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ABSTRACT: We describe a method to increase the frame rate for 3-dimensional ultrasound sequences of periodically moving cardiac structures by reordering the acquired volume series. The frame rate is especially important in studying intracardiac structures such as valve leaflet motion in which valve closing times are on the order of milliseconds. Current commercially available systems for volumetric ultrasound imaging are limited to approximately 10 to 20 volumes per second. Although this frame rate is sufficient for real-time observation of basic cardiac morphology, understanding cardiac dynamics requires faster frame rates. The presented work achieves higher frame rates by sampling over several beats and using a simultaneous electrocardiography signal to accurately place the frame within the cardiac cycle. The proposed method relies on periodicity of the heart motion and that within the temporal regions of highest velocity, the structural motions of interest have the lowest beat-to-beat variability.
JACC. Cardiovascular imaging 03/2012; 5(3):300-4. · 14.29 Impact Factor
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ABSTRACT: Measurement of the shape and motion of the mitral valve annulus has proven useful in a number of applications, including pathology diagnosis and mitral valve modeling. Current methods to delineate the annulus from four-dimensional (4D) ultrasound, however, either require extensive overhead or user-interaction, become inaccurate as they accumulate tracking error, or they do not account for annular shape or motion. This paper presents a new 4D annulus segmentation method to account for these deficiencies. The method builds on a previously published three-dimensional (3D) annulus segmentation algorithm that accurately and robustly segments the mitral annulus in a frame with a closed valve. In the 4D method, a valve state predictor determines when the valve is closed. Subsequently, the 3D annulus segmentation algorithm finds the annulus in those frames. For frames with an open valve, a constrained optical flow algorithm is used to the track the annulus. The only inputs to the algorithm are the selection of one frame with a closed valve and one user-specified point near the valve, neither of which needs to be precise. The accuracy of the tracking method is shown by comparing the tracking results to manual segmentations made by a group of experts, where an average RMS difference of 1.67±0.63mm was found across 30 tracked frames.
Medical image analysis 12/2011; 16(2):497-504. · 3.09 Impact Factor
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ABSTRACT: Registration of three-dimensional ultrasound (3DUS) volumes is necessary in several applications, such as when stitching volumes to expand the field of view or when stabilizing a temporal sequence of volumes to cancel out motion of the probe or anatomy. Current systems that register 3DUS volumes either use external tracking systems (electromagnetic or optical), which add expense and impose limitations on acquisitions, or are image-based methods that operate offline and are incapable of providing immediate feedback to clinicians. This paper presents a real-time image-based algorithm for rigid registration of 3DUS volumes designed for acquisitions in which small probe displacements occur between frames. Described is a method for feature detection and descriptor formation that takes into account the characteristics of 3DUS imaging. Volumes are registered by determining a correspondence between these features. A global set of features is maintained and integrated into the registration, which limits the accumulation of registration error. The system operates in real-time (i.e. volumes are registered as fast or faster than they are acquired) by using an accelerated framework on a graphics processing unit. The algorithm's parameter selection and performance is analyzed and validated in studies which use both water tank and clinical images. The resulting registration accuracy is comparable to similar feature-based registration methods, but in contrast to these methods, can register 3DUS volumes in real-time.
Medical image analysis 11/2011; 16(2):402-14. · 3.09 Impact Factor
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ABSTRACT: The most common reason for late surgical reintervention after repair of complete atrioventricular canal defects is the development of left atrioventricular valve regurgitation. We sought to determine the changes in left atrioventricular valve geometry after surgical repair that may predispose to regurgitation.
Atrioventricular valve measurements were obtained by 2-dimensional echocardiography at 3 different time points (preoperative, early postoperative, and midterm postoperative [6-12 months]). Left atrioventricular valve annulus area and left ventricular volume were calculated; vena contracta of the regurgitant jet orifice was measured. All measurements were normalized relative to an appropriate power of body surface area.
From January 2000 to January 2008, 101 patients with complete atrioventricular canal repair were included. Left atrioventricular valve annulus was noted to remodel from an elliptical shape to a circular shape after surgery. Left atrioventricular valve annulus area increased early postoperatively (systole: 4.1 ± 0.2 cm(2)/m(2) vs 6.1 ± 0.3 cm(2)/m(2), P < .001; diastole: 7.2 ± 0.4 cm(2)/m(2) vs 10.0 ± 0.5 cm(2)/m(2), P < .001, pre- vs postoperative, respectively). This increase was sustained in the midterm postoperative period (systole: 6.1 ± 0.3 cm(2)/m(2), P = .85, vs diastole: 10.0 ± 0.4 cm(2)/m(2), P = .78, early vs midterm postoperative). Left ventricular volume increased in the early and midterm postoperative periods compared with preoperative (systole: 16.9 ± 1.2 mL/m(2) vs 26.2 ± 1.7 mL/m(2), P < .001; diastole: 35.0 ± 2.4 mL/m(2) vs 52.5 ± 3.2 mL/m(2), P < .001).
Complete atrioventricular canal repair leads to left atrioventricular valve annular shape change with increased area and circular shape. The change in left atrioventricular valve annulus shape appeared to be mainly due to increased circumference in the posterior free wall of the annulus. These findings may provide a mechanism for the progression of central regurgitation seen after complete atrioventricular canal repair and a potential solution.
The Journal of thoracic and cardiovascular surgery 11/2011; 143(5):1117-24. · 3.41 Impact Factor
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ABSTRACT: Segmenting the mitral valve during closure and throughout a cardiac cycle from four dimensional ultrasound (4DUS) is important for creation and validation of mechanical models and for improved visualization and understanding of mitral valve behavior. Current methods of segmenting the valve from 4DUS either require extensive user interaction and initialization, do not maintain the valve geometry across a cardiac cycle, or are incapable of producing a detailed coaptation line and surface. We present a method of segmenting the mitral valve annulus and leaflets from 4DUS such that a detailed, patient-specific annulus and leaflets are tracked throughout mitral valve closure, resulting in a detailed coaptation region. The method requires only the selection of two frames from a sequence indicating the start and end of valve closure and a single point near a closed valve. The annulus and leaflets are first found through direct segmentation in the appropriate frames and then by tracking the known geometry to the remaining frames. We compared the automatically segmented meshes to expert manual tracings for both a normal and diseased mitral valve, and found an average difference of 0.59 +/- 0.49 mm, which is on the order of the spatial resolution of the ultrasound volumes (0.5-1.0 mm/voxel).
Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. 01/2011; 14(Pt 3):520-7.
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ABSTRACT: The shape of the mitral valve annulus is used in diagnostic and modeling applications, yet methods to accurately and reproducibly delineate the annulus are limited. This paper presents a mitral annulus segmentation algorithm designed for closed mitral valves which locates the annulus in three-dimensional ultrasound using only a single user-specified point near the center of the valve. The algorithm first constructs a surface at the location of the thin leaflets, and then locates the annulus by finding where the thin leaflet tissue meets the thicker heart wall. The algorithm iterates until convergence metrics are satisfied, resulting in an operator-independent mitral annulus segmentation. The accuracy of the algorithm was assessed from both a diagnostic and surgical standpoint by comparing the algorithm's results to delineations made by a group of experts on clinical ultrasound images of the mitral valve, and to delineations made by an expert with a surgical view of the mitral annulus on excised porcine hearts using an electromagnetically tracked pointer. In the former study, the algorithm was statistically indistinguishable from the best performing expert (p=0.85) and had an average RMS difference of 1.81+/-0.78 mm to the expert average. In the latter, the average RMS difference between the algorithm's annulus and the electromagnetically tracked points across six hearts was 1.19+/-0.17 mm .
IEEE transactions on medical imaging. 09/2010; 29(9):1676-87.
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ABSTRACT: We are developing an alternative mitral valve suture annuloplasty technique on the beating-heart under real-time three-dimensional echocardiography (RT3DE) guidance. The purpose of this initial study was to evaluate a feasibility of this technique using commercially available suturing devices (Sutur Tek Endo 360-degree, Sutur Tek Inc, North Chelmsford, MA, USA). Isolated porcine hearts (n=10) were mounted in a water-filled tank and attached to an ex vivo pulse simulation device, where varying left ventricle pressures with associated valve motion were generated by pulsatile flow through an apical cannula. The suturing device was inserted through the left atrium. Intra-annular (De Vega type) suture annuloplasty was performed under RT3DE guidance. The procedure was successfully performed in all cases. The diameter of the annulus was effectively reduced (85.5+/-4.2% of original antero-posterior dimension, 86.7+/-6.1% of original transverse dimension). The number of tissue bites was 7.4+/-0.8. The maximum distance between the annulus and sutures placed was 1.1 mm. The total procedure time was 9.4+/-2.4 min. There was no collateral tissue injury in any of the cases. This ex vivo study demonstrates the feasibility of beating-heart mitral valve suture annuloplasty under RT3DE guidance.
Interactive cardiovascular and thoracic surgery 07/2010; 11(1):6-9.
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IEEE Trans. Med. Imaging. 01/2010; 29:1676-1687.
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IEEE Transactions on Robotics. 01/2010; 26:888-896.
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ABSTRACT: The manipulation of fast moving, delicate tissues in beating heart procedures presents a considerable challenge to surgeons. We present a new robotic force stabilization system that assists surgeons by maintaining a constant contact force with the beating heart. The system incorporates a novel, miniature uniaxial force sensor that is mounted to surgical instrumentation to measure contact forces during surgical manipulation. Using this sensor in conjunction with real-time tissue motion information derived from 3D ultrasound, we show that a force controller with feed-forward motion terms can provide safe and accurate force stabilization in an in vivo contact task against the beating mitral valve annulus. This confers a 50% reduction in force fluctuations when compared to a standard force controller and a 75% reduction in fluctuations when compared to manual attempts to maintain the same force.
Medical image computing and computer-assisted intervention : MICCAI ... International Conference on Medical Image Computing and Computer-Assisted Intervention. 10/2009; 5761(2009):26-33.
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Current problems in surgery 10/2009; 46(9):730-66. · 1.42 Impact Factor
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ABSTRACT: An accurate and reproducible segmentation of the mitral valve annulus from 3D ultrasound is useful to clinicians and researchers in applications such as pathology diagnosis and mitral valve modeling. Current segmentation methods, however, are based on 2D information, resulting in inaccuracies and a lack of spatial coherence. We present a segmentation algorithm which, given a single user-specified point near the center of the valve, uses max-flow and active contour methods to delineate the annulus geometry in 3D. Preliminary comparisons to manual segmentations and a sensitivity study show the algorithm is both accurate and robust.
Proceedings / IEEE International Symposium on Biomedical Imaging: from nano to macro. IEEE International Symposium on Biomedical Imaging 01/2009;
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14th International Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems (HAPTICS 2006), 25-26 March 2006, Arlington, VA, USA, Proceedings; 01/2006
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Proceedings of the 2006 IEEE International Conference on Robotics and Automation, ICRA 2006, May 15-19, 2006, Orlando, Florida, USA; 01/2006
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Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA; 01/2004
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Proceedings of the 2004 IEEE International Conference on Robotics and Automation, ICRA 2004, April 26 - May 1, 2004, New Orleans, LA, USA; 01/2004
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I. J. Robotic Res. 01/2003; 22:855-872.
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2001 IEEE Computer Society Conference on Computer Vision and Pattern Recognition (CVPR 2001), with CD-ROM, 8-14 December 2001, Kauai, HI, USA; 01/2001
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Proceedings of the 2000 IEEE International Conference on Robotics and Automation, ICRA 2000, April 24-28, 2000, San Francisco, CA, USA; 01/2000
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ABSTRACT: Surgical repair of the mitral valve results in better outcomes than valve replacement, yet diseased valves are often replaced due to the technical difficulty of the repair process. A surgical planning system based on patient-specific medical images that allows surgeons to simulate and compare potential repair strategies could greatly improve surgical outcomes. The system must simulate valve closure quickly and handle the complex boundary conditions imposed by the chords that tether the valve leaflets. We have developed a process for generating a triangulated mesh of the valve surface from volumetric image data of the opened valve. The closed position of the mesh is then computed using a mass-spring model of dynamics. In the mass-spring model, triangle sides are treated as linear springs supporting only tension. Chords are also treated as linear springs, and self-collisions are detected and handled inelastically. The equations of motion are solved using implicit numerical integration. The simulated closed state is compared with an image of the same valve taken in the closed state to assess accuracy of the model. The model exhibits rapid valve closure and is able to predict the closed state of the valve with reasonable accuracy. Engineering and Applied Sciences Version of Record
