Force Anticipation and Its Potential Implications on Feedforward and Feedback Human Motor Control.

OBJECTIVE: To investigate the effects of human force anticipation, we conducted an experimental load-pushing task with diverse combinations of informed and actual loading weights. BACKGROUND: Human motor control tends to rely upon the anticipated workload to plan the force to exert, particularly in fast tasks such as pushing objects in less than 1 s. The motion and force responses in such tasks may depend on the anticipated resistive forces, based on a learning process. METHOD: Pushing performances of 135 trials were obtained from 9 participants. We varied the workload by changing the masses from 0.2 to 5 kg. To influence anticipation, participants were shown a display of the workload that was either correct or incorrect. We collected the motion and force data, as well as electromyography (EMG) signals from the actively used muscle groups. RESULTS: Overanticipation produced overshoot performances in more than 80% of trials. Lighter actual workloads were also associated with overshoot. Pushing behaviors with heavier workloads could be classified into feedforward-dominant and feedback-dominant responses based on the timing of force, motion, and EMG responses. In addition, we found that the preceding trial condition affected the performance of the subsequent trial. CONCLUSION: Our results show that the first peak of the pushing force increases consistently with anticipatory workload. APPLICATION: This study improves our understanding of human motion control and can be applied to situations such as simulating interactions between drivers and assistive systems in intelligent vehicles.

Human-centered design of a cyber-physical system for advanced response to Ebola (CARE).

We describe the process towards the design of a safe, reliable, and intuitive emergency treatment unit to facilitate a higher degree of safety and situational awareness for medical staff, leading to an increased level of patient care during an epidemic outbreak in an unprepared, underdeveloped, or disaster stricken area. We start with a human-centered design process to understand the design challenge of working with Ebola treatment units in Western Africa in the latest Ebola outbreak, and show preliminary work towards cyber-physical technologies applicable to potentially helping during the next outbreak.

A flexible multicamera visual-tracking system for detecting and correcting motion-induced artifacts in cardiac SPECT slices.

Patient motion is inevitable in SPECT and PET due to the lengthy period of time patients are imaged. The authors hypothesized that the use of external-tracking devices which provide additional information on patient motion independent of SPECT data could be employed to provide a more robust correction than obtainable from data-driven methods. Therefore, the authors investigated the Vicon MX visual-tracking system (VTS) which utilizes near-infrared (NIR) cameras to stereo-image small retroreflective markers on stretchy bands wrapped about the chest and abdomen of patients during cardiac SPECT. The chest markers are used to provide an estimate of the rigid-body (RB) motion of the heart. The abdomen markers are used to provide a signal used to bin list-mode acquisitions as part of correction of respiratory motion of the heart. The system is flexible in that the layout of the cameras can be designed to facilitate marker viewing. The system also automatically adapts marker tracking to employ all of the cameras visualizing a marker at any instant, with visualization by any two being sufficient for stereo-tracking. Herein the ability of this VTS to track motion with submillimeter and subdegree accuracy is established through studies comparing the motion of Tc-99m containing markers as assessed via stereo-tracking and from SPECT reconstructions. The temporal synchronization between motion-tracking data and timing marks embedded in list-mode SPECT acquisitions is shown to agree within 100 ms. In addition, motion artifacts were considerably reduced in reconstructed SPECT slices of an anthropomorphic phantom by employing within iterative reconstruction the motion-tracking information from markers attached to the phantom. The authors assessed the number and placement of NIR cameras required for robust motion tracking of markers during clinical imaging in 77 SPECT patients. They determined that they were able to track without loss during the entire period of SPECT and transmission imaging at least three of the four markers on the chest and one on the abdomen bands 94% and 92% of the time, respectively. The ability of the VTS to correct motion clinically is illustrated for ten patients who volunteered to undergo repeat-rest imaging with the original-rest SPECT study serving as the standard against which to compare the success of correction. Comparison of short-axis slices shows that VTS-based motion correction provides better agreement with the original-rest-imaging slices than either no correction or the vendor-supplied software for motion correction on, our SPECT system. Comparison of polar maps shows that VTS-based motion-correction results in less numerical difference on average in the segments of the polar maps between the original-rest study and the second-rest study than the other two strategies. The difference was statistically significant for the comparison between VTS-based and clinical vendor-supplied software correction. Taken together, these findings suggest that VTS-based motion correction is superior to either no-motion correction or the vendor-supplied software the authors investigated in clinical practice.

An Assessment of a Low-Cost Visual Tracking System (VTS) to Detect and Compensate for Patient Motion during SPECT.

Patient motion is inevitable in SPECT and PET due to the lengthy period of time patients are imaged and patient motion can degrade diagnostic accuracy. The goal of our studies is to perfect a methodology for tracking and correcting patient motion when it occurs. In this paper we report on enhancements to the calibration, camera stability, accuracy of motion tracking, and temporal synchronization of a low-cost visual tracking system (VTS) we are developing. The purpose of the VTS is to track the motion of retro-reflective markers on stretchy bands wrapped about the chest and abdomen of patients. We have improved the accuracy of 3D spatial calibration by using a MATLAB optical camera calibration package with a planar calibration pattern. This allowed us to determine the intrinsic and extrinsic parameters for stereo-imaging with our CCD cameras. Locations in the VTS coordinate system are transformed to the SPECT coordinate system by a VTS/SPECT mapping using a phantom of 7 retro-reflective spheres each filled with a drop of Tc(99m). We switched from pan, tilt and zoom (PTZ) network cameras to fixed network cameras to reduce the amount of camera drift. The improved stability was verified by tracking the positions of fixed retro-reflective markers on a wall. The ability of our VTS to track movement, on average, with sub-millimeter and sub-degree accuracy was established with the 7-sphere phantom for 1 cm vertical and axial steps as well as for an arbitrary rotation and translation. The difference in the time of optical image acquisition as decoded from the image headers relative to synchronization signals sent to the SPECT system was used to establish temporal synchrony between optical and list-mode SPECT acquisition. Two experiments showed better than 100 ms agreement between VTS and SPECT observed motion for three axial translations. We were able to track 3 reflective markers on an anthropomorphic phantom with a precision that allowed us to correct motion such that no loss in visual quality was noted in motion corrected slices relative to motion free slices.

Body Deformation Correction for SPECT Imaging.

Patient motion degrades the quality of SPECT studies. Body bend and twist are types of patient deformation, which may occur during SPECT imaging, and which has been generally ignored in SPECT motion correction strategies. To correct for these types of motion, we propose a deformation model and its inclusion within an iterative reconstruction algorithm. Two experiments were conducted to investigate the applicability of our model. In the first experiment, the return of the postmotion-compensation locations of markers on the body-surface of a volunteer to approximate their original coordinates is used to examine our method of estimating the parameters of our model and the parameters' use in undoing deformation. The second experiment employed simulated projections of the MCAT phantom formed using an analytical projector which includes attenuation and distance-dependent resolution to investigate applications of our model in reconstruction. We demonstrate in the simulation studies that twist and bend can significantly degrade SPECT image quality visually. Our correction strategy is shown to be able to greatly diminish the degradation seen in the slices, provided the parameters are estimated accurately. We view this work as a first step towards being able to estimate and correct patient deformation based on information obtained from marker tracking data.

An Adaptive Approach to Decomposing Patient-Motion Tracking Data Acquired During Cardiac SPECT Imaging.

Patient motion during cardiac SPECT imaging can cause diagnostic imaging artifacts. We have implemented a Neural Network (NN) approach to decompose monitored patient motion data, gathered during cardiac SPECT imaging, using the Polaris stereo-IR real-time motion-tracking system. Herein, we show the successful decomposition of Polaris motion data into rigid body motion (RBM) and respiratory motion (RM). The motivation for separating RM from RBM is that each is corrected using different methods. The NN requires the input of a RBM threshold sensitivity limit, as well as the median filter window width. A two step approach can be used in setting the median filter width. In the 1(st) NN run the median filter window width is initially set to a "fixed" width typical of the respiration period. This 1(st) NN run does an initial decomposition of the data into RM and RBM. The RM is then fed into an FFT algorithm to produce a respiratory period output file for use during a 2(nd) NN run, where the median filter width can "adapt" to the patient respiratory rate at each time point. Implementation of the NN was in the UNIX environment with Interactive Data Language (IDL). Decomposition of simulated "signals known exactly" RBM and RM resulted in average value errors less than 0.11 mm for RBM steps, and an overall root mean square error of only 0.3 mm for RM or RBM. Volunteer RBM and RM Polaris data were successfully decomposed by the NN with RBM steps resolved with an average difference of only 0.8 mm as compared to values displayed on the SPECT gantry console which are only to the nearest mm. A plot of the NN RM trace and the synchronized trace from a pneumatic bellows shows virtually identical characteristics. Anthropomorphic phantom RBM and RM were decomposed and used to correct motion in SPECT images during reconstruction. The motion corrected slices looked visually identical to slices acquired without motion, and comparison of slice count profiles further confirmed the correction.

Use of three-dimensional Gaussian interpolation in the projector/backprojector pair of iterative reconstruction for compensation of known rigid-body motion in SPECT.

Due to the extended imaging times employed in single photon emission computed tomography (SPECT) and positron emission tomography (PET), patient motion during imaging is a common clinical occurrence. The fast and accurate correction of the three-dimensional (3-D) translational and rotational patient motion in iterative reconstruction is thus necessary to address this important cause of artifacts. We propose a method of incorporating 3-D Gaussian interpolation in the projector/backprojector pair to facilitate compensation for rigid-body motion in addition to attenuation and distance-dependent blurring. The method works as the interpolation step for moving the current emission voxel estimates and attenuation maps in the global coordinate system to the new patient location in the rotating coordinate system when calculating the expected projection. It also is employed for moving back the backprojection of the ratio of the measured projection to the expected projection and backprojection of the unit value (sensitivity factor) to the original location. MCAT simulations with known six-degree-of-freedom (6DOF) motion were employed to evaluate the accuracy of our method of motion compensation. We also tested the method with acquisitions of the data spectrum anthropomorphic phantom where motion during SPECT acquisition was measured using the Polaris IR motion tracking system. No motion artifacts were seen on the reconstructions with the motion compensation.

A Robust Visual Tracking System for Patient Motion Detection in SPECT: Hardware Solutions.

Our overall research goal is to devise a robust method of tracking and compensating patient motion by combining an emission data based approach with a visual tracking system (VTS) that provides an independent estimate of motion. Herein, we present the latest hardware configuration of the VTS, a test of the accuracy of motion tracking by it, and our solution for synchronization between the SPECT and the optical acquisitions. The current version of the VTS includes stereo imaging with sets of optical network cameras with attached light sources, a SPECT/VTS calibration phantom, a black stretchable garment with reflective spheres to track chest motion, and a computer to control the cameras. The computer also stores the JPEG files generated by the optical cameras with synchronization to the list-mode acquisition of events on our SPECT system. Five Axis PTZ 2130 network cameras (Axis Communications AB, Lund, Sweden) were used to track motion of spheres with a highly retro-reflective coating using stereo methods. The calibration phantom is comprised of seven reflective spheres designed such that radioactivity can be added to the tip of the mounts holding the spheres. This phantom is used to determine the transformation to be applied to convert the motion detected by the VTS into the SPECT coordinates system. The ability of the VTS to track motion was assessed by comparing its results to those of the Polaris infra-red tracking system (Northern Digital Inc. Waterloo, ON, Canada). The difference in the motions assessed by the two systems was generally less than 1mm. Synchronization was assessed in two ways. First, optical cameras were aimed at a digital clock and the elapsed time estimated by the cameras was compared to the actual time shown by the clock in the images. Second, synchronization was also assessed by moving a radioactive and reflective sphere three times during concurrent VTS and SPECT acquisitions and comparing the time at which motion occurred in the optical and SPECT images. The results show that optical and SPECT images stay synchronized within a 150 ms range. The 100Mbit network load is less than 10%, and the computer's CPU load is between 15 and 25%; thus, the VTS can be improved by adding more cameras or by increasing the image size and/or resolution while keeping an acquisition rate of 30 images per second per camera.

Feasibility of Stereo-Infrared Tracking to Monitor Patient Motion During Cardiac SPECT Imaging.

Patient motion during cardiac SPECT imaging can cause diagnostic imaging artifacts. We investigated the feasibility of monitoring patient motion using the Polaris motion-tracking system. This system uses passive infrared reflection from small spheres to provide real-time position data with vendor stated 0.35 mm accuracy and 0.2 mm repeatability. In our configuration, the Polaris system views through the SPECT gantry toward the patient's head. List-mode event data was temporally synchronized with motion-tracking data utilizing a modified LabVIEW virtual instrument that we have employed in previous optical motion-tracking investigations. Calibration of SPECT to Polaris coordinates was achieved by determining the transformation matrix necessary to align the position of four reflecting spheres as seen by Polaris, with the location of Tc-99m activity placed inside the sphere mounts as determined in SPECT reconstructions. We have successfully tracked targets placed on volunteers in simulated imaging positions on the table of our SPECT system. We obtained excellent correlation (R(2) > 0.998) between the change in location of the targets as measured by our SPECT system and the Polaris. We have also obtained excellent agreement between the recordings of the respiratory motion of four targets attached to an elastic band wrapped around the abdomen of volunteers and from a pneumatic bellows. We used the axial motion of point sources as determined by the Polaris to correct the motion in SPECT image acquisitions yielding virtually identical point source FWHM and FWTM values, and profiled maximum heart wall counts of cardiac phantom images, compared to the reconstructions with no motion.