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IPCAI: 2010. Visualization and Planning of Neurosurgical Interventions with Straight Access. Nikhil V. Navkar 1,2 , Nikolaos V. Tsekos 1 , Jason R. Stafford 3 , Jeffrey S. Weinberg 3 , and Zhigang Deng 2. 1 Medical Robotics Lab, University of Houston - PowerPoint PPT Presentation
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Visualization and Planning of Neurosurgical Interventions with Straight Access
1 Medical Robotics Lab, University of Houston2 Computer Graphics and Interactive Media Lab, University of Houston
3 M.D. Anderson Cancer Center, University of Texas, Houston
Nikhil V. Navkar1,2, Nikolaos V. Tsekos1, Jason R. Stafford3, Jeffrey S. Weinberg3, and Zhigang Deng2
IPCAI: 2010
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
The work proposes a technique for simple and efficient visualization of the region of intervention for neurosurgical procedures.
INTRODUCTION:
INTRODUCTION:
The large volume of three dimensional brain data from different imaging modalities pose a major challenge either at the preoperative or the intraoperative stage of an image-guided neurosurgical interventional procedure.
It is difficult to visualize, comprehend and manipulate the data at the same time.
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
INTRODUCTION:
This work proposes an approach based on the generation of Access Maps on the surface of the region of intervention.
•Incorporate the information of underlying tissue and visualize it on the outer surface of the patient.
•Offers an intuitive way for a neurosurgeon to quantitatively select the optimal path of access for a given target anatomy.
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
METHODS:
In this work the Access Maps consists of :
• Direct Impact Map
• Proximity Map
• Path Length Map
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
METHODS:
Preprocessing of data: Head Surface
MRI Data Acquisition
T2 Weighted MRI
Acquisition matrix 256 X 256
Number of slices = 144
Pixel size of 1.0 x 1.0 mm
Interslice distance = 1.0 mm
Segmentation of Images
Thresholding to segment the
region outside the head (like
a negative mold) and then
applying an inversion filter to
get the inside region.
3D Model Generation
Marching cube .
Laplace+HC mesh
smoothing followed by a
low pass filter.
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
METHODS:
Preprocessing of data: Brain Vascular
MRI Data Acquisition
Time-of-flight (TOF) MRA
Acquisition matrix 768 X 576
Number of slices = 136
Pixel size of 0.3 x 0.3 mm
Interslice distance = 0.6 mm
Segmentation of Images:
Thresholding and applying
connectivity filter based on
region growing by selecting the
base of the vessel as the seed
point.
3D Model Generation
Marching cube.
Mesh smoothing by
a low pass filter.
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
METHODS:
Preprocessed Data
Normalized Value of Proximity Map
Normalized Value of Path Length Map
Direct Impact Map
Applying Threshold
Applying Threshold
Access Maps
Overview ofProcesses:
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
METHODS:
Direct Impact Map :
• Generated by the concept of Ray Casting.
• Projects the shadow of the vital structures on the skin by considering the target as a point source of light.
• Avoids direct impact on the interventional tool on the vital structure.
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
METHODS:
Direct Impact Map :
If any insertion is made through a point on the map it would directly impact the vital tissue (vessels in the above case).
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
METHODS:
Proximity Map :
•Generated by projecting a safe three dimension virtual buffer space encapsulating the vital structures.
• Properties of intervention tool such as deflection, thickness may bring the interventional tool to very close proximity and even puncture the vital tissue.
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
METHODS:
Proximity Map :
For a given insertion point v on the head surface PR(v) (mm) is the shortest distance between the insertion path and the vital structure.
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
METHODS:
Proximity Map :
Shows the minimum distance (in mm) which the interventional tool maintains from the vital structure.
0 mm
11.17 mm
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
METHODS:
Path Length Map :
•Shorter the distance travel by interventional tool, the less is the risk of trauma (even to non-vital structures).
•Projects the depth of the target from the surface of intervention.
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
METHODS:
Path Length Map :
PL(v) is the distance between the given insertion point v and the target.
37.21 mm
132.30 mm
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
RESULTS:
Target(-30,0,0)
Thresholds:PL(v) = 40.26 mm (Path Length Threshold)PR(v) = 4.00 mm (Proximity Threshold)
IP2(-64.76, 2.25, 15.15)
IP1(-30.61,-2.31,59.59)
IP3(-64.06,20.36,0.85)
IP137.99mm
37.9
9mm
39.6
7mm
IP3
PR(IP1)=0.00mm
PR(IP2)=4.00mm
PR(IP3)=4.74mm
IP2
IP3 is the optimal insertion point for given threshold.
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
RESULTS:
The camera is placed on the tip of an interventional tool and follows the selected path of insertion.
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
RESULTS:
Preliminary evaluation of the effectiveness of the described access maps for different neurosurgical interventional procedures.
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
CONCLUSION:
The described Access Maps is an intuitive and simple approach for visualizing 3D multimodal information about the anatomy of the region of intervention and safety of selected insertion paths.
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
ACKNOWLEDGMENTS:
Any opinions, findings, and conclusions or recommendations expressed in this material are those of the authors and do not necessarily reflect the views of the funding agencies.
This work was supported in part by: • NSF CNS-0932272• NSF IIS-0914965 • Texas NHARP 003652-0058-2007
IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.
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IPCAI 2010: Visualization and Planning of Neurosurgical Interventions with Straight Access.