Spatiotemporal Deep Learning-Based Cine Loop Quality Filter for Handheld Point-of-Care Echocardiography.

The reliability of automated image interpretation of point-of-care (POC) echocardiography scans depends on the quality of the acquired ultrasound data. This work reports on the development and validation of spatiotemporal deep learning models to assess the suitability of input ultrasound cine loops collected using a handheld echocardiography device for processing by an automated quantification algorithm (e.g. ejection fraction estimation). POC echocardiograms (n=885 DICOM cine loops from 175 patients) from two sites were collected using a handheld ultrasound device and annotated for image quality at the frame-level. Attributes of high-quality frames for left ventricular (LV) quantification included a temporally-stable LV, reasonable coverage of LV borders, and good contrast between the borders and chamber. Attributes of low-quality frames included temporal instability of the LV and/or imaging artifacts (e.g., lack of contrast, haze, reverberation, acoustic shadowing). Three different neural network architectures were investigated - (a) frame-level convolutional neural network (CNN) which operates on individual echo frames (VectorCNN), (b) single-stream sequence-level CNN which operates on a sequence of echo frames (VectorCNN+LSTM) and (c) two-stream sequence-level CNNs which operate on a sequence of echo and optical flow frames (VectorCNN+LSTM+Average, VectorCNN+LSTM+MinMax, and VectorCNN+LSTM+ConvPool). Evaluation on a sequestered test dataset containing 76 DICOM cine loops with 16,914 frames showed that VectorCNN+LSTM can effectively utilize both spatial and temporal information to regress the quality of an input frame (accuracy: 0.925, sensitivity = 0.860, specificity = 0.952), compared to the frame-level VectorCNN that only utilizes spatial information in that frame (accuracy: 0.903, sensitivity = 0.791, specificity = 0.949). Furthermore, an independent sample t-test indicated that the cine loops classified to be of adequate quality by the VectorCNN+LSTM model had a statistically significant lower bias in the automatically estimated EF (mean bias = - 3.73 ± 7.46 %, versus a clinically obtained reference EF) compared to the loops classified as inadequate (mean bias = -15.92 ± 12.17 %) (p = 0.007). Thus, cine loop stratification using the proposed spatiotemporal CNN model improves the reliability of automated point-of-care echocardiography image interpretation.

Pragmatic Evaluation of a Deep-Learning Algorithm to Automate Ejection Fraction on Hand-Held, Point-of-Care Echocardiography in a Cardiac Surgical Operating Room.

OBJECTIVE: To test the correlation of ejection fraction (EF) estimated by a deep-learning-based, automated algorithm (Auto EF) versus an EF estimated by Simpson's method. DESIGN: A prospective observational study. SETTING: A single-center study at the Hospital of the University of Pennsylvania. PARTICIPANTS: Study participants were ≥18 years of age and scheduled to undergo valve, aortic, coronary artery bypass graft, heart, or lung transplant surgery. INTERVENTIONS: This noninterventional study involved acquiring apical 4-chamber transthoracic echocardiographic clips using the Philips hand-held ultrasound device, Lumify. MEASUREMENTS AND MAIN RESULTS: In the primary analysis of 54 clips, compared to Simpson's method for EF estimation, bias was similar for Auto EF (-10.17%) and the experienced reader-estimated EF (-9.82%), but the correlation was lower for Auto EF (r = 0.56) than the experienced reader-estimated EF (r = 0.80). In the secondary analyses, the correlation between EF estimated by Simpson's method and Auto EF increased when applied to 27 acquisitions classified as adequate (r = 0.86), but decreased when applied to 27 acquisitions classified as inadequate (r = 0.46). CONCLUSIONS: Applied to acquisitions of adequate image quality, Auto EF produced a numerical EF estimate equivalent to Simpson's method. However, when applied to acquisitions of inadequate image quality, discrepancies arose between EF estimated by Auto EF and Simpson's method. Visual EF estimates by experienced readers correlated highly with Simpson's method in both variable and inadequate imaging conditions, emphasizing its enduring clinical utility.

EM-enhanced US-based seed detection for prostate brachytherapy.

PURPOSE: Intraoperative dosimetry in low-dose-rate (LDR) permanent prostate brachytherapy requires accurate localization of the implanted seeds with respect to the prostate anatomy. Transrectal Ultrasound (TRUS) imaging, which is the main imaging modality used during the procedure, is not sufficiently robust for accurate seed localization. We present a method for integration of electromagnetic (EM) tracking into LDR prostate brachytherapy procedure by fusing it with TRUS imaging for seed localization. METHOD: Experiments were conducted on five tissue mimicking phantoms in a controlled environment. The seeds were implanted into each phantom using an EM-tracked needle, which allowed recording of seed drop locations. After each needle, we reconstructed a 3D ultrasound (US) volume by compounding a series of 2D US images acquired during retraction of an EM-tracked TRUS probe. Then, a difference image was generated by nonrigid registration and subtraction of two consecutive US volumes. A US-only seed detection method was used to detect seed candidates in the difference volume, based on the signature of the seeds. Finally, the EM-based positions of the seeds were used to detect the false positives of the US-based seed detection method and also to estimate the positions of the missing seeds. After the conclusion of the seed implant process, we acquired a CT image. The ground truth for seed locations was obtained by localizing the seeds in the CT image and registering them to the US coordinate system. RESULTS: Compared to the ground truth, the US-only detection algorithm achieved a localization error mean of 1.7 mm with a detection rate of 85%. By contrast, the EM-only seed localization method achieved a localization error mean of 3.7 mm with a detection rate of 100%. By fusing EM-tracking information with US imaging, we achieved a localization error mean of 1.8 mm while maintaining a 100% detection rate without any false positives. CONCLUSIONS: Fusion of EM-tracking and US imaging for prostate brachytherapy can combine high localization accuracy of US-based seed detection with the robustness and high detection rate of EM-based seed localization. Our phantom experiments serve as a proof of concept to demonstrate the potential value of integrating EM-tracking into LDR prostate brachytherapy.

Augmenting MRI-transrectal ultrasound-guided prostate biopsy with temporal ultrasound data: a clinical feasibility study.

PURPOSE: In recent years, fusion of multi-parametric MRI (mp-MRI) with transrectal ultrasound (TRUS)-guided biopsy has enabled targeted prostate biopsy with improved cancer yield. Target identification is solely based on information from mp-MRI, which is subsequently transferred to the subject coordinates through an image registration approach. mp-MRI has shown to be highly sensitive to detect higher-grade prostate cancer, but suffers from a high rate of false positives for lower-grade cancer, leading to unnecessary biopsies. This paper utilizes a machine-learning framework to further improve the sensitivity of targeted biopsy through analyzing temporal ultrasound data backscattered from the prostate tissue. METHODS: Temporal ultrasound data were acquired during targeted fusion prostate biopsy from suspicious cancer foci identified in mp-MRI. Several spectral features, representing the signature of backscattered signal from the tissue, were extracted from the temporal ultrasound data. A supervised support vector machine classification model was trained to relate the features to the result of histopathology analysis of biopsy cores obtained from cancer foci. The model was used to predict the label of biopsy cores for mp-MRI-identified targets in an independent group of subjects. RESULTS: Training of the classier was performed on data obtained from 35 biopsy cores. A fivefold cross-validation strategy was utilized to examine the consistency of the selected features from temporal ultrasound data, where we achieved the classification accuracy and area under receiver operating characteristic curve of 94 % and 0.98, respectively. Subsequently, an independent group of 25 biopsy cores was used for validation of the model, in which mp-MRI had identified suspicious cancer foci. Using the trained model, we predicted the tissue pathology using temporal ultrasound data: 16 out of 17 benign cores, as well as all three higher-grade cancer cores, were correctly identified. CONCLUSION: The results show that temporal analysis of ultrasound data is potentially an effective approach to complement mp-MRI-TRUS-guided prostate cancer biopsy, specially to reduce the number of unnecessary biopsies and to reliably identify higher-grade cancers.

A new sensor technology for 2D ultrasound-guided needle tracking.

2D Ultrasound (US) is becoming the preferred modality for image-guided interventions due to its low cost and portability. However, the main limitation is the limited visibility of surgical tools. We present a new sensor technology that can easily be embedded on needles that are used for US-guided interventions. Two different types of materials are proposed to be used as sensor--co-polymer and PZT. The co-polymer technology is particularly attractive due to its plasticity, allowing very thin depositions (10-20 µm) on a variety of needle shapes. Both sensors receive acoustic energy and convert it to an electrical signal. The precise location of the needle can then be estimated from this signal, to provide real-time feedback to the clinician. We evaluated the feasibility of this new technology using (i) a 4DOF robot in a water tank; (ii) extensive ex vivo experiments; and (iii) in vivo studies. Quantitative robotic studies indicated that the co-polymer is more robust and stable when compared to PZT. In quantitative experiments, the technology achieved a tracking accuracy of 0.14 ± 0.03mm, significantly superior to competing technologies. The technology also proved success in near-real clinical studies on tissue data. This sensor technology is non-disruptive of existing clinical workflows, highly accurate, and is cost-effective. Initial clinician feedback shows great potential for large scale clinical impact.

Electromagnetic tracking for catheter reconstruction in ultrasound-guided high-dose-rate brachytherapy of the prostate.

PURPOSE: The accurate delivery of high-dose-rate brachytherapy is dependent on the correct identification of the position and shape of the treatment catheters. In many brachytherapy clinics, transrectal ultrasound (TRUS) imaging is used to identify the catheters. However, manual catheter identification on TRUS images can be time consuming, subjective, and operator dependent because of calcifications and distal shadowing artifacts. We report the use of electromagnetic (EM) tracking technology to map the position and shape of catheters inserted in a tissue-mimicking phantom. METHODS AND MATERIALS: The accuracy of the EM system was comprehensively quantified using a three-axis robotic system. In addition, EM tracks acquired from catheters in a phantom were compared with catheter positions determined from TRUS and CT images to compare EM system performance to standard clinical imaging modalities. The tracking experiments were performed in a controlled laboratory environment and also in a typical brachytherapy operating room to test for potential EM distortions. RESULTS: The robotic validation of the EM system yielded a mean accuracy of <0.5 mm for a clinically acceptable field of view in a nondistorting environment. The EM-tracked catheter representations were found to have an accuracy of <1 mm when compared with TRUS- and CT-identified positions, both in the laboratory environment and in the brachytherapy operating room. The achievable accuracy depends to a large extent on the calibration of the TRUS probe, geometry of the tracked devices relative to the EM field generator, and locations of surrounding clinical equipment. To address the issue of variable accuracy, a robust calibration algorithm has been developed and integrated into the workflow. The proposed mapping technique was also found to improve the workflow efficiency of catheter identification. CONCLUSIONS: The high baseline accuracy of the EM system, the consistent agreement between EM-tracked, TRUS- and CT-identified catheters, and the improved workflow efficiency illustrate the potential value of using EM tracking for catheter mapping in high-dose-rate brachytherapy.

Adaptive radiation therapy for postprostatectomy patients using real-time electromagnetic target motion tracking during external beam radiation therapy.

PURPOSE: Using real-time electromagnetic (EM) transponder tracking data recorded by the Calypso 4D Localization System, we report inter- and intrafractional target motion of the prostate bed, describe a strategy to evaluate treatment adequacy in postprostatectomy patients receiving intensity modulated radiation therapy (IMRT), and propose an adaptive workflow. METHODS AND MATERIALS: Tracking data recorded by Calypso EM transponders was analyzed for postprostatectomy patients that underwent step-and-shoot IMRT. Rigid target motion parameters during beam delivery were calculated from recorded transponder positions in 16 patients with rigid transponder geometry. The delivered doses to the clinical target volume (CTV) were estimated from the planned dose matrix and the target motion for the first 3, 5, 10, and all fractions. Treatment adequacy was determined by comparing the delivered minimum dose (Dmin) with the planned Dmin to the CTV. Treatments were considered adequate if the delivered CTV Dmin is at least 95% of the planned CTV Dmin. RESULTS: Translational target motion was minimal for all 16 patients (mean: 0.02 cm; range: -0.12 cm to 0.07 cm). Rotational motion was patient-specific, and maximum pitch, yaw, and roll were 12.2, 4.1, and 10.5°, respectively. We observed inadequate treatments in 5 patients. In these treatments, we observed greater target rotations along with large distances between the CTV centroid and transponder centroid. The treatment adequacy from the initial 10 fractions successfully predicted the overall adequacy in 4 of 5 inadequate treatments and 10 of 11 adequate treatments. CONCLUSION: Target rotational motion could cause underdosage to partial volume of the postprostatectomy targets. Our adaptive treatment strategy is applicable to post-prostatectomy patients receiving IMRT to evaluate and improve radiation therapy delivery.

Characterizing the compression-dependent viscoelastic properties of human hepatic pathologies using dynamic compression testing.

Recent advances in elastography have provided several imaging modalities capable of quantifying the elasticity of tissue, an intrinsic tissue property. This information is useful for determining tumour margins and may also be useful for diagnosing specific tumour types. In this study, we used dynamic compression testing to quantify the viscoelastic properties of 16 human hepatic primary and secondary malignancies and their corresponding background tissue obtained following surgical resection. Two additional backgrounds were also tested. An analysis of the background tissue showed that F4-graded fibrotic liver tissue was significantly stiffer than F0-graded tissue, with a modulus contrast of 4:1. Steatotic liver tissue was slightly stiffer than normal liver tissue, but not significantly so. The tumour-to-background storage modulus contrast of hepatocellular carcinomas, a primary tumour, was approximately 1:1, and the contrast decreased with increasing fibrosis grade of the background tissue. Ramp testing showed that the background stiffness increased faster than the malignant tissue. Conversely, secondary tumours were typically much stiffer than the surrounding background, with a tumour-to-background contrast of 10:1 for colon metastases and 10:1 for cholangiocarcinomas. Ramp testing showed that colon metastases stiffened faster than their corresponding backgrounds. These data have provided insights into the mechanical properties of specific tumour types, which may prove beneficial as the use of quantitative stiffness imaging increases.

Motion-compensated estimation of delivered dose during external beam radiation therapy: implementation in Philips' Pinnacle(3) treatment planning system.

PURPOSE: Recent research efforts investigating dose escalation techniques for three-dimensional conformal radiation therapy (3D CRT) and intensity modulated radiation therapy (IMRT) have demonstrated great benefit when high-dose hypofractionated treatment schemes are implemented. The use of these paradigms emphasizes the importance of smaller treatment margins to avoid high dose to surrounding normal tissue or organs at risk (OARs). However, tighter margins may lead to underdosage of the target due to the presence of organ motion. It is important to characterize organ motion and possibly account for it during treatment delivery. The need for real-time localization of dynamic targets has encouraged the use and development of more continuous motion monitoring systems such as kilo-voltage/fluoroscopic imaging, electromagnetic tracking, and optical monitoring systems. METHODS: This paper presents the implementation of an algorithm to quantify translational and rotational interfractional and intrafractional prostate motion and compute the dosimetric effects of these motion patterns. The estimated delivered dose is compared with the static plan dose to evaluate the success of delivering the plan in the presence of prostate motion. The method is implemented on a commercial treatment planning system (Pinnacle(3), Philips Radiation Oncology Systems, Philips Healthcare) and is termed delivered dose investigational tool (DiDIT). The DiDIT implementation in Pinnacle(3) is validated by comparisons with previously published results. Finally, different workflows are discussed with respect to the potential use of this tool in clinical treatment planning. RESULTS: The DiDIT dose estimation process took approximately 5-20 min (depending on the number of fractions analyzed) on a Pinnacle(3) 9.100 research version running on a Dell M90 system (Dell, Inc., Round Rock, TX, USA) equipped with an Intel Core 2 Duo processor (Intel Corporation, Santa Clara, CA, USA). The DiDIT implementation in Pinnacle(3) was found to be in agreement with previously published results, on the basis of the percent dose difference (PDD). This metric was also utilized to compare plan dose versus delivered dose, for prostate targets in three clinically acceptable treatment plans. CONCLUSIONS: This paper presents results from the implementation of an algorithm on a commercially available treatment planning system that quantifies the dosimetric effects of interfractional and intrafractional motion in external beam radiation therapy (EBRT) of prostate cancer. The implementation of this algorithm within a commercial treatment planning system such as Pinnacle(3) enables easy deployment in the existing clinical workflow. The results of the PDD tests validate the implementation of the DiDIT algorithm in Pinnacle(3), in comparison with previously published results.

Radiofrequency electrode vibration-induced shear wave imaging for tissue modulus estimation: a simulation study.

Quasi-static electrode displacement elastography, used for in-vivo imaging of radiofrequency ablation-induced lesions in abdominal organs such as the liver and kidney, is extended in this paper to dynamic vibrational perturbations of the ablation electrode. Propagation of the resulting shear waves into adjoining regions of tissue can be tracked and the shear wave velocity used to quantify the shear (and thereby Young's) modulus of tissue. The algorithm used utilizes the time-to-peak displacement data (obtained from finite element analyses) to calculate the speed of shear wave propagation in the material. The simulation results presented illustrate the feasibility of estimating the Young's modulus of tissue and is promising for characterizing the stiffness of radiofrequency-ablated thermal lesions and surrounding normal tissue.

Young's modulus reconstruction for radio-frequency ablation electrode-induced displacement fields: a feasibility study.

Radio-frequency (RF) ablation is a minimally invasive treatment for tumors in various abdominal organs. It is effective if good tumor localization and intraprocedural monitoring can be done. In this paper, we investigate the feasibility of using an ultrasound-based Young's modulus reconstruction algorithm to image an ablated region whose stiffness is elevated due to tissue coagulation. To obtain controllable tissue deformations for abdominal organs during and/or intermediately after the RF ablation, the proposed modulus imaging method is specifically designed for using tissue deformation fields induced by the RF electrode. We have developed a new scheme under which the reconstruction problem is simplified to a 2-D problem. Based on this scheme, an iterative Young's modulus reconstruction technique with edge-preserving regularization was developed to estimate the Young's modulus distribution. The method was tested in experiments using a tissue-mimicking phantom and on ex vivo bovine liver tissues. Our preliminary results suggest that high contrast modulus images can be successfully reconstructed. In both experiments, the geometries of the reconstructed modulus images of thermal ablation zones match well with the phantom design and the gross pathology image, respectively.

Radio-frequency ablation electrode displacement elastography: a phantom study.

This article describes the evaluation of a novel method of tissue displacement for use in the elastographic visualization of radio-frequency (rf) ablation-induced lesions. The method involves use of the radio-frequency ablation electrode as a displacement device, which provides localized compression in the region of interest. This displacement mechanism offers the advantage of easy in vivo implementation since problems such as excessive lateral and elevational displacements present when using external compression are reduced with this approach. The method was tested on a single-inclusion tissue-mimicking phantom containing a radio-frequency ablation electrode rigidly attached to the inclusion center. Full-frame rf echo signals were acquired from the phantom before and after electrode displacements ranging from 0.05 to 0.2 mm. One-dimensional cross-correlation analysis between pre- and postcompression signals was used to measure tissue displacements, and strains were determined by computing the gradient of the displacement. The strain contrast, contrast-to-noise ratio, and signal-to-noise ratio were estimated from the resulting strain images. Comparisons are drawn between the elastographically measured dimensions and those known a priori for the single-inclusion phantom. Electrode displacement elastography was found to slightly underestimate the inclusion dimensions. The method was also tested on a second tissue-mimicking phantom and on in vitro rf-ablated lesions in canine liver tissue. The results validate previous in vivo findings that electrode displacement elastography is an effective method for monitoring rf ablation.

Three-dimensional electrode displacement elastography using the Siemens C7F2 fourSight four-dimensional ultrasound transducer.

Because ablation therapy alters the elastic modulus of tissues, emerging strain imaging methods may enable clinicians for the first time to have readily available, cost-effective, real-time guidance to identify the location and boundaries of thermal lesions. Electrode displacement elastography is a method of strain imaging tailored specifically to ultrasound-guided electrode-based ablative therapies (e.g., radio-frequency ablation). Here tissue deformation is achieved by applying minute perturbations to the unconstrained end of the treatment electrode, resulting in localized motion around the end of the electrode embedded in tissue. In this article, we present a method for three-dimensional (3D) elastographic reconstruction from volumetric data acquired using the C7F2 fourSight four-dimensional ultrasound transducer, provided by Siemens Medical Solutions USA, Inc. (Issaquah, WA, USA). Lesion reconstruction is demonstrated for a spherical inclusion centered in a tissue-mimicking phantom, which simulates a thermal lesion embedded in a normal tissue background. Elastographic reconstruction is also performed for a thermal lesion created in vitro in canine liver using radio-frequency ablation. Postprocessing is done on the acquired raw radio-frequency data to form surface-rendered 3D elastograms of the inclusion. Elastographic volume estimates of the inclusion compare reasonably well with the actual known inclusion volume, with 3D electrode displacement elastography slightly underestimating the true inclusion volume.

Contrast-transfer improvement for electrode displacement elastography.

Electrode displacement elastography is a strain imaging method that can be used for in-vivo imaging of radiofrequency ablation-induced lesions in abdominal organs such as the liver and kidney. In this technique, tissue motion or deformation is introduced by displacing the same electrode used to create the lesion. Minute displacements (on the order of a fraction of a millimetre) are applied to the thermal lesion through the electrode, resulting in localized tissue deformation. Ultrasound echo signals acquired before and after the electrode-induced displacements are then utilized to generate strain images. However, these local strains depend on the modulus distribution of the tissue region being imaged. Therefore, a quantitative evaluation of the conversion efficiency from modulus contrast to strain contrast in electrode-displacement elastograms is warranted. The contrast-transfer efficiency is defined as the ratio (in dB) of the observed elastographic strain contrast and the underlying true modulus contrast. It represents a measure of the efficiency with which elastograms depict the underlying modulus distribution in tissue. In this paper, we develop a contrast-transfer efficiency formalism for electrode displacement elastography (referred to as contrast-transfer improvement). Changes in the contrast-transfer improvement as a function of the underlying true modulus contrast and the depth of the inclusion in the simulated phantom are studied. We present finite element analyses obtained using a two-dimensional mechanical deformation and tissue motion model. The results obtained using finite element analyses are corroborated using experimental analysis and an ultrasound simulation program so as to incorporate noise artifacts.

Elastographic measurements of in-vivo radiofrequency ablation lesions of the kidney.

BACKGROUND AND PURPOSE: Elastography may prove useful for monitoring radiofrequency ablative (RFA) therapy because heat-ablated tissues are more elastic than untreated tissues. Herein, we report our initial evaluations of the reliability of elastography for delineating thermal-lesion boundaries at the time of RFA of porcine kidneys. MATERIALS AND METHODS: In-vivo RFA was performed on 20 kidneys from 10 40-kg female pigs. Elastography was performed at the time of surgery and after 48 hours. The imaging plane was perpendicular to the axis of the RF electrode so that the ablated region was around the center of the plane. Measurements of the sections representing the same image plane used for elastography were taken at pathologic examination and compared with the measurements obtained from the elastograms. RESULTS: We found a statistically significant correlation between elastography and pathology measurements with respect to the area and volume estimates (r = 0.9302 and r = 0.953, respectively). Overall, elastography slightly underestimated the lesion size, as judged by the digitalized pathologic images, a finding consistent with previous reports. CONCLUSION: We found a correlation between the area and volume estimates of thermal lesions that were based on elastographic images and the measurements from gross pathologic dimensions. A significant limitation of renal RFA is the inaccuracy of current imaging modalities to provide real-time monitoring, and elastography may prove to be reliable for delineating the resulting thermal lesions.

Monitoring stiffness changes in lesions after radiofrequency ablation at different temperatures and durations of ablation.

The variations in the stiffness or stiffness contrast of lesions resulting from radiofrequency (RF) ablation of canine liver tissue at different temperatures and for different ablation durations at a specified temperature are analyzed. Tissue stiffness, in general, increases with temperature; however, an anomaly exists around 80 degrees C, where the stiffness of the lesion is lower than that of the lesion ablated at 70 degrees C. On the other hand, the stiffness increases monotonically with the duration of ablation. Plots illustrating the ratio of mean strains in normal canine liver tissue to mean strains in ablated thermal lesions demonstrate the variation in the stiffness contrast of the thermal lesions. The contrast-to-noise ratio (CNRe) of the lesions, which serves as an indicator of the detectability of the lesions under the different experimental imaging conditions described above, is also presented. The results presented in this paper show that the elastographic depiction of stiffer thermal lesions is better, in terms of the CNRe parameter. An important criterion in the elastographic depiction of RF-ablated regions of tissue is the trade-off between ablation temperature and duration of ablation. Tissue necrosis can occur either by ablating tissue to high temperatures for short durations or to lower temperatures for longer durations. In this paper, we attempt to characterize the elastographic depiction of thermal lesions under these different experimental conditions. This paper provides results that may be utilized by practitioners of RF ablation to decide the ablation temperature and duration, on the basis of the strain images of normal liver tissue and ablated thermal lesions discussed in this paper.