Computational Models for Image-Guided Robot-Assisted and Simulated Medical Interventions

Medical image analysis plays a crucial role in the diagnosis, planning, control, and follow-up of therapy. To be combined efficiently with medical robotics, medical image analysis can be supported by the development of specific computational models of the human body operating at various levels. We describe a hierarchy of these computational models, including the geometrical, physical, and physiological levels, and illustrate their potential use in a number of advanced medical applications including image-guided robot-assisted and simulated medical interventions. We conclude with scientific perspectives

[1]  R. FitzHugh.  Impulses and Physiological States in Theoretical Models of Nerve Membrane. , 1961, Biophysical journal.

[2]  William E. Lorensen,et al.  Marching cubes: A high resolution 3D surface construction algorithm , 1987, SIGGRAPH.

[3]  M J Ackerman,et al.  The Visible Human Project , 1998, Proc. IEEE.

[4]  William E. Lorensen,et al.  Decimation of triangle meshes , 1992, SIGGRAPH.

[5]  Timothy F. Cootes,et al.  Building and using flexible models incorporating grey-level information , 1993, 1993 (4th) International Conference on Computer Vision.

[6]  W. Eric L. Grimson,et al.  An automatic registration method for frameless stereotaxy, image guided surgery, and enhanced reality visualization , 1994, 1994 Proceedings of IEEE Conference on Computer Vision and Pattern Recognition.

[7]  R. Aliev,et al.  A simple two-variable model of cardiac excitation , 1996 .

[8]  Tomas Lozano-Perez,et al.  An automatic registration method for frameless stereotaxy, image guided surgery, and enhanced reality visualization , 1996 .

[9]  Dimitris N. Metaxas,et al.  A 3D virtual environment for modeling mechanical cardiopulmonary interactions , 1997, CVRMed.

[10]  Xavier Pennec,et al.  Feature-Based Registration of Medical Images: Estimation and Validation of the Pose Accuracy , 1998, MICCAI.

[11]  Stephane Cotin,et al.  A hybrid elastic model for real-time cutting, deformations, and force feedback for surgery training and simulation , 1999, Proceedings Computer Animation 1999.

[12]  Keith D. Paulsen,et al.  Model-updated image guidance: initial clinical experiences with gravity-induced brain deformation , 1999, IEEE Transactions on Medical Imaging.

[13]  Dinesh K. Pai,et al.  ArtDefo: accurate real time deformable objects , 1999, SIGGRAPH.

[14]  Herve Delingette,et al.  Real-Time Elastic Deformations of Soft Tissues for Surgery Simulation , 1999, IEEE Trans. Vis. Comput. Graph..

[15]  Yohan Payan,et al.  A 3D Finite Element Model of the Face for Simulation in Plastic and Maxillo-Facial Surgery , 2000, MICCAI.

[16]  Stephane Cotin,et al.  A hybrid elastic model for real-time cutting, deformations, and force feedback for surgery training and simulation , 2000, The Visual Computer.

[17]  K Miller,et al.  Constitutive modelling of abdominal organs. , 2000, Journal of biomechanics.

[18]  David J. Hawkes,et al.  Design and evaluation of a system for microscope-assisted guided interventions (MAGI) , 2000 .

[19]  Mathieu Desbrun,et al.  Dynamic real-time deformations using space & time adaptive sampling , 2001, SIGGRAPH.

[20]  Stéphane Cotin,et al.  Truth Cube: Establishing Physical Standards for Real Time Soft Tissue Simulation , 2001 .

[21]  Frédérique Clément,et al.  A Biomechanical Model of Muscle Contraction , 2001, MICCAI.

[22]  Stephen Starkie,et al.  Advances in Active Constraints and Their Application to Minimally Invasive Surgery , 2001, MICCAI.

[23]  R. Kikinis,et al.  Integration of interventional MRI with computer‐assisted surgery , 2001, Journal of magnetic resonance imaging : JMRI.

[24]  N. Ayache,et al.  Fully automatic anatomical, pathological, and functional segmentation from CT scans for hepatic surgery , 2001 .

[25]  J. F. Greenleaf,et al.  Magnetic resonance elastography: Non-invasive mapping of tissue elasticity , 2001, Medical Image Anal..

[26]  Ron Kikinis,et al.  Registration of 3D Intraoperative MR Images of the Brain Using a Finite Element Biomechanical Model , 2001, IEEE Trans. Medical Imaging.

[27]  J. Murray,et al.  Virtual brain tumours (gliomas) enhance the reality of medical imaging and highlight inadequacies of current therapy , 2002, British Journal of Cancer.

[28]  James S. Duncan,et al.  Model-driven brain shift compensation , 2002, Medical Image Anal..

[29]  R. Tamburo,et al.  Guidance of Retrobulbar Injection With Real‐time Tomographic Reflection , 2002, Journal of ultrasound in medicine : official journal of the American Institute of Ultrasound in Medicine.

[30]  Xavier Pennec,et al.  Validation of medical image processing in image-guided therapy , 2002 .

[31]  D. Noble.  Modeling the Heart--from Genes to Cells to the Whole Organ , 2002, Science.

[32]  Ève Coste-Manière,et al.  Optimal Planning of Robotically Assisted Heart Surgery: Transfer Precision in the Operating Room , 2002, ISER.

[33]  Xavier Pennec,et al.  Multi-scale EM-ICP: A Fast and Robust Approach for Surface Registration , 2002, ECCV.

[34]  H. Peitgen,et al.  HepaVision2 — a software assistant for preoperative planning in living-related liver transplantation and oncologic liver surgery , 2002 .

[35]  Ron Kikinis,et al.  Serial registration of intraoperative MR images of the brain , 2002, Medical Image Anal..

[36]  Bharat K. Soni,et al.  Mesh Generation , 2020, Handbook of Computational Geometry.

[37]  Russell H. Taylor,et al.  Medical robotics in computer-integrated surgery , 2003, IEEE Trans. Robotics Autom..

[38]  Steve Oudot,et al.  Provably Good Surface Sampling and Approximation , 2003, Symposium on Geometry Processing.

[39]  N. J. Avis,et al.  Determination of the Mechanical Properties of Soft Human Tissues through Aspiration Experiments , 2003, MICCAI.

[40]  Leo Joskowicz,et al.  Bone-mounted miniature robot for surgical procedures: Concept and clinical applications , 2003, IEEE Trans. Robotics Autom..

[41]  Ichiro Sakuma,et al.  In vitro Measurement of Mechanical Properties of Liver Tissue under Compression and Elongation Using a New Test Piece Holding Method with Surgical Glue , 2003, IS4TH.

[42]  David J. Hawkes,et al.  Validation of nonrigid image registration using finite-element methods: application to breast MR images , 2003, IEEE Transactions on Medical Imaging.

[43]  George D. Stetten,et al.  C-Mode Real Time Tomographic Reflection for a Matrix Array Ultrasound Sonic Flashlight , 2003, MICCAI.

[44]  Hervé Delingette,et al.  Non-linear anisotropic elasticity for real-time surgery simulation , 2003, Graph. Model..

[45]  J. Murray,et al.  Virtual and real brain tumors: using mathematical modeling to quantify glioma growth and invasion , 2003, Journal of the Neurological Sciences.

[46]  Nassir Navab,et al.  Recovering the X-ray projection geometry for three-dimensional tomographic reconstruction with additional sensors: Attached camera versus external navigation system , 2003, Medical Image Anal..

[47]  Hervé Delingette,et al.  Deformable biomechanical models: Application to 4D cardiac image analysis , 2003, Medical Image Anal..

[48]  P. Hunter,et al.  Integration from proteins to organs: the Physiome Project , 2003, Nature Reviews Molecular Cell Biology.

[49]  Keith W. Hipel,et al.  Guest Editorial , 2003, IEEE Trans. Syst. Man Cybern. Part C.

[50]  Stephane Cotin,et al.  Truth cube: Establishing physical standards for soft tissue simulation , 2003, Medical Image Anal..

[51]  Hervé Delingette,et al.  Patient-Specific Biomechanical Model of the Brain: Application to Parkinson's Disease Procedure , 2003, IS4TH.

[52]  Hervé Delingette,et al.  A Parallel Implementation of Non-rigid Registration Using a Volumetric Biomechanical Model , 2003, WBIR.

[53]  Luc Soler,et al.  An Accuracy Certified Augmented Reality System for Therapy Guidance , 2004, ECCV.

[54]  Andrew D. McCulloch,et al.  Computational Methods for Cardiac Electrophysiology , 2004 .

[55]  Alfio Quarteroni,et al.  Mathematical Modelling and Numerical Simulation of the Cardiovascular System , 2004 .

[56]  Hervé Delingette,et al.  In Silico Tumor Growth: Application to Glioblastomas , 2004, MICCAI.

[57]  M. Miller,et al.  Computational anatomy and neuropsychiatric disease: probabilistic assessment of variation and statistical inference of group difference, hemispheric asymmetry, and time-dependent change , 2004, NeuroImage.

[58]  J. Marescaux,et al.  Augmented-reality-assisted laparoscopic adrenalectomy. , 2004, JAMA.

[59]  Luc Soler,et al.  Virtual reality and augmented reality in digestive surgery , 2004, Third IEEE and ACM International Symposium on Mixed and Augmented Reality.

[60]  Nicholas Ayache.  Computational Models for the Human Body , 2004 .

[61]  C. MacAulay,et al.  In vivo pathology: microendoscopy as a new endoscopic imaging modality. , 2004, Gastrointestinal endoscopy clinics of North America.

[62]  P. Wolf,et al.  A Three-Dimensional Finite Element Model of Radiofrequency Ablation with Blood Flow and its Experimental Validation , 2000, Annals of Biomedical Engineering.

[63]  Carol O'Sullivan.  A virtual reality electrocardiography teaching tool , 2004 .

[64]  Hyung Yun Choi,et al.  Human models for crash and impact simulation , 2004 .

[65]  Alexander Bornik,et al.  Tools for augmented-reality-based liver resection planning , 2004, Medical Imaging: Image-Guided Procedures.

[66]  Robert D. Howe,et al.  The Effects of Testing Environment on the Viscoelastic Properties of Soft Tissues , 2004, ISMS.

[67]  Nicholas Ayache,et al.  Towards Optical Biopsies with an Integrated Fibered Confocal Fluorescence Microscope , 2004, MICCAI.

[68]  Luc Soler,et al.  An Augmented Reality & Virtuality Interface for a Puncture Guidance System: Design and Validation on an Abdominal Phantom , 2004, MIAR.

[69]  Hervé Delingette,et al.  Surface Contact and Reaction Force Models for Laparoscopic Simulation , 2004, ISMS.

[70]  Luc Soler,et al.  Beating heart tracking in robotic surgery using 500 Hz visual servoing, model predictive control and an adaptive observer , 2004, IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA '04. 2004.

[71]  Kawal S. Rhode,et al.  Simulation of the Electromechanical Activity of the Heart Using XMR Interventional Imaging , 2004, MICCAI.

[72]  Luc Soler,et al.  An Augmented Reality and Virtuality Interface for a Puncture Guidance System: Design and Validation on an Abdominal Phantom , 2004 .

[73]  M. Miller.  Computational anatomy: shape, growth, and atrophy comparison via diffeomorphisms , 2004, NeuroImage.

[74]  Ève Coste-Manière,et al.  Optimal Planning of Robotically Assisted Heart Surgery: First Results on the Transfer Precision in the Operating Room , 2004, Int. J. Robotics Res..

[75]  Paul M. Thompson,et al.  Preface to the special issue , 2003, NeuroImage.

[76]  Hervé Delingette,et al.  Soft Tissue Modeling for Surgery Simulation , 2004 .

[77]  Ken Masamune,et al.  Needle Insertion in CT Scanner with Image Overlay - Cadaver Studies , 2004, MICCAI.

[78]  J. Desai,et al.  Measuring Forces in Liver Cutting: New Equipment and Experimental Results , 2003, Annals of Biomedical Engineering.

[79]  Chandrajit L. Bajaj,et al.  Adaptive and Quality Quadrilateral/Hexahedral Meshing from Volumetric Imaging Data , 2004, IMR.

[80]  Thorsten M Buzug,et al.  Perspective in image-guided surgery : proceedings of scientific workshop on medical robotics, navigation and visualization, RheinAhrCampus Remagen, Germany 19-22 March 2003 , 2004 .

[81]  Gábor Székely,et al.  Simultaneous Topology and Stiffness Identification for Mass-Spring Models Based on FEM Reference Deformations , 2004, MICCAI.

[82]  Wolfgang Straßer,et al.  Corotational Simulation of Deformable Solids , 2004, WSCG.

[83]  Mariette Yvinec,et al.  Variational tetrahedral meshing , 2005, ACM Trans. Graph..

[84]  Luc Soler,et al.  A Complete Augmented Reality Guidance System for Liver Punctures: First Clinical Evaluation , 2005, MICCAI.

[85]  Luc Soler,et al.  An augmented reality system to guide radio‐frequency tumour ablation , 2005, Comput. Animat. Virtual Worlds.

[86]  R Stefanescu,et al.  A Grid service for the interactive use of a parallel non-rigid registration algorithm of medical images. , 2005, Methods of information in medicine.

[87]  Markus H. Gross,et al.  Meshless deformations based on shape matching , 2005, ACM Trans. Graph..

[88]  Hervé Delingette,et al.  Removing tetrahedra from manifold tetrahedralisation: application to real-time surgical simulation , 2005, Medical Image Anal..

[89]  Gábor Székely,et al.  Real-time synthesis of bleeding for virtual hysteroscopy , 2003, Medical Image Anal..

[90]  Kawal S. Rhode,et al.  Tissue deformation and shape models in image-guided interventions: a discussion paper , 2005, Medical Image Anal..

[91]  Jean-Daniel Boissonnat,et al.  From arteriographies to computational flow in saccular aneurisms: the INRIA experience , 2005, Medical Image Anal..

[92]  Hervé Delingette,et al.  Robust nonrigid registration to capture brain shift from intraoperative MRI , 2005, IEEE Transactions on Medical Imaging.

[93]  Marie-Paule Cani,et al.  A layered model of a virtual human intestine for surgery simulation , 2005, Medical Image Anal..

[94]  M. Teschner,et al.  Meshless deformations based on shape matching , 2005, SIGGRAPH 2005.

[95]  Dominique Chapelle,et al.  Cardiac function estimation from MRI using a heart model and data assimilation: Advances and difficulties , 2006, Medical Image Anal..

[96]  Hervé Delingette,et al.  Building maps of local apparent conductivity of the epicardium with a 2-D electrophysiological model of the heart , 2006, IEEE Transactions on Biomedical Engineering.

[97]  Hervé Delingette,et al.  An electromechanical model of the heart for image analysis and simulation , 2006, IEEE Transactions on Medical Imaging.

[98]  Yongjie Zhang,et al.  Adaptive and Quality Quadrilateral/Hexahedral Meshing from Volumetric Data. , 2006, Computer methods in applied mechanics and engineering.

[99]  M. Filipiak.  Mesh Generation , 2007 .