF approach, a novel device-level SINS/ACFSS deeply integrated navigation method is proposed in this paper. Feedback to the ACF process from the error of the gyro is one of the typical characters of the SINS/CNS deeply integrated navigation method. Herein, simulation results have verified its validity and efficiency in improving the accuracy of gyro and it can be proved that this method is feasible.

Building a Navigation System to Reduce Cancer Disparities in Urban Black Older Adults

PubMed Central

Bone, Lee; Edington, Kristen; Rosenberg, Jessica; Wenzel, Jennifer; Garza, Mary A.; Klein, Catherine; Schmitt, Lisa; Ford, Jean G.

2014-01-01

Background Although cancer outcomes have improved in recent decades, substantial disparities by race, ethnicity, income and education persist. Increasingly, patient navigation services are demonstrating success in improving cancer detection, treatment and care and in reducing cancer health disparities. To advance progress in developing patient navigation programs, extensive descriptions of each component of the program must be made available to researchers and health service providers. Objective To describe the components of a patient navigation program designed to improve cancer screening based on informed decision-making on cancer screening and cancer treatment services among predominantly Black older adults in Baltimore City. Methods A community-academic participatory approach was used to develop a patient navigation program in Baltimore, Maryland. The components of the patient navigation system included the development of a community academic (advisory) committee (CAC); recruitment and selection of community health workers (CHWs)/navigators and supervisory staff; initial training and continuing education of the CHWs/navigators; and evaluation of CHWs/navigators. The study was approved by the Johns Hopkins Bloomberg School of Public Health Institutional Review Board. Conclusions The incorporation of community-based participatory research (CPBR) principles into each facet of this patient navigation program facilitated the attainment of the intervention’s objectives. This patient navigation program successfully delivered cancer navigation services to 1302 urban Black older adults. Appropriately recruited, selected and trained CHWs monitored by an experienced supervisor and investigators are the key elements in a patient navigation program. This model has the potential to be adapted by research and health service providers. PMID:23793252

Radiation exposure from fluoroscopy during orthopedic surgical procedures

DOE Office of Scientific and Technical Information (OSTI.GOV)

Riley, S.A.

1989-11-01

The use of fluoroscopy has enabled orthopedic surgeons to become technically more proficient. In addition, these surgical procedures tend to have less associated patient morbidity by decreasing operative time and minimizing the area of the operative field. The trade-off, however, may be an increased risk of radiation exposure to the surgeon on an annual or lifetime basis. The current study was designed to determine the amount of radiation received by the primary surgeon and the first assistant during selected surgical procedures involving the use of fluoroscopy. Five body sites exposed to radiation were monitored for dosage. The results of thismore » study indicate that with appropriate usage, (1) radiation exposure from fluoroscopy is relatively low; (2) the surgeon's dominant hand receives the most exposure per case; and (3) proper maintenance and calibration of fluoroscopic machines are important factors in reducing exposure risks. Therefore, with proper precautions, the use of fluoroscopy in orthopedic procedures can remain a safe practice.« less

Improved Modeling in a Matlab-Based Navigation System

NASA Technical Reports Server (NTRS)

Deutschmann, Julie; Bar-Itzhack, Itzhack; Harman, Rick; Larimore, Wallace E.

1999-01-01

An innovative approach to autonomous navigation is available for low earth orbit satellites. The system is developed in Matlab and utilizes an Extended Kalman Filter (EKF) to estimate the attitude and trajectory based on spacecraft magnetometer and gyro data. Preliminary tests of the system with real spacecraft data from the Rossi X-Ray Timing Explorer Satellite (RXTE) indicate the existence of unmodeled errors in the magnetometer data. Incorporating into the EKF a statistical model that describes the colored component of the effective measurement of the magnetic field vector could improve the accuracy of the trajectory and attitude estimates and also improve the convergence time. This model is identified as a first order Markov process. With the addition of the model, the EKF attempts to identify the non-white components of the noise allowing for more accurate estimation of the original state vector, i.e. the orbital elements and the attitude. Working in Matlab allows for easy incorporation of new models into the EKF and the resulting navigation system is generic and can easily be applied to future missions resulting in an alternative in onboard or ground-based navigation.

A Novel Online Data-Driven Algorithm for Detecting UAV Navigation Sensor Faults.

PubMed

Sun, Rui; Cheng, Qi; Wang, Guanyu; Ochieng, Washington Yotto

2017-09-29

The use of Unmanned Aerial Vehicles (UAVs) has increased significantly in recent years. On-board integrated navigation sensors are a key component of UAVs' flight control systems and are essential for flight safety. In order to ensure flight safety, timely and effective navigation sensor fault detection capability is required. In this paper, a novel data-driven Adaptive Neuron Fuzzy Inference System (ANFIS)-based approach is presented for the detection of on-board navigation sensor faults in UAVs. Contrary to the classic UAV sensor fault detection algorithms, based on predefined or modelled faults, the proposed algorithm combines an online data training mechanism with the ANFIS-based decision system. The main advantages of this algorithm are that it allows real-time model-free residual analysis from Kalman Filter (KF) estimates and the ANFIS to build a reliable fault detection system. In addition, it allows fast and accurate detection of faults, which makes it suitable for real-time applications. Experimental results have demonstrated the effectiveness of the proposed fault detection method in terms of accuracy and misdetection rate.

Digital methods for reducing radiation exposure during medical fluoroscopy

NASA Astrophysics Data System (ADS)

Edmonds, Ernest W.; Rowlands, John A.; Hynes, David M.; Toth, B. D.; Porter, Anthony J.

1990-07-01

There is increased concern over radiation exposure to the general population from many sources. One of the most significant sources is that received by the patient during medical diagnostic procedures, and of these, the procedure with the greatest potential hazard is fluoroscopy. The legal limit for fluoroscopy in most jurisdictions is SR per minute skin exposure rate. Fluoroscopes are often operated in excess of this figure, and in the case of interventional procedures, fluorocopy times may exceed 20 minutes. With improvements in medical technology these procedures are being performed more often, and also are being carried out on younger age groups. Radiation exposure during fluoroscopy, both to patient and operator, is therefore becoming a matter of increasing concern to regulating authorities, and it is incumbent on us to develop digital technology to minimise the radiation hazard in these procedures. This paper explores the technical options available for radiation exposure reduction, including pulsed fluoroscopy, digital noise reduction, or simple reduction in exposure rate to the x-ray image intensifier. We also discuss educational aspects of fluoroscopy which radiologists should be aware of which can be more important than the technological solutions. A "work in progress" report gives a completely new approach to the implementation of a large number of possible digital algorithms, for the investigation of clinical efficacy.

Real-Time 3D Fluoroscopy-Guided Large Core Needle Biopsy of Renal Masses: A Critical Early Evaluation According to the IDEAL Recommendations

DOE Office of Scientific and Technical Information (OSTI.GOV)

Kroeze, Stephanie G. C.; Huisman, Merel; Verkooijen, Helena M.

2012-06-15

Introduction: Three-dimensional (3D) real-time fluoroscopy cone beam CT is a promising new technique for image-guided biopsy of solid tumors. We evaluated the technical feasibility, diagnostic accuracy, and complications of this technique for guidance of large-core needle biopsy in patients with suspicious renal masses. Methods: Thirteen patients with 13 suspicious renal masses underwent large-core needle biopsy under 3D real-time fluoroscopy cone beam CT guidance. Imaging acquisition and subsequent 3D reconstruction was done by a mobile flat-panel detector (FD) C-arm system to plan the needle path. Large-core needle biopsies were taken by the interventional radiologist. Technical success, accuracy, and safety were evaluatedmore » according to the Innovation, Development, Exploration, Assessment, Long-term study (IDEAL) recommendations. Results: Median tumor size was 2.6 (range, 1.0-14.0) cm. In ten (77%) patients, the histological diagnosis corresponded to the imaging findings: five were malignancies, five benign lesions. Technical feasibility was 77% (10/13); in three patients biopsy results were inconclusive. The lesion size of these three patients was <2.5 cm. One patient developed a minor complication. Median follow-up was 16.0 (range, 6.4-19.8) months. Conclusions: 3D real-time fluoroscopy cone beam CT-guided biopsy of renal masses is feasible and safe. However, these first results suggest that diagnostic accuracy may be limited in patients with renal masses <2.5 cm.« less

Perioperative versus postoperative measurement of Taylor Spatial Frame mounting parameters.

PubMed

Sökücü, Sami; Demir, Bilal; Lapçin, Osman; Yavuz, Umut; Kabukçuoğlu, Yavuz S

2014-01-01

The aim of this study was to determine the differences, if any, between application parameters for the Taylor Spatial Frame (TSF) system obtained during surgery under fluoroscopy and after surgery from digital radiography. This retrospective study included 17 extremities of 15 patients (8 male, 7 female; mean age: 21.9 years, range: 10 to 55 years) who underwent TSF after deformity and fracture. Application parameters measured by fluoroscopy at the end of surgery after mounting the fixator were compared with parameters obtained from anteroposterior and lateral digital radiographs taken 1 day after surgery. Fixator was applied to the femur in 8 patients, tibia in 6 and radius in 3. Mean time to removal of the frame was 3.5 (range: 3 to 7) months. Mean perioperative anteroposterior, lateral and axial frame offsets of patients were 9.1 (range: 3 to 20) mm, 18.1 (range: 5 to 37) mm and 95.3 (range: 25 to 155) mm, respectively. Mean postoperative anteroposterior, lateral and axial frame offset radiographs were 11.8 (range: 2 to 30) mm, 18 (range: 6 to 47) mm and 109.5 (range: 28 to 195) mm, respectively. There was no statistically significant difference between the groups (p>0.05). While measurements taken during operation may lengthen the duration in the operation room, fluoroscopy may provide better images and is easier to perform than digital radiography. On the other hand, there is no difference between measurements taken during perioperative fluoroscopy and postoperative digital radiography.

Toward computer-assisted image-guided congenital heart defect repair: an initial phantom analysis.

PubMed

Kwartowitz, David M; Mefleh, Fuad N; Baker, G Hamilton

2017-10-01

Radiation exposure in interventional cardiology is an important consideration, due to risk of cancer and other morbidity to the patient and clinical staff. Cardiac catheterizations rely heavily on fluoroscopic imaging exposing both patient and clinician to ionizing radiation. An image-guided surgery system capable of facilitating cardiac catheterizations was developed and tested to evaluate dose reduction. Several electromagnetically tracked tools were constructed specifically a 7-Fr catheter with five 5-degree-of-freedom magnetic seeds. Catheter guidance was accomplished using our image guidance system Kit for Navigation by Image-Focused Exploration and fluoroscopy alone. A cardiac phantom was designed and 3D printed to validate the image guidance procedure. In mock procedures, an expert clinician guided and deployed an occluder across the septal defect of the phantom heart. The image guidance method resulted in a dose of 1.26 mSv of radiation dose per procedure, while traditional guidance resulted in a dose of 3.33 mSv. Average overall dose savings for the image-guided method was nearly 2.07 mSv or 62 %. The work showed significant ([Formula: see text]) decrease in radiation dose with use of image guidance methods at the expense of a modest increase in procedure time. This study lays the groundwork for further exploration of image guidance applications in pediatric cardiology.

Navigation Assistance: A Trade-Off between Wayfinding Support and Configural Learning Support

ERIC Educational Resources Information Center

Munzer, Stefan; Zimmer, Hubert D.; Baus, Jorg

2012-01-01

Current GPS-based mobile navigation assistance systems support wayfinding, but they do not support learning about the spatial configuration of an environment. The present study examined effects of visual presentation modes for navigation assistance on wayfinding accuracy, route learning, and configural learning. Participants (high-school students)…

The Aging Navigational System.

PubMed

Lester, Adam W; Moffat, Scott D; Wiener, Jan M; Barnes, Carol A; Wolbers, Thomas

2017-08-30

The discovery of neuronal systems dedicated to computing spatial information, composed of functionally distinct cell types such as place and grid cells, combined with an extensive body of human-based behavioral and neuroimaging research has provided us with a detailed understanding of the brain's navigation circuit. In this review, we discuss emerging evidence from rodents, non-human primates, and humans that demonstrates how cognitive aging affects the navigational computations supported by these systems. Critically, we show 1) that navigational deficits cannot solely be explained by general deficits in learning and memory, 2) that there is no uniform decline across different navigational computations, and 3) that navigational deficits might be sensitive markers for impending pathological decline. Following an introduction to the mechanisms underlying spatial navigation and how they relate to general processes of learning and memory, the review discusses how aging affects the perception and integration of spatial information, the creation and storage of memory traces for spatial information, and the use of spatial information during navigational behavior. The closing section highlights the clinical potential of behavioral and neural markers of spatial navigation, with a particular emphasis on neurodegenerative disorders. Copyright © 2017 Elsevier Inc. All rights reserved.

Experimental determination of the navigation error of the 4-D navigation, guidance, and control systems on the NASA B-737 airplane

NASA Technical Reports Server (NTRS)

Knox, C. E.

1978-01-01

Navigation error data from these flights are presented in a format utilizing three independent axes - horizontal, vertical, and time. The navigation position estimate error term and the autopilot flight technical error term are combined to form the total navigation error in each axis. This method of error presentation allows comparisons to be made between other 2-, 3-, or 4-D navigation systems and allows experimental or theoretical determination of the navigation error terms. Position estimate error data are presented with the navigation system position estimate based on dual DME radio updates that are smoothed with inertial velocities, dual DME radio updates that are smoothed with true airspeed and magnetic heading, and inertial velocity updates only. The normal mode of navigation with dual DME updates that are smoothed with inertial velocities resulted in a mean error of 390 m with a standard deviation of 150 m in the horizontal axis; a mean error of 1.5 m low with a standard deviation of less than 11 m in the vertical axis; and a mean error as low as 252 m with a standard deviation of 123 m in the time axis.

Maritime User Requirements at High Latitudes - the MARENOR Project

NASA Astrophysics Data System (ADS)

Behlke, R.

2014-12-01

The ionosphere at high latitudes is characterised by a great variety of spatial and temporal variations that influence radio signals. In addition to navigation solutions that are based on Global Navigation Satellite Systems (GNSS), satellite communication systems also suffer from ionospheric degradation. This is worsened by harsh weather conditions, insufficient coverage by geostationary satellites and the absence of land-based augmentation infrastructure. Climate change will lead to a decrease in sea ice extent and thus to an increased use of trans-polar shipping routes, presence of gas and oil industries in the High Arctic and higher focus on Search-and-Rescue (SAR) as well as sovereignty issues. These moments usually require navigation and communication solutions that are accurate and reliable. We describe requirements presented by industrial operators on and around Svalbard. In addition, we present the MARENOR project that aims on evaluating navigation and communication systems at high latitudes including first results

Comparative research of redundant strap down inertial navigation system based on different configuration schemes

NASA Astrophysics Data System (ADS)

Yu, Yuting; Cheng, Ming

2018-05-01

Aiming at various configuration scheme and inertial measurement units of Strapdown Inertial Navigation System, selected tetrahedron skew configuration and coaxial orthogonal configuration by nine low cost IMU to build system. Calculation and simulation the performance index, reliability and fault diagnosis ability of the navigation system. Analysis shows that the reliability and reconfiguration scheme of skew configuration is superior to the orthogonal configuration scheme, while the performance index and fault diagnosis ability of the system are similar. The work in this paper provides a strong reference for the selection of engineering applications.

SEXTANT - Station Explorer for X-Ray Timing and Navigation Technology

NASA Technical Reports Server (NTRS)

Mitchell, Jason; Hasouneh, Monther; Winternitz, Luke; Valdez, Jennifer; Price, Sam; Semper, Sean; Yu, Wayne; Gaebler, John; Ray, Paul; Wood, Kent;

X-ray Pulsar Navigation Algorithms and Testbed for SEXTANT

NASA Technical Reports Server (NTRS)

Winternitz, Luke M. B.; Hasouneh, Monther A.; Mitchell, Jason W.; Valdez, Jennifer E.; Price, Samuel R.; Semper, Sean R.; Yu, Wayne H.; Ray, Paul S.; Wood, Kent S.; Arzoumanian, Zaven;

The Telecommunications and Data Acquisition Report

NASA Technical Reports Server (NTRS)

Posner, E. C. (Editor)

1991-01-01

This quarterly reports on space communications, radio navigation, radio science, and ground based radio and radar astronomy in connection with the Deep Space Network (DSN) in planning, supporting research and technology, implementation, and in operations. Also included is standards activity at JPL for space data and information systems and DSN work. Specific areas of research are: Tracking and ground based navigation; Spacecraft and ground communications; Station control and system technology; DSN Systems Implementation; and DSN Operations.

An Autonomous Gps-Denied Unmanned Vehicle Platform Based on Binocular Vision for Planetary Exploration

NASA Astrophysics Data System (ADS)

Qin, M.; Wan, X.; Shao, Y. Y.; Li, S. Y.

2018-04-01

Vision-based navigation has become an attractive solution for autonomous navigation for planetary exploration. This paper presents our work of designing and building an autonomous vision-based GPS-denied unmanned vehicle and developing an ARFM (Adaptive Robust Feature Matching) based VO (Visual Odometry) software for its autonomous navigation. The hardware system is mainly composed of binocular stereo camera, a pan-and tilt, a master machine, a tracked chassis. And the ARFM-based VO software system contains four modules: camera calibration, ARFM-based 3D reconstruction, position and attitude calculation, BA (Bundle Adjustment) modules. Two VO experiments were carried out using both outdoor images from open dataset and indoor images captured by our vehicle, the results demonstrate that our vision-based unmanned vehicle is able to achieve autonomous localization and has the potential for future planetary exploration.

A novel drill design for photoacoustic guided surgeries

NASA Astrophysics Data System (ADS)

Shubert, Joshua; Lediju Bell, Muyinatu A.

2018-02-01

Fluoroscopy is currently the standard approach for image guidance of surgical drilling procedures. In addition to the harmful radiation dose to the patient and surgeon, fluoroscopy fails to visualize critical structures such as blood vessels and nerves within the drill path. Photoacoustic imaging is a well-suited imaging method to visualize these structures and it does not require harmful ionizing radiation. However, there is currently no clinical system available to deliver light to occluded drill bit tips. To address this challenge, a prototype drill was designed, built, and tested using an internal light delivery system that allows laser energy to be transferred from a stationary laser source to the tip of a spinning drill bit. Photoacoustic images were successfully obtained with the drill bit submerged in water and with the drill tip inserted into a thoracic vertebra from a human cadaver.

Monitoring real-time navigation processes using the automated reasoning tool (ART)

NASA Technical Reports Server (NTRS)

Maletz, M. C.; Culbert, C. J.

1985-01-01

An expert system is described for monitoring and controlling navigation processes in real-time. The ART-based system features data-driven computation, accommodation of synchronous and asynchronous data, temporal modeling for individual time intervals and chains of time intervals, and hypothetical reasoning capabilities that consider alternative interpretations of the state of navigation processes. The concept is illustrated in terms of the NAVEX system for monitoring and controlling the high speed ground navigation console for Mission Control at Johnson Space Center. The reasoning processes are outlined, including techniques used to consider alternative data interpretations. Installation of the system has permitted using a single operator, instead of three, to monitor the ascent and entry phases of a Shuttle mission.

Simulation analysis of a microcomputer-based, low-cost Omega navigation system

NASA Technical Reports Server (NTRS)

Lilley, R. W.; Salter, R. J., Jr.

1976-01-01

The current status of research on a proposed micro-computer-based, low-cost Omega Navigation System (ONS) is described. The design approach emphasizes minimum hardware, maximum software, and the use of a low-cost, commercially-available microcomputer. Currently under investigation is the implementation of a low-cost navigation processor and its interface with an omega sensor to complete the hardware-based ONS. Sensor processor functions are simulated to determine how many of the sensor processor functions can be handled by innovative software. An input data base of live Omega ground and flight test data was created. The Omega sensor and microcomputer interface modules used to collect the data are functionally described. Automatic synchronization to the Omega transmission pattern is described as an example of the algorithms developed using this data base.

Taux: A System for Evaluating Sound Feedback in Navigational Tasks

ERIC Educational Resources Information Center

Lutz, Robert J.

2008-01-01

This thesis presents the design and development of an evaluation system for generating audio displays that provide feedback to persons performing navigation tasks. It first develops the need for such a system by describing existing wayfinding solutions, investigating new electronic location-based methods that have the potential of changing these…

Conceptual development of a ground-based radio-beacon navigation system for use on the surface of the moon

NASA Technical Reports Server (NTRS)

Beggins, Andrew J.; Canney, Lora M.; Dolezal, Anna Belle

1988-01-01

A spread-spectrum radio-beacon navigation system for use on the lunar surface is described. The subjects discussed are principle of operation and specifications to include power requirements, operating frequencies, weight, size, and range.

New High-Altitude GPS Navigation Results from the Magnetospheric Multiscale Spacecraft and Simulations at Lunar Distances

NASA Technical Reports Server (NTRS)

Winternitz, Luke B.; Bamford, William A.; Price, Samuel R.

2017-01-01

As reported in a companion work, in its first phase, NASA's 2015 highly elliptic Magnetospheric Multiscale (MMS) mission set a record for the highest altitude operational use of on-board GPS-based navigation, returning state estimates at 12 Earth radii. In early 2017 MMS transitioned to its second phase which doubled the apogee distance to 25 Earth radii, approaching halfway to the Moon. This paper will present results for GPS observability and navigation performance achieved in MMS Phase 2. Additionally, it will provide simulation results predicting the performance of the MMS navigation system applied to a pair of concept missions at Lunar distances. These studies will demonstrate how high-sensitivity GPS (or GNSS) receivers paired with onboard navigation software, as in MMS-Navigation system, can extend the envelope of autonomous onboard GPS navigation far from the Earth.

Bimanual, intra-operative, fluoroscopy-guided removal of nasopharyngeal migratory fish bone from carotid space.

PubMed

Al-Abduwani, J A; Bhargava, D; Sawhney, S; Al-Abri, R

2010-07-01

We report a rare and unusual case of a patient with an ingested fishbone which migrated from the oropharynx to the anterior compartment of the retropharyngeal space and then to the deep neck space in the nasopharynx (i.e. the carotid space). This report aims to describe a successful, minimally invasive method of foreign body removal which avoided both major skull base surgery and any potential life-threatening complications. A secondary aim is to highlight the role of intra-operative fluoroscopy, an under-used tool. We present a 67-year-old man with a history of fish bone impaction but no fish bone visible on plain X-ray or flexible endoscopy. The diagnosis of fish bone lodged in the retropharyngeal space was confirmed by computed tomography. Surgical exploration of the anterior retropharyngeal space failed to locate the fish bone, as it had migrated to a new, unknown location. Intra-operative fluoroscopy was vital for the removal of the fish bone, as it was impossible to see with the naked eye and had migrated from its previously imaged position. The fish bone was finally retrieved bimanually using external pressure on the submandibular region, which displaced the fish bone, and fluoroscopic guidance, which assisted its removal from the nasopharyngeal lumen. To the best of our knowledge, this is the first reported case of bimanual, intra-operative, fluoroscopy-guided, intra-luminal removal of a migratory fish bone from the deep neck space in this region of the nasopharynx.

Autonomous Robot Navigation in Human-Centered Environments Based on 3D Data Fusion

NASA Astrophysics Data System (ADS)

Steinhaus, Peter; Strand, Marcus; Dillmann, Rüdiger

2007-12-01

Efficient navigation of mobile platforms in dynamic human-centered environments is still an open research topic. We have already proposed an architecture (MEPHISTO) for a navigation system that is able to fulfill the main requirements of efficient navigation: fast and reliable sensor processing, extensive global world modeling, and distributed path planning. Our architecture uses a distributed system of sensor processing, world modeling, and path planning units. In this arcticle, we present implemented methods in the context of data fusion algorithms for 3D world modeling and real-time path planning. We also show results of the prototypic application of the system at the museum ZKM (center for art and media) in Karlsruhe.

Radio Frequency Compatibility Evaluation of S Band Navigation Signals for Future BeiDou

PubMed Central

Sun, Yanbo; Xue, Rui; Zhao, Danfeng; Wang, Dun

2017-01-01

With L band frequency allocations for satellite navigation getting more crowded, S band (2483.5–2500 MHz) is already allocated for navigation services, where Globalstar broadcasts downlink communications to user terminals. The Indian Regional Navigation Satellite System (IRNSS) is transmitting navigation signals and Galileo exploits some potential signals in S band. Also, several candidate S band signals based on binary offset carrier (BOC), binary phase shift keying (BPSK), continuous phase modulation (CPM) and minimum shift keying-BOC (MSK-BOC) are suggested for BeiDou system (BDS). In quite narrow S band, mutual interference among these systems is inevitable, thus the compatibility issue is particularly significant for S band signal design. To explore desired S band signals for BDS, the paper firstly describes a comprehensive compatibility evaluation methods based on effective carrier-to-noise ratio degradation for acquisition and code tracking. Then a real simulation is established using space constellations, modulation schemes and received power. Finally, the worst mutual interference of BDS candidate signals with Galileo, IRNSS and Globalstar is calculated and compared. The results indicate that CPM signal is easier to allow peaceful coexistence of other systems with minimal mutual interference in S band compared to other BDS candidates. PMID:28475142

Radio Frequency Compatibility Evaluation of S Band Navigation Signals for Future BeiDou.

PubMed

Sun, Yanbo; Xue, Rui; Zhao, Danfeng; Wang, Dun

2017-05-05

With L band frequency allocations for satellite navigation getting more crowded, S band (2483.5-2500 MHz) is already allocated for navigation services, where Globalstar broadcasts downlink communications to user terminals. The Indian Regional Navigation Satellite System (IRNSS) is transmitting navigation signals and Galileo exploits some potential signals in S band. Also, several candidate S band signals based on binary offset carrier (BOC), binary phase shift keying (BPSK), continuous phase modulation (CPM) and minimum shift keying-BOC (MSK-BOC) are suggested for BeiDou system (BDS). In quite narrow S band, mutual interference among these systems is inevitable, thus the compatibility issue is particularly significant for S band signal design. To explore desired S band signals for BDS, the paper firstly describes a comprehensive compatibility evaluation methods based on effective carrier-to-noise ratio degradation for acquisition and code tracking. Then a real simulation is established using space constellations, modulation schemes and received power. Finally, the worst mutual interference of BDS candidate signals with Galileo, IRNSS and Globalstar is calculated and compared. The results indicate that CPM signal is easier to allow peaceful coexistence of other systems with minimal mutual interference in S band compared to other BDS candidates.

Fistulogram/Sinogram

MedlinePlus

... Fistulogram/Sinogram A fistulogram uses a form of real-time x-ray called fluoroscopy and a barium-based ... best treatment plan for you. Fistulograms/sinograms provide real-time images that may be evaluated immediately. No radiation ...

Neuronavigation Based on Track Density Image Extracted from Deterministic High-Definition Fiber Tractography.

PubMed

Wei, Peng-Hu; Cong, Fei; Chen, Ge; Li, Ming-Chu; Yu, Xin-Guang; Bao, Yu-Hai

2017-02-01

Diffusion tensor imaging-based navigation is unable to resolve crossing fibers or to determine with accuracy the fanning, origin, and termination of fibers. It is important to improve the accuracy of localizing white matter fibers for improved surgical approaches. We propose a solution to this problem using navigation based on track density imaging extracted from high-definition fiber tractography (HDFT). A 28-year-old asymptomatic female patient with a left-lateral ventricle meningioma was enrolled in the present study. Language and visual tests, magnetic resonance imaging findings, both preoperative and postoperative HDFT, and the intraoperative navigation and surgery process are presented. Track density images were extracted from tracts derived using full q-space (514 directions) diffusion spectrum imaging (DSI) and integrated into a neuronavigation system. Navigation accuracy was verified via intraoperative records and postoperative DSI tractography, as well as a functional examination. DSI successfully represented the shape and range of the Meyer loop and arcuate fasciculus. Extracted track density images from the DSI were successfully integrated into the navigation system. The relationship between the operation channel and surrounding tracts was consistent with the postoperative findings, and the patient was functionally intact after the surgery. DSI-based TDI navigation allows for the visualization of anatomic features such as fanning and angling and helps to identify the range of a given tract. Moreover, our results show that our HDFT navigation method is a promising technique that preserves neural function. Copyright © 2016 Elsevier Inc. All rights reserved.

BDS/GPS Dual Systems Positioning Based on the Modified SR-UKF Algorithm

PubMed Central

Kong, JaeHyok; Mao, Xuchu; Li, Shaoyuan

2016-01-01

The Global Navigation Satellite System can provide all-day three-dimensional position and speed information. Currently, only using the single navigation system cannot satisfy the requirements of the system’s reliability and integrity. In order to improve the reliability and stability of the satellite navigation system, the positioning method by BDS and GPS navigation system is presented, the measurement model and the state model are described. Furthermore, the modified square-root Unscented Kalman Filter (SR-UKF) algorithm is employed in BDS and GPS conditions, and analysis of single system/multi-system positioning has been carried out, respectively. The experimental results are compared with the traditional estimation results, which show that the proposed method can perform highly-precise positioning. Especially when the number of satellites is not adequate enough, the proposed method combine BDS and GPS systems to achieve a higher positioning precision. PMID:27153068

Parametric study of sensor placement for vision-based relative navigation system of multiple spacecraft

NASA Astrophysics Data System (ADS)

Jeong, Junho; Kim, Seungkeun; Suk, Jinyoung

2017-12-01

In order to overcome the limited range of GPS-based techniques, vision-based relative navigation methods have recently emerged as alternative approaches for a high Earth orbit (HEO) or deep space missions. Therefore, various vision-based relative navigation systems use for proximity operations between two spacecraft. For the implementation of these systems, a sensor placement problem can occur on the exterior of spacecraft due to its limited space. To deal with the sensor placement, this paper proposes a novel methodology for a vision-based relative navigation based on multiple position sensitive diode (PSD) sensors and multiple infrared beacon modules. For the proposed method, an iterated parametric study is used based on the farthest point optimization (FPO) and a constrained extended Kalman filter (CEKF). Each algorithm is applied to set the location of the sensors and to estimate relative positions and attitudes according to each combination by the PSDs and beacons. After that, scores for the sensor placement are calculated with respect to parameters: the number of the PSDs, number of the beacons, and accuracy of relative estimates. Then, the best scoring candidate is determined for the sensor placement. Moreover, the results of the iterated estimation show that the accuracy improves dramatically, as the number of the PSDs increases from one to three.

Systematic methods for knowledge acquisition and expert system development

NASA Technical Reports Server (NTRS)

Belkin, Brenda L.; Stengel, Robert F.

1991-01-01

Nine cooperating rule-based systems, collectively called AUTOCREW which were designed to automate functions and decisions associated with a combat aircraft's subsystems, are discussed. The organization of tasks within each system is described; performance metrics were developed to evaluate the workload of each rule base and to assess the cooperation between the rule bases. Simulation and comparative workload results for two mission scenarios are given. The scenarios are inbound surface-to-air-missile attack on the aircraft and pilot incapacitation. The methodology used to develop the AUTOCREW knowledge bases is summarized. Issues involved in designing the navigation sensor selection expert in AUTOCREW's NAVIGATOR knowledge base are discussed in detail. The performance of seven navigation systems aiding a medium-accuracy INS was investigated using Kalman filter covariance analyses. A navigation sensor management (NSM) expert system was formulated from covariance simulation data using the analysis of variance (ANOVA) method and the ID3 algorithm. ANOVA results show that statistically different position accuracies are obtained when different navaids are used, the number of navaids aiding the INS is varied, the aircraft's trajectory is varied, and the performance history is varied. The ID3 algorithm determines the NSM expert's classification rules in the form of decision trees. The performance of these decision trees was assessed on two arbitrary trajectories, and the results demonstrate that the NSM expert adapts to new situations and provides reasonable estimates of the expected hybrid performance.

78 FR 68861 - Certain Navigation Products, Including GPS Devices, Navigation and Display Systems, Radar Systems...

Federal Register 2010, 2011, 2012, 2013, 2014

2013-11-15

... Devices, Navigation and Display Systems, Radar Systems, Navigational Aids, Mapping Systems and Related... navigation products, including GPS devices, navigation and display systems, radar systems, navigational aids..., radar systems, navigational aids, mapping systems and related software by reason of infringement of one...

Adapting Human Videofluoroscopic Swallow Study Methods to Detect and Characterize Dysphagia in Murine Disease Models

PubMed Central

Lever, Teresa E.; Braun, Sabrina M.; Brooks, Ryan T.; Harris, Rebecca A.; Littrell, Loren L.; Neff, Ryan M.; Hinkel, Cameron J.; Allen, Mitchell J.; Ulsas, Mollie A.

2015-01-01

This study adapted human videofluoroscopic swallowing study (VFSS) methods for use with murine disease models for the purpose of facilitating translational dysphagia research. Successful outcomes are dependent upon three critical components: test chambers that permit self-feeding while standing unrestrained in a confined space, recipes that mask the aversive taste/odor of commercially-available oral contrast agents, and a step-by-step test protocol that permits quantification of swallow physiology. Elimination of one or more of these components will have a detrimental impact on the study results. Moreover, the energy level capability of the fluoroscopy system will determine which swallow parameters can be investigated. Most research centers have high energy fluoroscopes designed for use with people and larger animals, which results in exceptionally poor image quality when testing mice and other small rodents. Despite this limitation, we have identified seven VFSS parameters that are consistently quantifiable in mice when using a high energy fluoroscope in combination with the new murine VFSS protocol. We recently obtained a low energy fluoroscopy system with exceptionally high imaging resolution and magnification capabilities that was designed for use with mice and other small rodents. Preliminary work using this new system, in combination with the new murine VFSS protocol, has identified 13 swallow parameters that are consistently quantifiable in mice, which is nearly double the number obtained using conventional (i.e., high energy) fluoroscopes. Identification of additional swallow parameters is expected as we optimize the capabilities of this new system. Results thus far demonstrate the utility of using a low energy fluoroscopy system to detect and quantify subtle changes in swallow physiology that may otherwise be overlooked when using high energy fluoroscopes to investigate murine disease models. PMID:25866882

Experiment in Assessing Color Separation Techniques for Identifying Small Density Variations in Tires

DOT National Transportation Integrated Search

1972-07-01

An experimental color system was tested as an adjunct to the X-ray fluoroscopy system already in use. Shades of gray were translated into various colors as a means of enhancing small defects normally observed with difficulty, and to provide for more ...

Accuracy of Cup Positioning With the Computed Tomography-Based Two-dimensional to Three-Dimensional Matched Navigation System: A Prospective, Randomized Controlled Study.

PubMed

Yamada, Kazuki; Endo, Hirosuke; Tetsunaga, Tomonori; Miyake, Takamasa; Sanki, Tomoaki; Ozaki, Toshifumi

2018-01-01

The accuracy of various navigation systems used for total hip arthroplasty has been described, but no publications reported the accuracy of cup orientation in computed tomography (CT)-based 2D-3D (two-dimensional to three-dimensional) matched navigation. In a prospective, randomized controlled study, 80 hips including 44 with developmental dysplasia of the hips were divided into a CT-based 2D-3D matched navigation group (2D-3D group) and a paired-point matched navigation group (PPM group). The accuracy of cup orientation (absolute difference between the intraoperative record and the postoperative measurement) was compared between groups. Additionally, multiple logistic regression analysis was performed to evaluate patient factors affecting the accuracy of cup orientation in each navigation. The accuracy of cup inclination was 2.5° ± 2.2° in the 2D-3D group and 4.6° ± 3.3° in the PPM group (P = .0016). The accuracy of cup anteversion was 2.3° ± 1.7° in the 2D-3D group and 4.4° ± 3.3° in the PPM group (P = .0009). In the PPM group, the presence of roof osteophytes decreased the accuracy of cup inclination (odds ratio 8.27, P = .0140) and the absolute value of pelvic tilt had a negative influence on the accuracy of cup anteversion (odds ratio 1.27, P = .0222). In the 2D-3D group, patient factors had no effect on the accuracy of cup orientation. The accuracy of cup positioning in CT-based 2D-3D matched navigation was better than in paired-point matched navigation, and was not affected by patient factors. It is a useful system for even severely deformed pelvises such as developmental dysplasia of the hips. Copyright © 2017 Elsevier Inc. All rights reserved.

Galileo: The Added Value for Integrity in Harsh Environments.

PubMed

Borio, Daniele; Gioia, Ciro

2016-01-16

A global navigation satellite system (GNSS)-based navigation is a challenging task in a signal-degraded environments where GNSS signals are distorted by multipath and attenuated by fading effects: the navigation solution may be inaccurate or unavailable. A possible approach to improve accuracy and availability is the joint use of measurements from different GNSSs and quality check algorithms; this approach is investigated here using live GPS and Galileo signals. A modified receiver autonomous integrity monitoring (RAIM) algorithm, including geometry and separability checks, is proposed to detect and exclude erroneous measurements: the multi-constellation approach provides redundant measurements, and RAIM exploits them to exclude distorted observations. The synergy between combined GPS/Galileo navigation and RAIM is analyzed using live data; the performance is compared to the accuracy and availability of a GPS-only solution. The tests performed demonstrate that the methods developed are effective techniques for GNSS-based navigation in signal-degraded environments. The joint use of the multi-constellation approach and of modified RAIM algorithms improves the performance of the navigation system in terms of both accuracy and availability.

Galileo: The Added Value for Integrity in Harsh Environments

PubMed Central

Borio, Daniele; Gioia, Ciro

2016-01-01

A global navigation satellite system (GNSS)-based navigation is a challenging task in a signal-degraded environments where GNSS signals are distorted by multipath and attenuated by fading effects: the navigation solution may be inaccurate or unavailable. A possible approach to improve accuracy and availability is the joint use of measurements from different GNSSs and quality check algorithms; this approach is investigated here using live GPS and Galileo signals. A modified receiver autonomous integrity monitoring (RAIM) algorithm, including geometry and separability checks, is proposed to detect and exclude erroneous measurements: the multi-constellation approach provides redundant measurements, and RAIM exploits them to exclude distorted observations. The synergy between combined GPS/Galileo navigation and RAIM is analyzed using live data; the performance is compared to the accuracy and availability of a GPS-only solution. The tests performed demonstrate that the methods developed are effective techniques for GNSS-based navigation in signal-degraded environments. The joint use of the multi-constellation approach and of modified RAIM algorithms improves the performance of the navigation system in terms of both accuracy and availability. PMID:26784205

Radiation exposure, and procedure and fluoroscopy times in endovascular treatment of intracranial aneurysms: a methodological comparison.

PubMed

Cheung, Nicholas K; Boutchard, Michelle; Carr, Michael W; Froelich, Jens J

2018-01-09

Limited data are available for radiation exposure, and procedure and fluoroscopy times in neuroendovascular treatment (NET) strategies. This study establishes and compares related parameters between coil embolization (COIL), balloon assisted coil embolization (BAC), stent assisted coil embolization (SAC), and flow diverting technology (FDT) in NET of intracranial aneurysms. Between 2010 and 2017, 249 consecutive intracranial aneurysms underwent NET at a single center, all performed by the same operator. Dose area products (DAP), and procedure and fluoroscopy times were recorded and compared between COIL, BAC, SAC, and FDT techniques. Differences in parameters between cohorts were analyzed for significance using the Mann-Whitney U test, unpaired t test and χ 2 test. Additional subgroup analysis was performed for emergency and elective cases. 83 aneurysms were treated with COIL (33%), 72 with BAC (29%), 61 with SAC (25%), and 33 with FDT (13%). Baseline characteristics were largely similar within these groups (P>0.05). Among COIL, BAC, and FDT cohorts, no significant difference was found for mean DAP, or procedure and fluoroscopy times (P>0.05). However, compared with all other cohorts, SAC was associated with a significantly higher DAP and longer procedure and fluoroscopy times (P<0.005). No significant difference was recorded for emergency and elective case subgroups. Compared with other NET strategies, SAC was associated with a significantly higher DAP, and longer procedure and fluoroscopy times. This study provides an initial dataset regarding radiation exposure, and procedure and fluoroscopy times for common NET, and may assist ALARA (As Low As Reasonably Achievable) principles to reduce radiation risks. © Article author(s) (or their employer(s) unless otherwise stated in the text of the article) 2018. All rights reserved. No commercial use is permitted unless otherwise expressly granted.

A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems.

PubMed

Cooper, Andrew James; Redman, Chelsea Anne; Stoneham, David Mark; Gonzalez, Luis Felipe; Etse, Victor Kwesi

2015-08-28

This paper presents an unmanned aircraft system (UAS) that uses a probabilistic model for autonomous front-on environmental sensing or photography of a target. The system is based on low-cost and readily-available sensor systems in dynamic environments and with the general intent of improving the capabilities of dynamic waypoint-based navigation systems for a low-cost UAS. The behavioural dynamics of target movement for the design of a Kalman filter and Markov model-based prediction algorithm are included. Geometrical concepts and the Haversine formula are applied to the maximum likelihood case in order to make a prediction regarding a future state of a target, thus delivering a new waypoint for autonomous navigation. The results of the application to aerial filming with low-cost UAS are presented, achieving the desired goal of maintained front-on perspective without significant constraint to the route or pace of target movement.

Improving CAR Navigation with a Vision-Based System

NASA Astrophysics Data System (ADS)

Kim, H.; Choi, K.; Lee, I.

2015-08-01

The real-time acquisition of the accurate positions is very important for the proper operations of driver assistance systems or autonomous vehicles. Since the current systems mostly depend on a GPS and map-matching technique, they show poor and unreliable performance in blockage and weak areas of GPS signals. In this study, we propose a vision oriented car navigation method based on sensor fusion with a GPS and in-vehicle sensors. We employed a single photo resection process to derive the position and attitude of the camera and thus those of the car. This image georeferencing results are combined with other sensory data under the sensor fusion framework for more accurate estimation of the positions using an extended Kalman filter. The proposed system estimated the positions with an accuracy of 15 m although GPS signals are not available at all during the entire test drive of 15 minutes. The proposed vision based system can be effectively utilized for the low-cost but high-accurate and reliable navigation systems required for intelligent or autonomous vehicles.

Improving Car Navigation with a Vision-Based System

NASA Astrophysics Data System (ADS)

Kim, H.; Choi, K.; Lee, I.

2015-08-01

The real-time acquisition of the accurate positions is very important for the proper operations of driver assistance systems or autonomous vehicles. Since the current systems mostly depend on a GPS and map-matching technique, they show poor and unreliable performance in blockage and weak areas of GPS signals. In this study, we propose a vision oriented car navigation method based on sensor fusion with a GPS and in-vehicle sensors. We employed a single photo resection process to derive the position and attitude of the camera and thus those of the car. This image georeferencing results are combined with other sensory data under the sensor fusion framework for more accurate estimation of the positions using an extended Kalman filter. The proposed system estimated the positions with an accuracy of 15 m although GPS signals are not available at all during the entire test drive of 15 minutes. The proposed vision based system can be effectively utilized for the low-cost but high-accurate and reliable navigation systems required for intelligent or autonomous vehicles.

A Dynamic Navigation Model for Unmanned Aircraft Systems and an Application to Autonomous Front-On Environmental Sensing and Photography Using Low-Cost Sensor Systems

PubMed Central

Cooper, Andrew James; Redman, Chelsea Anne; Stoneham, David Mark; Gonzalez, Luis Felipe; Etse, Victor Kwesi

2015-01-01

This paper presents an unmanned aircraft system (UAS) that uses a probabilistic model for autonomous front-on environmental sensing or photography of a target. The system is based on low-cost and readily-available sensor systems in dynamic environments and with the general intent of improving the capabilities of dynamic waypoint-based navigation systems for a low-cost UAS. The behavioural dynamics of target movement for the design of a Kalman filter and Markov model-based prediction algorithm are included. Geometrical concepts and the Haversine formula are applied to the maximum likelihood case in order to make a prediction regarding a future state of a target, thus delivering a new waypoint for autonomous navigation. The results of the application to aerial filming with low-cost UAS are presented, achieving the desired goal of maintained front-on perspective without significant constraint to the route or pace of target movement. PMID:26343680

Crew aiding and automation: A system concept for terminal area operations, and guidelines for automation design

NASA Technical Reports Server (NTRS)

Dwyer, John P.

1994-01-01

This research and development program comprised two efforts: the development of guidelines for the design of automated systems, with particular emphasis on automation design that takes advantage of contextual information, and the concept-level design of a crew aiding system, the Terminal Area Navigation Decision Aiding Mediator (TANDAM). This concept outlines a system capable of organizing navigation and communication information and assisting the crew in executing the operations required in descent and approach. In service of this endeavor, problem definition activities were conducted that identified terminal area navigation and operational familiarization exercises addressing the terminal area navigation problem. Both airborne and ground-based (ATC) elements of aircraft control were extensively researched. The TANDAM system concept was then specified, and the crew interface and associated systems described. Additionally, three descent and approach scenarios were devised in order to illustrate the principal functions of the TANDAM system concept in relation to the crew, the aircraft, and ATC. A plan for the evaluation of the TANDAM system was established. The guidelines were developed based on reviews of relevant literature, and on experience gained in the design effort.

Effects of Optical Artifacts in a Laser-Based Spacecraft Navigation Sensor

NASA Technical Reports Server (NTRS)

LeCroy, Jerry E.; Howard, Richard T.; Hallmark, Dean S.

2007-01-01

Testing of the Advanced Video Guidance Sensor (AVGS) used for proximity operations navigation on the Orbital Express ASTRO spacecraft exposed several unanticipated imaging system artifacts and aberrations that required correction to meet critical navigation performance requirements. Mitigation actions are described for a number of system error sources, including lens aberration, optical train misalignment, laser speckle, target image defects, and detector nonlinearity/noise characteristics. Sensor test requirements and protocols are described, along with a summary of test results from sensor confidence tests and system performance testing.

Effects of Optical Artifacts in a Laser-Based Spacecraft Navigation Sensor

NASA Technical Reports Server (NTRS)

LeCroy, Jerry E.; Hallmark, Dean S.; Howard, Richard T.

2007-01-01

Testing Of the Advanced Video Guidance Sensor (AVGS) used for proximity operations navigation on the Orbital Express ASTRO spacecraft exposed several unanticipated imaging system artifacts and aberrations that required correction, to meet critical navigation performance requirements. Mitigation actions are described for a number of system error sources, including lens aberration, optical train misalignment, laser speckle, target image defects, and detector nonlinearity/noise characteristics. Sensor test requirements and protocols are described, along with a summary ,of test results from sensor confidence tests and system performance testing.

Compact Intraoperative MRI: Stereotactic Accuracy and Future Directions.

PubMed

Markowitz, Daniel; Lin, Dishen; Salas, Sussan; Kohn, Nina; Schulder, Michael

2017-01-01

Intraoperative imaging must supply data that can be used for accurate stereotactic navigation. This information should be at least as accurate as that acquired from diagnostic imagers. The aim of this study was to compare the stereotactic accuracy of an updated compact intraoperative MRI (iMRI) device based on a 0.15-T magnet to standard surgical navigation on a 1.5-T diagnostic scan MRI and to navigation with an earlier model of the same system. The accuracy of each system was assessed using a water-filled phantom model of the brain. Data collected with the new system were compared to those obtained in a previous study assessing the older system. The accuracy of the new iMRI was measured against standard surgical navigation on a 1.5-T MRI using T1-weighted (W) images. The mean error with the iMRI using T1W images was lower than that based on images from the 1.5-T scan (1.24 vs. 2.43 mm). T2W images from the newer iMRI yielded a lower navigation error than those acquired with the prior model (1.28 vs. 3.15 mm). Improvements in magnet design can yield progressive increases in accuracy, validating the concept of compact, low-field iMRI. Avoiding the need for registration between image and surgical space increases navigation accuracy. © 2017 S. Karger AG, Basel.

Space-based augmentation for global navigation satellite systems.

PubMed

Grewal, Mohinder S

2012-03-01

This paper describes space-based augmentation for global navigation satellite systems (GNSS). Space-based augmentations increase the accuracy and integrity of the GNSS, thereby enhancing users' safety. The corrections for ephemeris, ionospheric delay, and clocks are calculated from reference station measurements of GNSS data in wide-area master stations and broadcast via geostationary earth orbit (GEO) satellites. This paper discusses the clock models, satellite orbit determination, ionospheric delay estimation, multipath mitigation, and GEO uplink subsystem (GUS) as used in the Wide Area Augmentation System developed by the FAA.

Global navigation satellite systems performance analysis and augmentation strategies in aviation

NASA Astrophysics Data System (ADS)

Sabatini, Roberto; Moore, Terry; Ramasamy, Subramanian

2017-11-01

In an era of significant air traffic expansion characterized by a rising congestion of the radiofrequency spectrum and a widespread introduction of Unmanned Aircraft Systems (UAS), Global Navigation Satellite Systems (GNSS) are being exposed to a variety of threats including signal interferences, adverse propagation effects and challenging platform-satellite relative dynamics. Thus, there is a need to characterize GNSS signal degradations and assess the effects of interfering sources on the performance of avionics GNSS receivers and augmentation systems used for an increasing number of mission-essential and safety-critical aviation tasks (e.g., experimental flight testing, flight inspection/certification of ground-based radio navigation aids, wide area navigation and precision approach). GNSS signal deteriorations typically occur due to antenna obscuration caused by natural and man-made obstructions present in the environment (e.g., elevated terrain and tall buildings when flying at low altitude) or by the aircraft itself during manoeuvring (e.g., aircraft wings and empennage masking the on-board GNSS antenna), ionospheric scintillation, Doppler shift, multipath, jamming and spurious satellite transmissions. Anyone of these phenomena can result in partial to total loss of tracking and possible tracking errors, depending on the severity of the effect and the receiver characteristics. After designing GNSS performance threats, the various augmentation strategies adopted in the Communication, Navigation, Surveillance/Air Traffic Management and Avionics (CNS + A) context are addressed in detail. GNSS augmentation can take many forms but all strategies share the same fundamental principle of providing supplementary information whose objective is improving the performance and/or trustworthiness of the system. Hence it is of paramount importance to consider the synergies offered by different augmentation strategies including Space Based Augmentation System (SBAS), Ground Based Augmentation System (GBAS), Aircraft Based Augmentation System (ABAS) and Receiver Autonomous Integrity Monitoring (RAIM). Furthermore, by employing multi-GNSS constellations and multi-sensor data fusion techniques, improvements in availability and continuity can be obtained. SBAS is designed to improve GNSS system integrity and accuracy for aircraft navigation and landing, while an alternative approach to GNSS augmentation is to transmit integrity and differential correction messages from ground-based augmentation systems (GBAS). In addition to existing space and ground based augmentation systems, GNSS augmentation may take the form of additional information being provided by other on-board avionics systems, such as in ABAS. As these on-board systems normally operate via separate principles than GNSS, they are not subject to the same sources of error or interference. Using suitable data link and data processing technologies on the ground, a certified ABAS capability could be a core element of a future GNSS Space-Ground-Aircraft Augmentation Network (SGAAN). Although current augmentation systems can provide significant improvement of GNSS navigation performance, a properly designed and flight-certified SGAAN could play a key role in trusted autonomous system and cyber-physical system applications such as UAS Sense-and-Avoid (SAA).

Future View: Web Navigation based on Learning User's Browsing Strategy

NASA Astrophysics Data System (ADS)

Nagino, Norikatsu; Yamada, Seiji

In this paper, we propose a Future View system that assists user's usual Web browsing. The Future View will prefetch Web pages based on user's browsing strategies and present them to a user in order to assist Web browsing. To learn user's browsing strategy, the Future View uses two types of learning classifier systems: a content-based classifier system for contents change patterns and an action-based classifier system for user's action patterns. The results of learning is applied to crawling by Web robots, and the gathered Web pages are presented to a user through a Web browser interface. We experimentally show effectiveness of navigation using the Future View.

Navigators for motion detection during real-time MRI-guided radiotherapy

NASA Astrophysics Data System (ADS)

Stam, Mette K.; Crijns, Sjoerd P. M.; Zonnenberg, Bernard A.; Barendrecht, Maurits M.; van Vulpen, Marco; Lagendijk, Jan J. W.; Raaymakers, Bas W.

2012-11-01

An MRI-linac system provides direct MRI feedback and with that the possibility of adapting radiation treatments to the actual tumour position. This paper addresses the use of fast 1D MRI, pencil-beam navigators, for this feedback. The accuracy of using navigators was determined on a moving phantom. The possibility of organ tracking and breath-hold monitoring based on navigator guidance was shown for the kidney. Navigators are accurate within 0.5 mm and the analysis has a minimal time lag smaller than 30 ms as shown for the phantom measurements. The correlation of 2D kidney images and navigators shows the possibility of complete organ tracking. Furthermore the breath-hold monitoring of the kidney is accurate within 1.5 mm, allowing gated radiotherapy based on navigator feedback. Navigators are a fast and precise method for monitoring and real-time tracking of anatomical landmarks. As such, they provide direct MRI feedback on anatomical changes for more precise radiation delivery.

Cadaveric in-situ testing of optical coherence tomography system-based skull base surgery guidance

NASA Astrophysics Data System (ADS)

Sun, Cuiru; Khan, Osaama H.; Siegler, Peter; Jivraj, Jamil; Wong, Ronnie; Yang, Victor X. D.

2015-03-01

Optical Coherence Tomography (OCT) has extensive potential for producing clinical impact in the field of neurological diseases. A neurosurgical OCT hand-held forward viewing probe in Bayonet shape has been developed. In this study, we test the feasibility of integrating this imaging probe with modern navigation technology for guidance and monitoring of skull base surgery. Cadaver heads were used to simulate relevant surgical approaches for treatment of sellar, parasellar and skull base pathology. A high-resolution 3D CT scan was performed on the cadaver head to provide baseline data for navigation. The cadaver head was mounted on existing 3- or 4-point fixation systems. Tracking markers were attached to the OCT probe and the surgeon-probe-OCT interface was calibrated. 2D OCT images were shown in real time together with the optical tracking images to the surgeon during surgery. The intraoperative video and multimodality imaging data set, consisting of real time OCT images, OCT probe location registered to neurosurgical navigation were assessed. The integration of intraoperative OCT imaging with navigation technology provides the surgeon with updated image information, which is important to deal with tissue shifts and deformations during surgery. Preliminary results demonstrate that the clinical neurosurgical navigation system can provide the hand held OCT probe gross anatomical localization. The near-histological imaging resolution of intraoperative OCT can improve the identification of microstructural/morphology differences. The OCT imaging data, combined with the neurosurgical navigation tracking has the potential to improve image interpretation, precision and accuracy of the therapeutic procedure.

Fluoroscopy

MedlinePlus

... through a clinical facility’s quality assurance program, are fundamental to radiation protection. More information about the principles ... as part of quality assurance program emphasizing radiation management. Health care providers who use fluoroscopy should be ...

Space Shuttle Navigation in the GPS Era

NASA Technical Reports Server (NTRS)

Goodman, John L.

2001-01-01

The Space Shuttle navigation architecture was originally designed in the 1970s. A variety of on-board and ground based navigation sensors and computers are used during the ascent, orbit coast, rendezvous, (including proximity operations and docking) and entry flight phases. With the advent of GPS navigation and tightly coupled GPS/INS Units employing strapdown sensors, opportunities to improve and streamline the Shuttle navigation process are being pursued. These improvements can potentially result in increased safety, reliability, and cost savings in maintenance through the replacement of older technologies and elimination of ground support systems (such as Tactical Air Control and Navigation (TACAN), Microwave Landing System (MLS) and ground radar). Selection and missionization of "off the shelf" GPS and GPS/INS units pose a unique challenge since the units in question were not originally designed for the Space Shuttle application. Various options for integrating GPS and GPS/INS units with the existing orbiter avionics system were considered in light of budget constraints, software quality concerns, and schedule limitations. An overview of Shuttle navigation methodology from 1981 to the present is given, along with how GPS and GPS/INS technology will change, or not change, the way Space Shuttle navigation is performed in the 21 5 century.

The First Result of Relative Positioning and Velocity Estimation Based on CAPS

PubMed Central

Zhao, Jiaojiao; Ge, Jian; Wang, Liang; Wang, Ningbo; Zhou, Kai; Yuan, Hong

2018-01-01

The Chinese Area Positioning System (CAPS) is a new positioning system developed by the Chinese Academy of Sciences based on the communication satellites in geosynchronous orbit. The CAPS has been regarded as a pilot system to test the new technology for the design, construction and update of the BeiDou Navigation Satellite System (BDS). The system structure of CAPS, including the space, ground control station and user segments, is almost like the traditional Global Navigation Satellite Systems (GNSSs), but with the clock on the ground, the navigation signal in C waveband, and different principles of operation. The major difference is that the CAPS navigation signal is first generated at the ground control station, before being transmitted to the satellite in orbit and finally forwarded by the communication satellite transponder to the user. This design moves the clock from the satellite in orbit to the ground. The clock error can therefore be easily controlled and mitigated to improve the positioning accuracy. This paper will present the performance of CAPS-based relative positioning and velocity estimation as assessed in Beijing, China. The numerical results show that, (1) the accuracies of relative positioning, using only code measurements, are 1.25 and 1.8 m in the horizontal and vertical components, respectively; (2) meanwhile, they are about 2.83 and 3.15 cm in static mode and 6.31 and 10.78 cm in kinematic mode, respectively, when using the carrier-phase measurements with ambiguities fixed; and (3) the accuracy of the velocity estimation is about 0.04 and 0.11 m/s in static and kinematic modes, respectively. These results indicate the potential application of CAPS for high-precision positioning and velocity estimation and the availability of a new navigation mode based on communication satellites. PMID:29757204

Can low-cost VOR and Omega receivers suffice for RNAV - A new computer-based navigation technique

NASA Technical Reports Server (NTRS)

Hollaar, L. A.

1978-01-01

It is shown that although RNAV is particularly valuable for the personal transportation segment of general aviation, it has not gained complete acceptance. This is due, in part, to its high cost and the necessary special-handling air traffic control. VOR/DME RNAV calculations are ideally suited for analog computers, and the use of microprocessor technology has been suggested for reducing RNAV costs. Three navigation systems, VOR, Omega, and DR, are compared for common navigational difficulties, such as station geometry, siting errors, ground disturbances, and terminal area coverage. The Kalman filtering technique is described with reference to the disadvantages when using a system including standard microprocessors. An integrated navigation system, using input data from various low-cost sensor systems, is presented and current simulation studies are noted.

Robot navigation research using the HERMIES mobile robot

DOE Office of Scientific and Technical Information (OSTI.GOV)

Barnett, D.L.

1989-01-01

In recent years robot navigation has attracted much attention from researchers around the world. Not only are theoretical studies being simulated on sophisticated computers, but many mobile robots are now used as test vehicles for these theoretical studies. Various algorithms have been perfected for navigation in a known static environment; but navigation in an unknown and dynamic environment poses a much more challenging problem for researchers. Many different methodologies have been developed for autonomous robot navigation, but each methodology is usually restricted to a particular type of environment. One important research focus of the Center for Engineering Systems Advanced researchmore » (CESAR) at Oak Ridge National Laboratory, is autonomous navigation in unknown and dynamic environments using the series of HERMIES mobile robots. The research uses an expert system for high-level planning interfaced with C-coded routines for implementing the plans, and for quick processing of data requested by the expert system. In using this approach, the navigation is not restricted to one methodology since the expert system can activate a rule module for the methodology best suited for the current situation. Rule modules can be added the rule base as they are developed and tested. Modules are being developed or enhanced for navigating from a map, searching for a target, exploring, artificial potential-field navigation, navigation using edge-detection, etc. This paper will report on the various rule modules and methods of navigation in use, or under development at CESAR, using the HERMIES-IIB robot as a testbed. 13 refs., 5 figs., 1 tab.« less

Geometrical-Based Navigation System Performance Assessment in the Space Service Volume Using a Multiglobal Navigation Satellite System Methodology

NASA Technical Reports Server (NTRS)

Welch, Bryan W.

2016-01-01

NASA is participating in the International Committee on Global Navigation Satellite Systems (GNSS) (ICG)'s efforts towards demonstrating the benefits to the space user in the Space Service Volume (SSV) when a multi-GNSS solution space approach is utilized. The ICG Working Group: Enhancement of GNSS Performance, New Services and Capabilities has started a three phase analysis initiative as an outcome of recommendations at the ICG-10 meeting, in preparation for the ICG-11 meeting. The first phase of that increasing complexity and fidelity analysis initiative is based on a pure geometrically-derived access technique. The first phase of analysis has been completed, and the results are documented in this paper.

Light Detection and Ranging-Based Terrain Navigation: A Concept Exploration

NASA Technical Reports Server (NTRS)

Campbell, Jacob; UijtdeHaag, Maarten; vanGraas, Frank; Young, Steve

2003-01-01

This paper discusses the use of Airborne Light Detection And Ranging (LiDAR) equipment for terrain navigation. Airborne LiDAR is a relatively new technology used primarily by the geo-spatial mapping community to produce highly accurate and dense terrain elevation maps. In this paper, the term LiDAR refers to a scanning laser ranger rigidly mounted to an aircraft, as opposed to an integrated sensor system that consists of a scanning laser ranger integrated with Global Positioning System (GPS) and Inertial Measurement Unit (IMU) data. Data from the laser range scanner and IMU will be integrated with a terrain database to estimate the aircraft position and data from the laser range scanner will be integrated with GPS to estimate the aircraft attitude. LiDAR data was collected using NASA Dryden's DC-8 flying laboratory in Reno, NV and was used to test the proposed terrain navigation system. The results of LiDAR-based terrain navigation shown in this paper indicate that airborne LiDAR is a viable technology enabler for fully autonomous aircraft navigation. The navigation performance is highly dependent on the quality of the terrain databases used for positioning and therefore high-resolution (2 m post-spacing) data was used as the terrain reference.

Navigation systems. [for interplanetary flight

NASA Technical Reports Server (NTRS)

Jordan, J. F.

1985-01-01

The elements of the measurement and communications network comprising the global deep space navigation system (DSN) for NASA missions are described. Among the measurement systems discussed are: VLBI, two-way Doppler and range measurements, and optical measurements carried out on board the spacecraft. Processing of navigation measurement is carried out using two modules: an N-body numerical integration of the trajectory (and state transition partial derivatives) based on pre-guessed initial conditions; and partial derivatives of simulated observables corresponding to each actual observation. Calculations of velocity correction parameters is performed by precise modelling of all physical phenomena influencing the observational measurements, including: planetary motions; tracking station locations, gravity field structure, and transmission media effects. Some of the contributions to earth-relative orbit estimate errors for the Doppler/range system on board Voyager are discussed in detail. A line drawing of the DSN navigation system is provided.

Open-source platforms for navigated image-guided interventions.

PubMed

Ungi, Tamas; Lasso, Andras; Fichtinger, Gabor

2016-10-01

Navigation technology is changing the clinical standards in medical interventions by making existing procedures more accurate, and new procedures possible. Navigation is based on preoperative or intraoperative imaging combined with 3-dimensional position tracking of interventional tools registered to the images. Research of navigation technology in medical interventions requires significant engineering efforts. The difficulty of developing such complex systems has been limiting the clinical translation of new methods and ideas. A key to the future success of this field is to provide researchers with platforms that allow rapid implementation of applications with minimal resources spent on reimplementing existing system features. A number of platforms have been already developed that can share data in real time through standard interfaces. Complete navigation systems can be built using these platforms using a layered software architecture. In this paper, we review the most popular platforms, and show an effective way to take advantage of them through an example surgical navigation application. Copyright © 2016 Elsevier B.V. All rights reserved.

Small Body Landing Accuracy Using In-Situ Navigation

NASA Technical Reports Server (NTRS)

Bhaskaran, Shyam; Nandi, Sumita; Broschart, Stephen; Wallace, Mark; Olson, Corwin; Cangahuala, L. Alberto

2011-01-01

Spacecraft landings on small bodies (asteroids and comets) can require target accuracies too stringent to be met using ground-based navigation alone, especially if specific landing site requirements must be met for safety or to meet science goals. In-situ optical observations coupled with onboard navigation processing can meet the tighter accuracy requirements to enable such missions. Recent developments in deep space navigation capability include a self-contained autonomous navigation system (used in flight on three missions) and a landmark tracking system (used experimentally on the Japanese Hayabusa mission). The merging of these two technologies forms a methodology to perform autonomous onboard navigation around small bodies. This paper presents an overview of these systems, as well as the results from Monte Carlo studies to quantify the achievable landing accuracies by using these methods. Sensitivity of the results to variations in spacecraft maneuver execution error, attitude control accuracy and unmodeled forces are examined. Cases for two bodies, a small asteroid and on a mid-size comet, are presented.

Ego-motion based on EM for bionic navigation

NASA Astrophysics Data System (ADS)

Yue, Xiaofeng; Wang, L. J.; Liu, J. G.

2015-12-01

Researches have proved that flying insects such as bees can achieve efficient and robust flight control, and biologists have explored some biomimetic principles regarding how they control flight. Based on those basic studies and principles acquired from the flying insects, this paper proposes a different solution of recovering ego-motion for low level navigation. Firstly, a new type of entropy flow is provided to calculate the motion parameters. Secondly, EKF, which has been used for navigation for some years to correct accumulated error, and estimation-Maximization, which is always used to estimate parameters, are put together to determine the ego-motion estimation of aerial vehicles. Numerical simulation on MATLAB has proved that this navigation system provides more accurate position and smaller mean absolute error than pure optical flow navigation. This paper has done pioneering work in bionic mechanism to space navigation.

The real-world navigator

NASA Technical Reports Server (NTRS)

Balabanovic, Marko; Becker, Craig; Morse, Sarah K.; Nourbakhsh, Illah R.

1994-01-01

The success of every mobile robot application hinges on the ability to navigate robustly in the real world. The problem of robust navigation is separable from the challenges faced by any particular robot application. We offer the Real-World Navigator as a solution architecture that includes a path planner, a map-based localizer, and a motion control loop that combines reactive avoidance modules with deliberate goal-based motion. Our architecture achieves a high degree of reliability by maintaining and reasoning about an explicit description of positional uncertainty. We provide two implementations of real-world robot systems that incorporate the Real-World Navigator. The Vagabond Project culminated in a robot that successfully navigated a portion of the Stanford University campus. The Scimmer project developed successful entries for the AIAA 1993 Robotics Competition, placing first in one of the two contests entered.

Observability-Based Guidance and Sensor Placement

NASA Astrophysics Data System (ADS)

Hinson, Brian T.

Control system performance is highly dependent on the quality of sensor information available. In a growing number of applications, however, the control task must be accomplished with limited sensing capabilities. This thesis addresses these types of problems from a control-theoretic point-of-view, leveraging system nonlinearities to improve sensing performance. Using measures of observability as an information quality metric, guidance trajectories and sensor distributions are designed to improve the quality of sensor information. An observability-based sensor placement algorithm is developed to compute optimal sensor configurations for a general nonlinear system. The algorithm utilizes a simulation of the nonlinear system as the source of input data, and convex optimization provides a scalable solution method. The sensor placement algorithm is applied to a study of gyroscopic sensing in insect wings. The sensor placement algorithm reveals information-rich areas on flexible insect wings, and a comparison to biological data suggests that insect wings are capable of acting as gyroscopic sensors. An observability-based guidance framework is developed for robotic navigation with limited inertial sensing. Guidance trajectories and algorithms are developed for range-only and bearing-only navigation that improve navigation accuracy. Simulations and experiments with an underwater vehicle demonstrate that the observability measure allows tuning of the navigation uncertainty.

Squeezeposenet: Image Based Pose Regression with Small Convolutional Neural Networks for Real Time Uas Navigation

NASA Astrophysics Data System (ADS)

Müller, M. S.; Urban, S.; Jutzi, B.

2017-08-01

The number of unmanned aerial vehicles (UAVs) is increasing since low-cost airborne systems are available for a wide range of users. The outdoor navigation of such vehicles is mostly based on global navigation satellite system (GNSS) methods to gain the vehicles trajectory. The drawback of satellite-based navigation are failures caused by occlusions and multi-path interferences. Beside this, local image-based solutions like Simultaneous Localization and Mapping (SLAM) and Visual Odometry (VO) can e.g. be used to support the GNSS solution by closing trajectory gaps but are computationally expensive. However, if the trajectory estimation is interrupted or not available a re-localization is mandatory. In this paper we will provide a novel method for a GNSS-free and fast image-based pose regression in a known area by utilizing a small convolutional neural network (CNN). With on-board processing in mind, we employ a lightweight CNN called SqueezeNet and use transfer learning to adapt the network to pose regression. Our experiments show promising results for GNSS-free and fast localization.

Image-based RSA: Roentgen stereophotogrammetric analysis based on 2D-3D image registration.

PubMed

de Bruin, P W; Kaptein, B L; Stoel, B C; Reiber, J H C; Rozing, P M; Valstar, E R

2008-01-01

Image-based Roentgen stereophotogrammetric analysis (IBRSA) integrates 2D-3D image registration and conventional RSA. Instead of radiopaque RSA bone markers, IBRSA uses 3D CT data, from which digitally reconstructed radiographs (DRRs) are generated. Using 2D-3D image registration, the 3D pose of the CT is iteratively adjusted such that the generated DRRs resemble the 2D RSA images as closely as possible, according to an image matching metric. Effectively, by registering all 2D follow-up moments to the same 3D CT, the CT volume functions as common ground. In two experiments, using RSA and using a micromanipulator as gold standard, IBRSA has been validated on cadaveric and sawbone scapula radiographs, and good matching results have been achieved. The accuracy was: |mu |< 0.083 mm for translations and |mu| < 0.023 degrees for rotations. The precision sigma in x-, y-, and z-direction was 0.090, 0.077, and 0.220 mm for translations and 0.155 degrees , 0.243 degrees , and 0.074 degrees for rotations. Our results show that the accuracy and precision of in vitro IBRSA, performed under ideal laboratory conditions, are lower than in vitro standard RSA but higher than in vivo standard RSA. Because IBRSA does not require radiopaque markers, it adds functionality to the RSA method by opening new directions and possibilities for research, such as dynamic analyses using fluoroscopy on subjects without markers and computer navigation applications.

[First clinical experience with extended planning and navigation in an interventional MRI unit].

PubMed

Moche, M; Schmitgen, A; Schneider, J P; Bublat, M; Schulz, T; Voerkel, C; Trantakis, C; Bennek, J; Kahn, T; Busse, H

2004-07-01

To present an advanced concept for patient-based navigation and to report on our first clinical experience with interventions in the cranium, of soft-tissue structures (breast, liver) and in the musculoskeletal system. A PC-based navigation system was integrated into an existing interventional MRI environment. Intraoperatively acquired 3D data were used for interventional planning. The information content of these reference data was increased by integration of additional image modalities (e. g., fMRI, CT) and by color display of areas with early contrast media enhancement. Within 18 months, the system was used in 123 patients undergoing interventions in different anatomic regions (brain: 64, paranasal sinus: 9, breast: 20, liver: 17, bone: 9, muscle: 4). The mean duration of 64 brain interventions was compared with that of 36 procedures using the scanner's standard navigation. In contrast with the continuous scanning mode of the MR system (0.25 fps), the higher quality as well as the real time display (4 fps) of the MR images reconstructed from the 3D reference data allowed adequate hand-eye coordination. With our system, patient movement and tissue shifts could be immediately detected intraoperatively, and, in contrast to the standard procedure, navigation safely resumed after updating the reference data. The navigation system was characterized by good stability, efficient system integration and easy usability. Despite additional working steps still to be optimized, the duration of the image-guided brain tumor resections was not significantly longer. The presented system combines the advantage of intraoperative MRI with established visualization, planning, and real time capabilities of neuronavigation and can be efficiently applied in a broad range of non-neurosurgical interventions.

3D Reconfigurable MPSoC for Unmanned Spacecraft Navigation

NASA Astrophysics Data System (ADS)

Dekoulis, George

2016-07-01

This paper describes the design of a new lightweight spacecraft navigation system for unmanned space missions. The system addresses the demands for more efficient autonomous navigation in the near-Earth environment or deep space. The proposed instrumentation is directly suitable for unmanned systems operation and testing of new airborne prototypes for remote sensing applications. The system features a new sensor technology and significant improvements over existing solutions. Fluxgate type sensors have been traditionally used in unmanned defense systems such as target drones, guided missiles, rockets and satellites, however, the guidance sensors' configurations exhibit lower specifications than the presented solution. The current implementation is based on a recently developed material in a reengineered optimum sensor configuration for unprecedented low-power consumption. The new sensor's performance characteristics qualify it for spacecraft navigation applications. A major advantage of the system is the efficiency in redundancy reduction achieved in terms of both hardware and software requirements.

Navigation system for a mobile robot with a visual sensor using a fish-eye lens

NASA Astrophysics Data System (ADS)

Kurata, Junichi; Grattan, Kenneth T. V.; Uchiyama, Hironobu

1998-02-01

Various position sensing and navigation systems have been proposed for the autonomous control of mobile robots. Some of these systems have been installed with an omnidirectional visual sensor system that proved very useful in obtaining information on the environment around the mobile robot for position reckoning. In this article, this type of navigation system is discussed. The sensor is composed of one TV camera with a fish-eye lens, using a reference target on a ceiling and hybrid image processing circuits. The position of the robot, with respect to the floor, is calculated by integrating the information obtained from a visual sensor and a gyroscope mounted in the mobile robot, and the use of a simple algorithm based on PTP control for guidance is discussed. An experimental trial showed that the proposed system was both valid and useful for the navigation of an indoor vehicle.

Accuracy Analysis of Precise Point Positioning of Compass Navigation System Applied to Crustal Motion Monitoring

NASA Astrophysics Data System (ADS)

Wang, Yuebing

2017-04-01

Based on the observation data of Compass/GPSobserved at five stations, time span from July 1, 2014 to June 30, 2016. UsingPPP positioning model of the PANDA software developed by Wuhan University,Analyzedthe positioning accuracy of single system and Compass/GPS integrated resolving, and discussed the capability of Compass navigation system in crustal motion monitoring. The results showed that the positioning accuracy in the east-west directionof the Compass navigation system is lower than the north-south direction (the positioning accuracy de 3 times RMS), in general, the positioning accuracyin the horizontal direction is about 1 2cm and the vertical direction is about 5 6cm. The GPS positioning accuracy in the horizontal direction is better than 1cm and the vertical direction is about 1 2cm. The accuracy of Compass/GPS integrated resolving is quite to GPS. It is worth mentioning that although Compass navigation system precision point positioning accuracy is lower than GPS, two sets of velocity fields obtained by using the Nikolaidis (2002) model to analyze the Compass and GPS time series results respectively, the results showed that the maximum difference of the two sets of velocity field in horizontal directions is 1.8mm/a. The Compass navigation system can now be used to monitor the crustal movement of the large deformation area, based on the velocity field in horizontal direction.

Electroanatomic Mapping-Guided Catheter Ablation of Supraventricular Tachycardia in Children with Ebstein's Anomaly.

PubMed

Ergul, Yakup; Koca, Serhat; Akdeniz, Celal; Tuzcu, Volkan

2018-06-07

In Ebstein's anomaly (EA), tachycardia substrates are complex, and accessory pathway (AP) ablations are often challenging. This study demonstrates the utility of the EnSite Velocity system (St. Jude Medical, St Paul, MN) in the catheter ablation of supraventricular tachycardia in children with EA. Twenty patients [Female/Male = 8/12, median age 11.5 years (2.6-18)] with EA who underwent catheter ablation guided by the EnSite Velocity system between December 2011 and December 2016 were retrospectively evaluated. Five patients had severe EA, and two of them were at Fontan palliation pathway. The most common indications for ablations were palpitations/syncope and treatment-resistant arrhythmias. Thirty-one tachycardia substrate foci (21 manifest AP, 2 concealed AP, 4 Mahaim AP, 3 focal atrial tachycardias, and 1 typical atrioventricular nodal reentrant tachycardia) were detected in 20 patients. There were multiple tachycardia substrates in 11 patients (55%). The patient-based acute procedure success rate was 19/20 (95%), and the tachycardia-based success rate was 30/31 (97%). The mean procedure time was 170 ± 43 min (90-265). Fluoroscopy was not used in 15 (75%) patients. The mean fluoroscopy time in the remaining five patients was 3.6 ± 2.9 min (0.7-7.8). During a mean follow-up of 35.1 ± 20.3 months (6-60), tachycardia recurred in four patients (4/19, 21%). No complications were seen. Catheter ablation of arrhythmias can be performed effectively and safely in pediatric EA patients by using a limited fluoroscopic approach with the help of electroanatomical mapping systems. However, the rate of tachycardia recurrence at follow-up remains high.

High Speed Lunar Navigation for Crewed and Remotely Piloted Vehicles

NASA Technical Reports Server (NTRS)

Pedersen, L.; Allan, M.; To, V.; Utz, H.; Wojcikiewicz, W.; Chautems, C.

2010-01-01

Increased navigation speed is desirable for lunar rovers, whether autonomous, crewed or remotely operated, but is hampered by the low gravity, high contrast lighting and rough terrain. We describe lidar based navigation system deployed on NASA's K10 autonomous rover and to increase the terrain hazard situational awareness of the Lunar Electric Rover crew.

Online Learners' Navigational Patterns Based on Data Mining in Terms of Learning Achievement

ERIC Educational Resources Information Center

Keskin, Sinan; Sahin, Muhittin; Ozgur, Adem; Yurdugul, Halil

2016-01-01

The aim of this study is to determine navigational patterns of university students in a learning management system (LMS). It also investigates whether online learners' navigational behaviors differ in terms of their academic achievement (pass, fail). The data for the study comes from 65 third grade students enrolled in online Computer Network and…

A meta-analysis of manual versus remote magnetic navigation for ventricular tachycardia ablation.

PubMed

Turagam, Mohit K; Atkins, Donita; Tung, Roderick; Mansour, Moussa; Ruskin, Jeremy; Cheng, Jie; Di Biase, Luigi; Natale, Andrea; Lakkireddy, Dhanunjaya

2017-09-01

There are limited studies on the safety and efficacy of remote magnetic navigation (RMN) versus manual navigation (MAN) in ventricular tachycardia (VT) ablation. A comprehensive literature search was performed using the keywords VT ablation, stereotaxis, RMN and MAN in Pubmed, Ebsco, Web of Science, Cochrane, and Google scholar databases. The analysis included seven studies (one randomized, three prospective observational, and three retrospective) including 779 patients [both structural heart disease (SHD) and idiopathic VT] comparing RMN (N = 433) and MAN (N = 339) in VT ablation. The primary end point of long-term VT recurrence was significantly lower with RMN (OR 0.61, 95% CI 0.44-0.85, p = 0.003) compared with MAN. Other end points of acute procedural success (OR 2.13, 95% CI 1.40-3.23, p = 0.0004) was significantly higher with RMN compared with MAN. Fluoroscopy [mean difference -10.42, 95% CI -12.7 to -8.1, p < 0.0001], procedural time [mean difference -9.79, 95% CI -19.27 to -0.3, p = 0.04] and complications (OR 0.35, 95% CI 0.17-0.74, p = 0.0006) were also significantly lower in RMN when compared with MAN. In a subgroup analysis SHD, there was no significant difference in VT recurrence or acute procedural success with RMN vs. MAN. In idiopathic VT, RMN significantly increased acute procedural success with no difference in VT recurrence. The results demonstrate that RMN is safe and effective when compared with MAN in patients with both SHD and idiopathic VT undergoing catheter ablation. Further prospective studies are needed to further verify the safety and efficacy of RMN.

Reduction of radiation exposure while maintaining high-quality fluoroscopic images during interventional cardiology using novel x-ray tube technology with extra beam filtering.

PubMed

den Boer, A; de Feyter, P J; Hummel, W A; Keane, D; Roelandt, J R

1994-06-01

Radiographic technology plays an integral role in interventional cardiology. The number of interventions continues to increase, and the associated radiation exposure to patients and personnel is of major concern. This study was undertaken to determine whether a newly developed x-ray tube deploying grid-switched pulsed fluoroscopy and extra beam filtering can achieve a reduction in radiation exposure while maintaining fluoroscopic images of high quality. Three fluoroscopic techniques were compared: continuous fluoroscopy, pulsed fluoroscopy, and a newly developed high-output pulsed fluoroscopy with extra filtering. To ascertain differences in the quality of images and to determine differences in patient entrance and investigator radiation exposure, the radiated volume curve was measured to determine the required high voltage levels (kVpeak) for different object sizes for each fluoroscopic mode. The fluoroscopic data of 124 patient procedures were combined. The data were analyzed for radiographic projections, image intensifier field size, and x-ray tube kilovoltage levels (kVpeak). On the basis of this analysis, a reference procedure was constructed. The reference procedure was tested on a phantom or dummy patient by all three fluoroscopic modes. The phantom was so designed that the kilovoltage requirements for each projection were comparable to those needed for the average patient. Radiation exposure of the operator and patient was measured during each mode. The patient entrance dose was measured in air, and the operator dose was measured by 18 dosimeters on a dummy operator. Pulsed compared with continuous fluoroscopy could be performed with improved image quality at lower kilovoltages. The patient entrance dose was reduced by 21% and the operator dose by 54%. High-output pulsed fluoroscopy with extra beam filtering compared with continuous fluoroscopy improved the image quality, lowered the kilovoltage requirements, and reduced the patient entrance dose by 55% and the operator dose by 69%. High-output pulsed fluoroscopy with a grid-switched tube and extra filtering improves the image quality and significantly reduces both the operator dose and patient dose.

Fluoroscopy Learning Curve in Hip Arthroscopy-A Single Surgeon's Experience.

PubMed

Smith, Kevin M; Duplantier, Neil L; Crump, Kimbelyn H; Delgado, Domenica A; Sullivan, Stephanie L; McCulloch, Patrick C; Harris, Joshua D

2017-10-01

To determine if (1) absorbed radiation dose and (2) fluoroscopy time decreased with experience over the first 100 cases of a single surgeon's hip arthroscopy practice. Subjects who underwent hip arthroscopy for symptomatic femoroacetabular impingement and labral injury were eligible for analysis. Inclusion criteria included the first 100 subjects who underwent hip arthroscopy by a single surgeon (December 2013 to December 2014). Subject demographics, procedure details, fluoroscopy absorbed dose (milligray [mGy]), and time were recorded. Subjects were categorized by date of surgery to one of 4 possible groups (25 per group). One-way analysis of variance was used to determine if a significant difference in dose (mGy) or time was present between groups. Simple linear regression analysis was performed to determine the relation between case number and both radiation dose and fluoroscopy time. Subjects underwent labral repair (n = 93), cam osteoplasty (n = 90), and pincer acetabuloplasty (n = 65). There was a significant (P < .001 for both) linear regression between case number and both radiation dose and fluoroscopy time. A significant difference in mGy was observed between groups, group 1 the highest and group 4 the lowest amounts of radiation (P = .003). Comparing individual groups, group 4 was found to have a significantly lower amount of radiation than group 1 (P = .002), though it was not significantly lower than that of group 2 (P = .09) or group 3 (P = .08). A significant difference in fluoroscopy time was observed between groups, group 1 the highest and group 4 the lowest times (P = .05). Comparing individual groups, group 4 was found to have a significantly lower fluoroscopy time than group 1 (P = .039). Correction for weight, height, and body mass index all revealed the same findings: significant (P < .05) differences in both dose and time across groups. The absorbed dose of radiation and fluoroscopy time decreased significantly over the first 100 cases of a single surgeon's hip arthroscopy practice learning curve. Level IV, therapeutic, retrospective, noncomparative case series. Copyright © 2017 Arthroscopy Association of North America. Published by Elsevier Inc. All rights reserved.

A simple ergonomic measure reduces fluoroscopy time during ERCP: A multivariate analysis.

PubMed

Jowhari, Fahd; Hopman, Wilma M; Hookey, Lawrence

2017-03-01

Background and study aims  Endoscopic retrograde cholangiopancreatgraphy (ERCP) carries a radiation risk to patients undergoing the procedure and the team performing it. Fluoroscopy time (FT) has been shown to have a linear relationship with radiation exposure during ERCP. Recent modifications to our ERCP suite design were felt to impact fluoroscopy time and ergonomics. This multivariate analysis was therefore undertaken to investigate these effects, and to identify and validate various clinical, procedural and ergonomic factors influencing the total fluoroscopy time during ERCP. This would better assist clinicians with predicting prolonged fluoroscopic durations and to undertake relevant precautions accordingly. Patients and methods  A retrospective analysis of 299 ERCPs performed by 4 endoscopists over an 18-month period, at a single tertiary care center was conducted. All inpatients/outpatients (121 males, 178 females) undergoing ERCP for any clinical indication from January 2012 to June 2013 in the chosen ERCP suite were included in the study. Various predetermined clinical, procedural and ergonomic factors were obtained via chart review. Univariate analyses identified factors to be included in the multivariate regression model with FT as the dependent variable. Results  Bringing the endoscopy and fluoroscopy screens next to each other was associated with a significantly lesser FT than when the screens were separated further (-1.4 min, P  = 0.026). Other significant factors associated with a prolonged FT included having a prior ERCP (+ 1.4 min, P  = 0.031), and more difficult procedures (+ 4.2 min for each level of difficulty, P  < 0.001). ERCPs performed by high-volume endoscopists used lesser FT vs. low-volume endoscopists (-1.82, P = 0.015). Conclusions  Our study has identified and validated various factors that affect the total fluoroscopy time during ERCP. This is the first study to show that decreasing the distance between the endoscopy and fluoroscopy screens in the ERCP suite significantly reduces the total fluoroscopy time, and therefore radiation exposure to patients and staff involved in the procedure.

Study on index system of GPS interference effect evaluation

NASA Astrophysics Data System (ADS)

Zhang, Kun; Zeng, Fangling; Zhao, Yuan; Zeng, Ruiqi

2018-05-01

Satellite navigation interference effect evaluation is the key technology to break through the research of Navigation countermeasure. To evaluate accurately the interference degree and Anti-jamming ability of GPS receiver, this text based on the existing research results of Navigation interference effect evaluation, build the index system of GPS receiver effectiveness evaluation from four levels of signal acquisition, tracking, demodulation and positioning/timing and establish the model for each index. These indexes can accurately and quantitatively describe the interference effect at all levels.

Performance Analysis on Carrier Phase-Based Tightly-Coupled GPS/BDS/INS Integration in GNSS Degraded and Denied Environments

PubMed Central

Han, Houzeng; Wang, Jian; Wang, Jinling; Tan, Xinglong

2015-01-01

The integration of Global Navigation Satellite Systems (GNSS) carrier phases with Inertial Navigation System (INS) measurements is essential to provide accurate and continuous position, velocity and attitude information, however it is necessary to fix ambiguities rapidly and reliably to obtain high accuracy navigation solutions. In this paper, we present the notion of combining the Global Positioning System (GPS), the BeiDou Navigation Satellite System (BDS) and low-cost micro-electro-mechanical sensors (MEMS) inertial systems for reliable navigation. An adaptive multipath factor-based tightly-coupled (TC) GPS/BDS/INS integration algorithm is presented and the overall performance of the integrated system is illustrated. A twenty seven states TC GPS/BDS/INS model is adopted with an extended Kalman filter (EKF), which is carried out by directly fusing ambiguity fixed double-difference (DD) carrier phase measurements with the INS predicted pseudoranges to estimate the error states. The INS-aided integer ambiguity resolution (AR) strategy is developed by using a dynamic model, a two-step estimation procedure is applied with adaptively estimated covariance matrix to further improve the AR performance. A field vehicular test was carried out to demonstrate the positioning performance of the combined system. The results show the TC GPS/BDS/INS system significantly improves the single-epoch AR reliability as compared to that of GPS/BDS-only or single satellite navigation system integrated strategy, especially for high cut-off elevations. The AR performance is also significantly improved for the combined system with adaptive covariance matrix in the presence of low elevation multipath related to the GNSS-only case. A total of fifteen simulated outage tests also show that the time to relock of the GPS/BDS signals is shortened, which improves the system availability. The results also indicate that TC integration system achieves a few centimeters accuracy in positioning based on the comparison analysis and covariance analysis, even in harsh environments (e.g., in urban canyons), thus we can see the advantage of positioning at high cut-off elevations that the combined GPS/BDS brings. PMID:25875191

Performance analysis on carrier phase-based tightly-coupled GPS/BDS/INS integration in GNSS degraded and denied environments.

PubMed

Han, Houzeng; Wang, Jian; Wang, Jinling; Tan, Xinglong

2015-04-14

The integration of Global Navigation Satellite Systems (GNSS) carrier phases with Inertial Navigation System (INS) measurements is essential to provide accurate and continuous position, velocity and attitude information, however it is necessary to fix ambiguities rapidly and reliably to obtain high accuracy navigation solutions. In this paper, we present the notion of combining the Global Positioning System (GPS), the BeiDou Navigation Satellite System (BDS) and low-cost micro-electro-mechanical sensors (MEMS) inertial systems for reliable navigation. An adaptive multipath factor-based tightly-coupled (TC) GPS/BDS/INS integration algorithm is presented and the overall performance of the integrated system is illustrated. A twenty seven states TC GPS/BDS/INS model is adopted with an extended Kalman filter (EKF), which is carried out by directly fusing ambiguity fixed double-difference (DD) carrier phase measurements with the INS predicted pseudoranges to estimate the error states. The INS-aided integer ambiguity resolution (AR) strategy is developed by using a dynamic model, a two-step estimation procedure is applied with adaptively estimated covariance matrix to further improve the AR performance. A field vehicular test was carried out to demonstrate the positioning performance of the combined system. The results show the TC GPS/BDS/INS system significantly improves the single-epoch AR reliability as compared to that of GPS/BDS-only or single satellite navigation system integrated strategy, especially for high cut-off elevations. The AR performance is also significantly improved for the combined system with adaptive covariance matrix in the presence of low elevation multipath related to the GNSS-only case. A total of fifteen simulated outage tests also show that the time to relock of the GPS/BDS signals is shortened, which improves the system availability. The results also indicate that TC integration system achieves a few centimeters accuracy in positioning based on the comparison analysis and covariance analysis, even in harsh environments (e.g., in urban canyons), thus we can see the advantage of positioning at high cut-off elevations that the combined GPS/BDS brings.

Post-test navigation data analysis techniques for the shuttle ALT

NASA Technical Reports Server (NTRS)

1975-01-01

Postflight test analysis data processing techniques for shuttle approach and landing tests (ALT) navigation data are defined. Postfight test processor requirements are described along with operational and design requirements, data input requirements, and software test requirements. The postflight test data processing is described based on the natural test sequence: quick-look analysis, postflight navigation processing, and error isolation processing. Emphasis is placed on the tradeoffs that must remain open and subject to analysis until final definition is achieved in the shuttle data processing system and the overall ALT plan. A development plan for the implementation of the ALT postflight test navigation data processing system is presented. Conclusions are presented.

Precise visual navigation using multi-stereo vision and landmark matching

NASA Astrophysics Data System (ADS)

Zhu, Zhiwei; Oskiper, Taragay; Samarasekera, Supun; Kumar, Rakesh

2007-04-01

Traditional vision-based navigation system often drifts over time during navigation. In this paper, we propose a set of techniques which greatly reduce the long term drift and also improve its robustness to many failure conditions. In our approach, two pairs of stereo cameras are integrated to form a forward/backward multi-stereo camera system. As a result, the Field-Of-View of the system is extended significantly to capture more natural landmarks from the scene. This helps to increase the pose estimation accuracy as well as reduce the failure situations. Secondly, a global landmark matching technique is used to recognize the previously visited locations during navigation. Using the matched landmarks, a pose correction technique is used to eliminate the accumulated navigation drift. Finally, in order to further improve the robustness of the system, measurements from low-cost Inertial Measurement Unit (IMU) and Global Positioning System (GPS) sensors are integrated with the visual odometry in an extended Kalman Filtering framework. Our system is significantly more accurate and robust than previously published techniques (1~5% localization error) over long-distance navigation both indoors and outdoors. Real world experiments on a human worn system show that the location can be estimated within 1 meter over 500 meters (around 0.1% localization error averagely) without the use of GPS information.

An adaptive deep-coupled GNSS/INS navigation system with hybrid pre-filter processing

NASA Astrophysics Data System (ADS)

Wu, Mouyan; Ding, Jicheng; Zhao, Lin; Kang, Yingyao; Luo, Zhibin

2018-02-01

The deep-coupling of a global navigation satellite system (GNSS) with an inertial navigation system (INS) can provide accurate and reliable navigation information. There are several kinds of deeply-coupled structures. These can be divided mainly into coherent and non-coherent pre-filter based structures, which have their own strong advantages and disadvantages, especially in accuracy and robustness. In this paper, the existing pre-filters of the deeply-coupled structures are analyzed and modified to improve them firstly. Then, an adaptive GNSS/INS deeply-coupled algorithm with hybrid pre-filters processing is proposed to combine the advantages of coherent and non-coherent structures. An adaptive hysteresis controller is designed to implement the hybrid pre-filters processing strategy. The simulation and vehicle test results show that the adaptive deeply-coupled algorithm with hybrid pre-filters processing can effectively improve navigation accuracy and robustness, especially in a GNSS-challenged environment.

[Fusion of MRI, fMRI and intraoperative MRI data. Methods and clinical significance exemplified by neurosurgical interventions].

PubMed

Moche, M; Busse, H; Dannenberg, C; Schulz, T; Schmitgen, A; Trantakis, C; Winkler, D; Schmidt, F; Kahn, T

2001-11-01

The aim of this work was to realize and clinically evaluate an image fusion platform for the integration of preoperative MRI and fMRI data into the intraoperative images of an interventional MRI system with a focus on neurosurgical procedures. A vertically open 0.5 T MRI scanner was equipped with a dedicated navigation system enabling the registration of additional imaging modalities (MRI, fMRI, CT) with the intraoperatively acquired data sets. These merged image data served as the basis for interventional planning and multimodal navigation. So far, the system has been used in 70 neurosurgical interventions (13 of which involved image data fusion--requiring 15 minutes extra time). The augmented navigation system is characterized by a higher frame rate and a higher image quality as compared to the system-integrated navigation based on continuously acquired (near) real time images. Patient movement and tissue shifts can be immediately detected by monitoring the morphological differences between both navigation scenes. The multimodal image fusion allowed a refined navigation planning especially for the resection of deeply seated brain lesions or pathologies close to eloquent areas. Augmented intraoperative orientation and instrument guidance improve the safety and accuracy of neurosurgical interventions.

Integrating GPS, GYRO, vehicle speed sensor, and digital map to provide accurate and real-time position in an intelligent navigation system

NASA Astrophysics Data System (ADS)

Li, Qingquan; Fang, Zhixiang; Li, Hanwu; Xiao, Hui

2005-10-01

The global positioning system (GPS) has become the most extensively used positioning and navigation tool in the world. Applications of GPS abound in surveying, mapping, transportation, agriculture, military planning, GIS, and the geosciences. However, the positional and elevation accuracy of any given GPS location is prone to error, due to a number of factors. The applications of Global Positioning System (GPS) positioning is more and more popular, especially the intelligent navigation system which relies on GPS and Dead Reckoning technology is developing quickly for future huge market in China. In this paper a practical combined positioning model of GPS/DR/MM is put forward, which integrates GPS, Gyro, Vehicle Speed Sensor (VSS) and digital navigation maps to provide accurate and real-time position for intelligent navigation system. This model is designed for automotive navigation system making use of Kalman filter to improve position and map matching veracity by means of filtering raw GPS and DR signals, and then map-matching technology is used to provide map coordinates for map displaying. In practical examples, for illustrating the validity of the model, several experiments and their results of integrated GPS/DR positioning in intelligent navigation system will be shown for the conclusion that Kalman Filter based GPS/DR integrating position approach is necessary, feasible and efficient for intelligent navigation application. Certainly, this combined positioning model, similar to other model, can not resolve all situation issues. Finally, some suggestions are given for further improving integrated GPS/DR/MM application.

DIY-style GIS service in mobile navigation system integrated with web and wireless GIS

NASA Astrophysics Data System (ADS)

Yan, Yongbin; Wu, Jianping; Fan, Caiyou; Wang, Minqi; Dai, Sheng

2007-06-01

Mobile navigation system based on handheld device can not only provide basic GIS services, but also enable these GIS services to be provided without location limit, to be more instantly interacted between users and devices. However, we still see that most navigation systems have common defects on user experience like limited map format, few map resources, and unable location share. To overcome the above defects, we propose DIY-style GIS service which provide users a more free software environment and allow uses to customize their GIS services. These services include defining geographical coordinate system of maps which helps to hugely enlarge the map source, editing vector feature, related property information and hotlink images, customizing covered area of download map via General Packet Radio Service (GPRS), and sharing users' location information via SMS (Short Message Service) which establishes the communication between users who needs GIS services. The paper introduces the integration of web and wireless GIS service in a mobile navigation system and presents an implementation sample of a DIY-Style GIS service in a mobile navigation system.

Research on the rapid and accurate positioning and orientation approach for land missile-launching vehicle.

PubMed

Li, Kui; Wang, Lei; Lv, Yanhong; Gao, Pengyu; Song, Tianxiao

2015-10-20

Getting a land vehicle's accurate position, azimuth and attitude rapidly is significant for vehicle based weapons' combat effectiveness. In this paper, a new approach to acquire vehicle's accurate position and orientation is proposed. It uses biaxial optical detection platform (BODP) to aim at and lock in no less than three pre-set cooperative targets, whose accurate positions are measured beforehand. Then, it calculates the vehicle's accurate position, azimuth and attitudes by the rough position and orientation provided by vehicle based navigation systems and no less than three couples of azimuth and pitch angles measured by BODP. The proposed approach does not depend on Global Navigation Satellite System (GNSS), thus it is autonomous and difficult to interfere. Meanwhile, it only needs a rough position and orientation as algorithm's iterative initial value, consequently, it does not have high performance requirement for Inertial Navigation System (INS), odometer and other vehicle based navigation systems, even in high precise applications. This paper described the system's working procedure, presented theoretical deviation of the algorithm, and then verified its effectiveness through simulation and vehicle experiments. The simulation and experimental results indicate that the proposed approach can achieve positioning and orientation accuracy of 0.2 m and 20″ respectively in less than 3 min.

SLS Navigation Model-Based Design Approach

NASA Technical Reports Server (NTRS)

Oliver, T. Emerson; Anzalone, Evan; Geohagan, Kevin; Bernard, Bill; Park, Thomas

2018-01-01

The SLS Program chose to implement a Model-based Design and Model-based Requirements approach for managing component design information and system requirements. This approach differs from previous large-scale design efforts at Marshall Space Flight Center where design documentation alone conveyed information required for vehicle design and analysis and where extensive requirements sets were used to scope and constrain the design. The SLS Navigation Team has been responsible for the Program-controlled Design Math Models (DMMs) which describe and represent the performance of the Inertial Navigation System (INS) and the Rate Gyro Assemblies (RGAs) used by Guidance, Navigation, and Controls (GN&C). The SLS Navigation Team is also responsible for the navigation algorithms. The navigation algorithms are delivered for implementation on the flight hardware as a DMM. For the SLS Block 1-B design, the additional GPS Receiver hardware is managed as a DMM at the vehicle design level. This paper provides a discussion of the processes and methods used to engineer, design, and coordinate engineering trades and performance assessments using SLS practices as applied to the GN&C system, with a particular focus on the Navigation components. These include composing system requirements, requirements verification, model development, model verification and validation, and modeling and analysis approaches. The Model-based Design and Requirements approach does not reduce the effort associated with the design process versus previous processes used at Marshall Space Flight Center. Instead, the approach takes advantage of overlap between the requirements development and management process, and the design and analysis process by efficiently combining the control (i.e. the requirement) and the design mechanisms. The design mechanism is the representation of the component behavior and performance in design and analysis tools. The focus in the early design process shifts from the development and management of design requirements to the development of usable models, model requirements, and model verification and validation efforts. The models themselves are represented in C/C++ code and accompanying data files. Under the idealized process, potential ambiguity in specification is reduced because the model must be implementable versus a requirement which is not necessarily subject to this constraint. Further, the models are shown to emulate the hardware during validation. For models developed by the Navigation Team, a common interface/standalone environment was developed. The common environment allows for easy implementation in design and analysis tools. Mechanisms such as unit test cases ensure implementation as the developer intended. The model verification and validation process provides a very high level of component design insight. The origin and implementation of the SLS variant of Model-based Design is described from the perspective of the SLS Navigation Team. The format of the models and the requirements are described. The Model-based Design approach has many benefits but is not without potential complications. Key lessons learned associated with the implementation of the Model Based Design approach and process from infancy to verification and certification are discussed

Experiment D009: Simple navigation

NASA Technical Reports Server (NTRS)

Silva, R. M.; Jorris, T. R.; Vallerie, E. M., III

1971-01-01

Space position-fixing techniques have been investigated by collecting data on the observable phenomena of space flight that could be used to solve the problem of autonomous navigation by the use of optical data and manual computations to calculate the position of a spacecraft. After completion of the developmental and test phases, the product of the experiment would be a manual-optical technique of orbital space navigation that could be used as a backup to onboard and ground-based spacecraft-navigation systems.

Navigation integrity monitoring and obstacle detection for enhanced-vision systems

NASA Astrophysics Data System (ADS)

Korn, Bernd; Doehler, Hans-Ullrich; Hecker, Peter

2001-08-01

Typically, Enhanced Vision (EV) systems consist of two main parts, sensor vision and synthetic vision. Synthetic vision usually generates a virtual out-the-window view using databases and accurate navigation data, e. g. provided by differential GPS (DGPS). The reliability of the synthetic vision highly depends on both, the accuracy of the used database and the integrity of the navigation data. But especially in GPS based systems, the integrity of the navigation can't be guaranteed. Furthermore, only objects that are stored in the database can be displayed to the pilot. Consequently, unexpected obstacles are invisible and this might cause severe problems. Therefore, additional information has to be extracted from sensor data to overcome these problems. In particular, the sensor data analysis has to identify obstacles and has to monitor the integrity of databases and navigation. Furthermore, if a lack of integrity arises, navigation data, e.g. the relative position of runway and aircraft, has to be extracted directly from the sensor data. The main contribution of this paper is about the realization of these three sensor data analysis tasks within our EV system, which uses the HiVision 35 GHz MMW radar of EADS, Ulm as the primary EV sensor. For the integrity monitoring, objects extracted from radar images are registered with both database objects and objects (e. g. other aircrafts) transmitted via data link. This results in a classification into known and unknown radar image objects and consequently, in a validation of the integrity of database and navigation. Furthermore, special runway structures are searched for in the radar image where they should appear. The outcome of this runway check contributes to the integrity analysis, too. Concurrent to this investigation a radar image based navigation is performed without using neither precision navigation nor detailed database information to determine the aircraft's position relative to the runway. The performance of our approach is demonstrated with real data acquired during extensive flight tests to several airports in Northern Germany.

Autonomous Navigation of Small Uavs Based on Vehicle Dynamic Model

NASA Astrophysics Data System (ADS)

Khaghani, M.; Skaloud, J.

2016-03-01

This paper presents a novel approach to autonomous navigation for small UAVs, in which the vehicle dynamic model (VDM) serves as the main process model within the navigation filter. The proposed method significantly increases the accuracy and reliability of autonomous navigation, especially for small UAVs with low-cost IMUs on-board. This is achieved with no extra sensor added to the conventional INS/GNSS setup. This improvement is of special interest in case of GNSS outages, where inertial coasting drifts very quickly. In the proposed architecture, the solution to VDM equations provides the estimate of position, velocity, and attitude, which is updated within the navigation filter based on available observations, such as IMU data or GNSS measurements. The VDM is also fed with the control input to the UAV, which is available within the control/autopilot system. The filter is capable of estimating wind velocity and dynamic model parameters, in addition to navigation states and IMU sensor errors. Monte Carlo simulations reveal major improvements in navigation accuracy compared to conventional INS/GNSS navigation system during the autonomous phase, when satellite signals are not available due to physical obstruction or electromagnetic interference for example. In case of GNSS outages of a few minutes, position and attitude accuracy experiences improvements of orders of magnitude compared to inertial coasting. It means that during such scenario, the position-velocity-attitude (PVA) determination is sufficiently accurate to navigate the UAV to a home position without any signal that depends on vehicle environment.

Factors affecting femoral rotational angle based on the posterior condylar axis in gap-based navigation-assisted total knee arthroplasty for valgus knee.

PubMed

Lee, Sung-Sahn; Lee, Yong-In; Kim, Dong-Uk; Lee, Dae-Hee; Moon, Young-Wan

2018-01-01

Achieving proper rotational alignment of the femoral component in total knee arthroplasty (TKA) for valgus knee is challenging because of lateral condylar hypoplasia and lateral cartilage erosion. Gap-based navigation-assisted TKA enables surgeons to determine the angle of femoral component rotation (FCR) based on the posterior condylar axis. This study evaluated the possible factors that affect the rotational alignment of the femoral component based on the posterior condylar axis. Between 2008 and 2016, 28 knees were enrolled. The dependent variable for this study was FCR based on the posterior condylar axis, which was obtained from the navigation system archives. Multiple regression analysis was conducted to identify factors that might predict FCR, including body mass index (BMI), Kellgren-Lawrence grade (K-L grade), lateral distal femoral angles obtained from the navigation system and radiographs (NaviLDFA, XrayLDFA), hip-knee-ankle (HKA) axis, lateral gap under varus stress (LGVS), medial gap under valgus stress (MGVS), and side-to-side difference (STSD, MGVS - LGVS). The mean FCR was 6.1° ± 2.0°. Of all the potentially predictive factors evaluated in this study, only NaviLDFA (β = -0.668) and XrayLDFA (β = -0.714) predicted significantly FCR. The LDFAs, as determined using radiographs and the navigation system, were both predictive of the rotational alignment of the femoral component based on the posterior condylar axis in gap-based TKA for valgus knee. A 1° increment with NaviLDFA led to a 0.668° decrement in FCR, and a 1° increment with XrayLDFA led to a 0.714° decrement. This suggests that symmetrical lateral condylar hypoplasia of the posterior and distal side occurs in lateral compartment end-stage osteoarthritis with valgus deformity.

Application of newly developed Fluoro-QC software for image quality evaluation in cardiac X-ray systems.

PubMed

Oliveira, M; Lopez, G; Geambastiani, P; Ubeda, C

2018-05-01

A quality assurance (QA) program is a valuable tool for the continuous production of optimal quality images. The aim of this paper is to assess a newly developed automatic computer software for image quality (IR) evaluation in fluoroscopy X-ray systems. Test object images were acquired using one fluoroscopy system, Siemens Axiom Artis model (Siemens AG, Medical Solutions Erlangen, Germany). The software was developed as an ImageJ plugin. Two image quality parameters were assessed: high-contrast spatial resolution (HCSR) and signal-to-noise ratio (SNR). The time between manual and automatic image quality assessment procedures were compared. The paired t-test was used to assess the data. p Values of less than 0.05 were considered significant. The Fluoro-QC software generated faster IQ evaluation results (mean = 0.31 ± 0.08 min) than manual procedure (mean = 4.68 ± 0.09 min). The mean difference between techniques was 4.36 min. Discrepancies were identified in the region of interest (ROI) areas drawn manually with evidence of user dependence. The new software presented the results of two tests (HCSR = 3.06, SNR = 5.17) and also collected information from the DICOM header. Significant differences were not identified between manual and automatic measures of SNR (p value = 0.22) and HCRS (p value = 0.46). The Fluoro-QC software is a feasible, fast and free to use method for evaluating imaging quality parameters on fluoroscopy systems. Copyright © 2017 The College of Radiographers. Published by Elsevier Ltd. All rights reserved.

INSIGHT: RFID and Bluetooth enabled automated space for the blind and visually impaired.

PubMed

Ganz, Aura; Gandhi, Siddhesh Rajan; Wilson, Carole; Mullett, Gary

2010-01-01

In this paper we introduce INSIGHT, an indoor location tracking and navigation system to help the blind and visually impaired to easily navigate to their chosen destination in a public building. INSIGHT makes use of RFID and Bluetooth technology deployed within the building to locate and track the users. The PDA based user device interacts with INSIGHT server and provides the user navigation instructions in an audio form. The proposed system provides multi-resolution localization of the users, facilitating the provision of accurate navigation instructions when the user is in the vicinity of the RFID tags as well as accommodating a PANIC button which provides navigation instructions when the user is anywhere in the building. Moreover, the system will continuously monitor the zone in which the user walks. This will enable the system to identify if the user is located in the wrong zone of the building which may not lead to the desired destination.

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot.

PubMed

Duan, Xingguang; Gao, Liang; Wang, Yonggui; Li, Jianxi; Li, Haoyuan; Guo, Yanjun

2018-01-01

In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, "kinematics + optics" hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning.

Modelling and Experiment Based on a Navigation System for a Cranio-Maxillofacial Surgical Robot

PubMed Central

Duan, Xingguang; Gao, Liang; Li, Jianxi; Li, Haoyuan; Guo, Yanjun

2018-01-01

In view of the characteristics of high risk and high accuracy in cranio-maxillofacial surgery, we present a novel surgical robot system that can be used in a variety of surgeries. The surgical robot system can assist surgeons in completing biopsy of skull base lesions, radiofrequency thermocoagulation of the trigeminal ganglion, and radioactive particle implantation of skull base malignant tumors. This paper focuses on modelling and experimental analyses of the robot system based on navigation technology. Firstly, the transformation relationship between the subsystems is realized based on the quaternion and the iterative closest point registration algorithm. The hand-eye coordination model based on optical navigation is established to control the end effector of the robot moving to the target position along the planning path. The closed-loop control method, “kinematics + optics” hybrid motion control method, is presented to improve the positioning accuracy of the system. Secondly, the accuracy of the system model was tested by model experiments. And the feasibility of the closed-loop control method was verified by comparing the positioning accuracy before and after the application of the method. Finally, the skull model experiments were performed to evaluate the function of the surgical robot system. The results validate its feasibility and are consistent with the preoperative surgical planning. PMID:29599948

A near-infrared fluorescence-based surgical navigation system imaging software for sentinel lymph node detection

NASA Astrophysics Data System (ADS)

Ye, Jinzuo; Chi, Chongwei; Zhang, Shuang; Ma, Xibo; Tian, Jie

2014-02-01

Sentinel lymph node (SLN) in vivo detection is vital in breast cancer surgery. A new near-infrared fluorescence-based surgical navigation system (SNS) imaging software, which has been developed by our research group, is presented for SLN detection surgery in this paper. The software is based on the fluorescence-based surgical navigation hardware system (SNHS) which has been developed in our lab, and is designed specifically for intraoperative imaging and postoperative data analysis. The surgical navigation imaging software consists of the following software modules, which mainly include the control module, the image grabbing module, the real-time display module, the data saving module and the image processing module. And some algorithms have been designed to achieve the performance of the software, for example, the image registration algorithm based on correlation matching. Some of the key features of the software include: setting the control parameters of the SNS; acquiring, display and storing the intraoperative imaging data in real-time automatically; analysis and processing of the saved image data. The developed software has been used to successfully detect the SLNs in 21 cases of breast cancer patients. In the near future, we plan to improve the software performance and it will be extensively used for clinical purpose.

A real-time navigation monitoring expert system for the Space Shuttle Mission Control Center

NASA Technical Reports Server (NTRS)

Wang, Lui; Fletcher, Malise

1993-01-01

The ONAV (Onboard Navigation) Expert System has been developed as a real time console assistant for use by ONAV flight controllers in the Mission Control Center at the Johnson Space Center. This expert knowledge based system is used to monitor the Space Shuttle onboard navigation system, detect faults, and advise flight operations personnel. This application is the first knowledge-based system to use both telemetry and trajectory data from the Mission Operations Computer (MOC). To arrive at this stage, from a prototype to real world application, the ONAV project has had to deal with not only AI issues but operating environment issues. The AI issues included the maturity of AI languages and the debugging tools, verification, and availability, stability and size of the expert pool. The environmental issues included real time data acquisition, hardware suitability, and how to achieve acceptance by users and management.

Autonomous Navigation Using Celestial Objects

NASA Technical Reports Server (NTRS)

Folta, David; Gramling, Cheryl; Leung, Dominic; Belur, Sheela; Long, Anne

1999-01-01

In the twenty-first century, National Aeronautics and Space Administration (NASA) Enterprises envision frequent low-cost missions to explore the solar system, observe the universe, and study our planet. Satellite autonomy is a key technology required to reduce satellite operating costs. The Guidance, Navigation, and Control Center (GNCC) at the Goddard Space Flight Center (GSFC) currently sponsors several initiatives associated with the development of advanced spacecraft systems to provide autonomous navigation and control. Autonomous navigation has the potential both to increase spacecraft navigation system performance and to reduce total mission cost. By eliminating the need for routine ground-based orbit determination and special tracking services, autonomous navigation can streamline spacecraft ground systems. Autonomous navigation products can be included in the science telemetry and forwarded directly to the scientific investigators. In addition, autonomous navigation products are available onboard to enable other autonomous capabilities, such as attitude control, maneuver planning and orbit control, and communications signal acquisition. Autonomous navigation is required to support advanced mission concepts such as satellite formation flying. GNCC has successfully developed high-accuracy autonomous navigation systems for near-Earth spacecraft using NASA's space and ground communications systems and the Global Positioning System (GPS). Recently, GNCC has expanded its autonomous navigation initiative to include satellite orbits that are beyond the regime in which use of GPS is possible. Currently, GNCC is assessing the feasibility of using standard spacecraft attitude sensors and communication components to provide autonomous navigation for missions including: libration point, gravity assist, high-Earth, and interplanetary orbits. The concept being evaluated uses a combination of star, Sun, and Earth sensor measurements along with forward-link Doppler measurements from the command link carrier to autonomously estimate the spacecraft's orbit and reference oscillator's frequency. To support autonomous attitude determination and control and maneuver planning and control, the orbit determination accuracy should be on the order of kilometers in position and centimeters per second in velocity. A less accurate solution (one hundred kilometers in position) could be used for acquisition purposes for command and science downloads. This paper provides performance results for both libration point orbiting and high Earth orbiting satellites as a function of sensor measurement accuracy, measurement types, measurement frequency, initial state errors, and dynamic modeling errors.

New image-processing and noise-reduction software reduces radiation dose during complex endovascular procedures.

PubMed

Kirkwood, Melissa L; Guild, Jeffrey B; Arbique, Gary M; Tsai, Shirling; Modrall, J Gregory; Anderson, Jon A; Rectenwald, John; Timaran, Carlos

2016-11-01

A new proprietary image-processing system known as AlluraClarity, developed by Philips Healthcare (Best, The Netherlands) for radiation-based interventional procedures, claims to lower radiation dose while preserving image quality using noise-reduction algorithms. This study determined whether the surgeon and patient radiation dose during complex endovascular procedures (CEPs) is decreased after the implementation of this new operating system. Radiation dose to operators, procedure type, reference air kerma, kerma area product, and patient body mass index were recorded during CEPs on two Philips Allura FD 20 fluoroscopy systems with and without Clarity. Operator dose during CEPs was measured using optically stimulable, luminescent nanoDot (Landauer Inc, Glenwood, Ill) detectors placed outside the lead apron at the left upper chest position. nanoDots were read using a microStar ii (Landauer Inc) medical dosimetry system. For the CEPs in the Clarity group, the radiation dose to surgeons was also measured by the DoseAware (Philips Healthcare) personal dosimetry system. Side-by-side measurements of DoseAware and nanoDots allowed for cross-calibration between systems. Operator effective dose was determined using a modified Niklason algorithm. To control for patient size and case complexity, the average fluoroscopy dose rate and the dose per radiographic frame were adjusted for body mass index differences and then compared between the groups with and without Clarity by procedure. Additional factors, for example, physician practice patterns, that may have affected operator dose were inferred by comparing the ratio of the operator dose to procedural kerma area product with and without Clarity. A one-sided Wilcoxon rank sum test was used to compare groups for radiation doses, reference air kermas, and operating practices for each procedure type. The analysis included 234 CEPs; 95 performed without Clarity and 139 with Clarity. Practice patterns of operators during procedures with and without Clarity were not significantly different. For all cases, procedure radiation dose to the patient and the primary and assistant operators were significantly decreased in the Clarity group by 60% compared with the non-Clarity group. By procedure type, fluorography dose rates decreased from 44% for fenestrated endovascular repair and up to 70% with lower extremity interventions. Fluoroscopy dose rates also significantly decreased, from about 37% to 47%, depending on procedure type. The AlluraClarity system reduces the patient and primary operator's radiation dose by more than half during CEPs. This feature appears to be an effective tool in lowering the radiation dose while maintaining image quality. Copyright © 2016 Society for Vascular Surgery. Published by Elsevier Inc. All rights reserved.

Searching Lost People with Uavs: the System and Results of the Close-Search Project

NASA Astrophysics Data System (ADS)

Molina, P.; Colomina, I.; Vitoria, T.; Silva, P. F.; Skaloud, J.; Kornus, W.; Prades, R.; Aguilera, C.

2012-07-01

This paper will introduce the goals, concept and results of the project named CLOSE-SEARCH, which stands for 'Accurate and safe EGNOS-SoL Navigation for UAV-based low-cost Search-And-Rescue (SAR) operations'. The main goal is to integrate a medium-size, helicopter-type Unmanned Aerial Vehicle (UAV), a thermal imaging sensor and an EGNOS-based multi-sensor navigation system, including an Autonomous Integrity Monitoring (AIM) capability, to support search operations in difficult-to-access areas and/or night operations. The focus of the paper is three-fold. Firstly, the operational and technical challenges of the proposed approach are discussed, such as ultra-safe multi-sensor navigation system, the use of combined thermal and optical vision (infrared plus visible) for person recognition and Beyond-Line-Of-Sight communications among others. Secondly, the implementation of the integrity concept for UAV platforms is discussed herein through the AIM approach. Based on the potential of the geodetic quality analysis and on the use of the European EGNOS system as a navigation performance starting point, AIM approaches integrity from the precision standpoint; that is, the derivation of Horizontal and Vertical Protection Levels (HPLs, VPLs) from a realistic precision estimation of the position parameters is performed and compared to predefined Alert Limits (ALs). Finally, some results from the project test campaigns are described to report on particular project achievements. Together with actual Search-and-Rescue teams, the system was operated in realistic, user-chosen test scenarios. In this context, and specially focusing on the EGNOS-based UAV navigation, the AIM capability and also the RGB/thermal imaging subsystem, a summary of the results is presented.

A LEO Satellite Navigation Algorithm Based on GPS and Magnetometer Data

NASA Technical Reports Server (NTRS)

Deutschmann, Julie; Bar-Itzhack, Itzhack; Harman, Rick; Bauer, Frank H. (Technical Monitor)

2000-01-01

The Global Positioning System (GPS) has become a standard method for low cost onboard satellite orbit determination. The use of a GPS receiver as an attitude and rate sensor has also been developed in the recent past. Additionally, focus has been given to attitude and orbit estimation using the magnetometer, a low cost, reliable sensor. Combining measurements from both GPS and a magnetometer can provide a robust navigation system that takes advantage of the estimation qualities of both measurements. Ultimately a low cost, accurate navigation system can result, potentially eliminating the need for more costly sensors, including gyroscopes.

Cerebellum Augmented Rover Development

NASA Technical Reports Server (NTRS)

King, Matthew

2005-01-01

Bio-Inspired Technologies and Systems (BITS) are a very natural result of thinking about Nature's way of solving problems. Knowledge of animal behaviors an be used in developing robotic behaviors intended for planetary exploration. This is the expertise of the JFL BITS Group and has served as a philosophical model for NMSU RioRobolab. Navigation is a vital function for any autonomous system. Systems must have the ability to determine a safe path between their current location and some target location. The MER mission, as well as other JPL rover missions, uses a method known as dead-reckoning to determine position information. Dead-reckoning uses wheel encoders to sense the wheel's rotation. In a sandy environment such as Mars, this method is highly inaccurate because the wheels will slip in the sand. Improving positioning error will allow the speed of an autonomous navigating rover to be greatly increased. Therefore, local navigation based upon landmark tracking is desirable in planetary exploration. The BITS Group is developing navigation technology based upon landmark tracking. Integration of the current rover architecture with a cerebellar neural network tracking algorithm will demonstrate that this approach to navigation is feasible and should be implemented in future rover and spacecraft missions.

Monocular camera/IMU/GNSS integration for ground vehicle navigation in challenging GNSS environments.

PubMed

Chu, Tianxing; Guo, Ningyan; Backén, Staffan; Akos, Dennis

2012-01-01

Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF). Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations.

Monocular Camera/IMU/GNSS Integration for Ground Vehicle Navigation in Challenging GNSS Environments

PubMed Central

Chu, Tianxing; Guo, Ningyan; Backén, Staffan; Akos, Dennis

2012-01-01

Low-cost MEMS-based IMUs, video cameras and portable GNSS devices are commercially available for automotive applications and some manufacturers have already integrated such facilities into their vehicle systems. GNSS provides positioning, navigation and timing solutions to users worldwide. However, signal attenuation, reflections or blockages may give rise to positioning difficulties. As opposed to GNSS, a generic IMU, which is independent of electromagnetic wave reception, can calculate a high-bandwidth navigation solution, however the output from a self-contained IMU accumulates errors over time. In addition, video cameras also possess great potential as alternate sensors in the navigation community, particularly in challenging GNSS environments and are becoming more common as options in vehicles. Aiming at taking advantage of these existing onboard technologies for ground vehicle navigation in challenging environments, this paper develops an integrated camera/IMU/GNSS system based on the extended Kalman filter (EKF). Our proposed integration architecture is examined using a live dataset collected in an operational traffic environment. The experimental results demonstrate that the proposed integrated system provides accurate estimations and potentially outperforms the tightly coupled GNSS/IMU integration in challenging environments with sparse GNSS observations. PMID:22736999

EnEx-RANGE - Robust autonomous Acoustic Navigation in Glacial icE

NASA Astrophysics Data System (ADS)

Heinen, Dirk; Eliseev, Dmitry; Henke, Christoph; Jeschke, Sabina; Linder, Peter; Reuter, Sebastian; Schönitz, Sebastian; Scholz, Franziska; Weinstock, Lars Steffen; Wickmann, Stefan; Wiebusch, Christopher; Zierke, Simon

2017-03-01

Within the Enceladus Explorer Initiative of the DLR Space Administration navigation technologies for a future space mission are in development. Those technologies are the basis for the search for extraterrestrial life on the Saturn moon Enceladus. An autonomous melting probe, the EnEx probe, aims to extract a liquid sample from a water reservoir below the icy crust. A first EnEx probe was developed and demonstrated in a terrestrial scenario at the Bloodfalls, Taylor Glacier, Antarctica in November 2014. To enable navigation in glacier ice two acoustic systems were integrated into the probe in addition to conventional navigation technologies. The first acoustic system determines the position of the probe during the run based on propagation times of acoustic signals from emitters at reference positions at the glacier surface to receivers in the probe. The second system provides information about the forefield of the probe. It is based on sonographic principles with phased array technology integrated in the probe's melting head. Information about obstacles or sampling regions in the probe's forefield can be acquired. The development of both systems is now continued in the project EnEx-RANGE. The emitters of the localization system are replaced by a network of intelligent acoustic enabled melting probes. These localize each other by means of acoustic signals and create the reference system for the EnEx probe. This presentation includes the discussion of the intelligent acoustic network, the acoustic navigation systems of the EnEx probe and results of terrestrial tests.