Validation of a Finite Element Simulation for Predicting Individual Knee Joint Kinematics.

Goal: We introduce an in-vivo validated finite element (FE) simulation approach for predicting individual knee joint kinematics. Our vision is to improve clinicians' understanding of the complex individual anatomy and potential pathologies to improve treatment and restore physiological joint kinematics. Methods: Our 3D FE modeling approach for individual human knee joints is based on segmentation of anatomical structures extracted from routine static magnetic resonance (MR) images. We validate the predictive abilities of our model using static MR images of the knees of eleven healthy volunteers in dedicated knee poses, which are achieved using a customized MR-compatible pneumatic loading device. Results: Our FE simulations reach an average translational accuracy of 2 mm and an average angular accuracy of 1[Formula: see text] compared to the reference knee pose. Conclusions: Reaching high accuracy, our individual FE model can be used in the decision-making process to restore knee joint stability and functionality after various knee injuries.

Reconstruction of dental roots for implant planning purposes: a retrospective computational and radiographic assessment of single-implant cases.

PURPOSE: The aim of the study was to assess the deviation between clinical implant axes (CIA) determined by a surgeon during preoperative planning and reconstructed tooth axes (RTA) of missing teeth which were automatically computed by a previously introduced anatomical SSM. METHODS: For this purpose all available planning datasets of single-implant cases of our clinic, which were planned with coDiagnostix Version 9.9 between 2018 and 2021, were collected for retrospective investigation. Informed consent was obtained. First, the intraoral scans of implant patients were annotated and subsequently analyzed using the SSM. The RTA, computed by the SSM, was then projected into the preoperative planning dataset. The amount and direction of spatial deviation between RTA and CIA were then measured. RESULTS: Thirty-five patients were implemented. The mean distance between the occlusal entry point of anterior and posterior implants and the RTA was 0.99 mm ± 0.78 mm and 1.19 mm ± 0.55, respectively. The mean angular deviation between the CIA of anterior and posterior implants and the RTA was 12.4° ± 3.85° and 5.27° ± 2.97° respectively. The deviations in anterior implant cases were systematic and could be corrected by computing a modified RTA (mRTA) with decreased deviations (0.99 mm ± 0.84 and 4.62° ± 1.95°). The safety distances of implants set along the (m)RTA to neighboring teeth were maintained in 30 of 35 cases. CONCLUSION: The RTA estimated by the SSM revealed to be a viable implant axis for most of the posterior implant cases. As there are natural differences between the anatomical tooth axis and a desirable implant axis, modifications were necessary to correct the deviations which occurred in anterior implant cases. However, the presented approach is not applicable for clinical use and always requires manual optimization by the planning surgeon.

In-vivo assessment of meniscal movement in the knee joint during internal and external rotation under load.

PURPOSE: The menisci transmit load between femur and tibia and thus play a crucial role in the functionality of the knee joint. Knee joint movements have a major impact on the position of the menisci. However, these meniscus movements have not yet been assessed in a validated setting. The objective of this study is to evaluate the meniscal movements in MRI with prospective motion correction based on optical tracking under loading via internal and external tibial torques.  METHODS: Thirty-one healthy volunteers were recruited for this study. MRI scans were performed in internal and external rotation induced by a torque of 5 Nm, using a 3 T MRI. A validated software used the generated images to calculate the absolute meniscus movements as the sum of all vectors. Differences between subgroups were analyzed by using a Wilcoxon signed-rank test.  RESULTS: The MM shows an average movement of 1.79 mm in anterior-lateral direction under internal rotation and 6.01 mm in posterior-lateral direction under external rotation, whereas the LM moves an average of 4.55 mm in posterior-medial direction under internal rotation and 3.58 mm in anterior-medial direction under external rotation. When comparing the overall meniscus movements between internal and external rotation, statistically significant differences were found for total vector length and the direction of meniscus movements for medial and lateral meniscus. The comparison between medial and lateral meniscus movements also showed statistically significant differences in all categories for internal and external rotation. CONCLUSIONS: Overall, the MM and LM movements in internal and external rotation differ significantly in extent and direction, although MM and LM movements in opposite directions during internal and external rotation can be observed. In internal rotation, most meniscus movements were found in the IHLM. In external rotation, the IHMM showed the greatest mobility. Segment analysis of internal vs. external rotation showed less difference in LM movements than MM. LEVEL OF EVIDENCE: Level II.

A Novel Method for Digital Reconstruction of the Mucogingival Borderline in Optical Scans of Dental Plaster Casts.

Adequate soft-tissue dimensions have been shown to be crucial for the long-term success of dental implants. To date, there is evidence that placement of dental implants should only be conducted in an area covered with attached gingiva. Modern implant planning software does not visualize soft-tissue dimensions. This study aims to calculate the course of the mucogingival borderline (MG-BL) using statistical shape models (SSM). Visualization of the MG-BL allows the practitioner to consider the soft tissue supply during implant planning. To deploy an SSM of the MG-BL, healthy individuals were examined and the intra-oral anatomy was captured using an intra-oral scanner (IOS). The empirical anatomical data was superimposed and analyzed by principal component analysis. Using a Leave-One-Out Cross Validation (LOOCV), the prediction of the SSM was compared with the original anatomy extracted from IOS. The median error for MG-BL reconstruction was 1.06 mm (0.49-2.15 mm) and 0.81 mm (0.38-1.54 mm) for the maxilla and mandible, respectively. While this method forgoes any technical work or additional patient examination, it represents an effective and digital method for the depiction of soft-tissue dimensions. To achieve clinical applicability, a higher number of datasets has to be implemented in the SSM.

Creating an anatomical wax-up in partially edentulous patients by means of a statistical shape model.

PURPOSE: Creating wax-ups of missing teeth for backward planning in implant surgery is a complex and time-consuming process. To facilitate implant-planning procedures, the automatic generation of a virtual wax-up would be useful. In the present study, the reconstruction of missing teeth in partially edentulous patients was performed automatically using newly developed software. The accuracy was investigated in order to test its clinical applicability. MATERIALS AND METHODS: This study presents a new method for creating an automatic virtual wax-up, which could serve as a basic tool in modern implant-planning procedures. First, a statistical shape model (SSM) based on 76 maxillary and mandibular arch scans from dentally healthy individuals was generated. Then, artificially generated tooth gaps were reconstructed. The accuracy of the workflow was evaluated on a separate testing sample of 10 individuals with artificially created tooth gaps given as a median deviation, in millimeters. Scans of three clinical cases with partial edentulism were equally reconstructed using the SSM and compared with the final prosthodontic work. RESULTS: The reconstruction of the artificial tooth gaps could be performed with the following median reconstruction accuracy: gap 21 with 0.15 mm; gap 27 with 0.20 mm; gap 34 with 0.22 mm: gap 36 with 0.22 mm; gaps 12 to 22 with 0.22 mm; gaps 34 to 36 with 0.22 mm. A scenario for an almost edentulous mandible with all teeth missing except teeth 33 and 43 could be reconstructed with a median reconstruction accuracy of 0.37 mm. The median tooth gap deviation of the SSM-based reconstruction in clinical cases differed from the final inserted prosthodontic teeth by 0.49 to 0.86 mm in median. CONCLUSION: A first feasibility of creating virtual wax-ups using an SSM could be shown. Artificially generated tooth gaps could be reconstructed close to the original with the proposed workflow. In the clinical cases, the SSM proposes an anatomical reconstruction, which does not yet consider prosthodontic aspects. To obtain clinical use, contact with antagonist teeth must be considered and more training data must be implemented. However, the presented method offers a fast and viable way for the approximate placement of missing crowns. This could be used in a digital planning workflow when implant position must be determined. (Int J Comput Dent 2022;25(4):349-0; doi: 10.3290/j.ijcd.b2599407).

Interactive editing of virtual chordae tendineae for the simulation of the mitral valve in a decision support system.

PURPOSE: Decision support systems for mitral valve disease are an important step toward personalized surgery planning. A simulation of the mitral valve apparatus is required for decision support. Building a model of the chordae tendineae is an essential component of a mitral valve simulation. Due to image quality and artifacts, the chordae tendineae cannot be reliably detected in medical imaging. METHODS: Using the position-based dynamics framework, we are able to realistically simulate the opening and closing of the mitral valve. Here, we present a heuristic method for building an initial chordae model needed for a successful simulation. In addition to the heuristic, we present an interactive editor to refine the chordae model and to further improve pathology reproduction as well as geometric approximation of the closed valve. RESULTS: For evaluation, five mitral valves were reconstructed based on image sequences of patients scheduled for mitral valve surgery. We evaluated the approximation of the closed valves using either just the heuristic chordae model or a manually refined model. Using the manually refined models, prolapse was correctly reproduced in four of the five cases compared to two of the five cases when using the heuristic. In addition, using the editor improved the approximation in four cases. CONCLUSIONS: Our approach is suitable to create realistically parameterized mitral valve apparatus reconstructions for the simulation of normally and abnormally closing valves in a decision support system.

Evaluation of a numerical simulation for cryoablation - comparison with bench data, clinical kidney and lung cases.

PURPOSE: The accuracy of a numerical simulation of cryoablation ice balls was evaluated in gel phantom data as well as clinical kidney and lung cases. MATERIALS AND METHODS: To evaluate the accuracy, 64 experimental single-needle cryoablations and 12 multi-needle cryoablations in gel phantoms were re-simulated with the corresponding freeze-thaw-freeze cycles. The simulated temperatures were compared over time with the measurements of thermocouples. For single needles, temperature values were compared at each thermocouple location. For multiple needles, Euclidean distances between simulated and measured isotherms (10 °C, 0 °C, -20 °C, -40 °C) were computed. Furthermore, surface and volume of simulated 0 °C isotherms were compared to cryoablation-induced ice balls in 14 kidney and 13 lung patients. For this purpose, needle positions and relevant anatomical structures defining material parameters (kidney/lung, tumor) were reconstructed from pre-ablation CT images and fused with postablation CT images (from which ice balls were extracted by manual delineation). RESULTS: The single-needle gel phantom cases showed less than 5 °C prediction error on average. Over all multiple needle experiments in gel, the mean and maximum isotherm distance were less than 2.3 mm and 4.1 mm, respectively. Average Dice coefficients of 0.82/0.63 (kidney/lung) and mean surface distances of 2.59/3.12 mm quantify the prediction performance of the numerical simulation. However, maximum surface distances of 10.57/10.8 mm indicate that locally larger errors have to be expected. CONCLUSION: A very good agreement of the numerical simulations for gel experiments was measured and a satisfactory agreement of the numerical simulations with measured ice balls in patient data was shown.

Combining position-based dynamics and gradient vector flow for 4D mitral valve segmentation in TEE sequences.

PURPOSE: For planning and guidance of minimally invasive mitral valve repair procedures, 3D+t transesophageal echocardiography (TEE) sequences are acquired before and after the intervention. The valve is then visually and quantitatively assessed in selected phases. To enable a quantitative assessment of valve geometry and pathological properties in all heart phases, as well as the changes achieved through surgery, we aim to provide a new 4D segmentation method. METHODS: We propose a tracking-based approach combining gradient vector flow (GVF) and position-based dynamics (PBD). An open-state surface model of the valve is propagated through time to the closed state, attracted by the GVF field of the leaflet area. The PBD method ensures topological consistency during deformation. For evaluation, one expert in cardiac surgery annotated the closed-state leaflets in 10 TEE sequences of patients with normal and abnormal mitral valves, and defined the corresponding open-state models. RESULTS: The average point-to-surface distance between the manual annotations and the final tracked model was [Formula: see text]. Qualitatively, four cases were satisfactory, five passable and one unsatisfactory. Each sequence could be segmented in 2-6 min. CONCLUSION: Our approach enables to segment the mitral valve in 4D TEE image data with normal and pathological valve closing behavior. With this method, in addition to the quantification of the remaining orifice area, shape and dimensions of the coaptation zone can be analyzed and considered for planning and surgical result assessment.

A focused ultrasound treatment system for moving targets (part I): generic system design and in-silico first-stage evaluation.

BACKGROUND: Focused ultrasound (FUS) is entering clinical routine as a treatment option. Currently, no clinically available FUS treatment system features automated respiratory motion compensation. The required quality standards make developing such a system challenging. METHODS: A novel FUS treatment system with motion compensation is described, developed with the goal of clinical use. The system comprises a clinically available MR device and FUS transducer system. The controller is very generic and could use any suitable MR or FUS device. MR image sequences (echo planar imaging) are acquired for both motion observation and thermometry. Based on anatomical feature tracking, motion predictions are estimated to compensate for processing delays. FUS control parameters are computed repeatedly and sent to the hardware to steer the focus to the (estimated) target position. All involved calculations produce individually known errors, yet their impact on therapy outcome is unclear. This is solved by defining an intuitive quality measure that compares the achieved temperature to the static scenario, resulting in an overall efficiency with respect to temperature rise. To allow for extensive testing of the system over wide ranges of parameters and algorithmic choices, we replace the actual MR and FUS devices by a virtual system. It emulates the hardware and, using numerical simulations of FUS during motion, predicts the local temperature rise in the tissue resulting from the controls it receives. RESULTS: With a clinically available monitoring image rate of 6.67 Hz and 20 FUS control updates per second, normal respiratory motion is estimated to be compensable with an estimated efficiency of 80%. This reduces to about 70% for motion scaled by 1.5. Extensive testing (6347 simulated sonications) over wide ranges of parameters shows that the main source of error is the temporal motion prediction. A history-based motion prediction method performs better than a simple linear extrapolator. CONCLUSIONS: The estimated efficiency of the new treatment system is already suited for clinical applications. The simulation-based in-silico testing as a first-stage validation reduces the efforts of real-world testing. Due to the extensible modular design, the described approach might lead to faster translations from research to clinical practice.

Fast Numerical Simulation of Focused Ultrasound Treatments During Respiratory Motion With Discontinuous Motion Boundaries.

OBJECTIVE: Focused ultrasound (FUS) is rapidly gaining clinical acceptance for several target tissues in the human body. Yet, treating liver targets is not clinically applied due to a high complexity of the procedure (noninvasiveness, target motion, complex anatomy, blood cooling effects, shielding by ribs, and limited image-based monitoring). To reduce the complexity, numerical FUS simulations can be utilized for both treatment planning and execution. These use-cases demand highly accurate and computationally efficient simulations. METHODS: We propose a numerical method for the simulation of abdominal FUS treatments during respiratory motion of the organs and target. Especially, a novel approach is proposed to simulate the heating during motion by solving Pennes' bioheat equation in a computational reference space, i.e., the equation is mathematically transformed to the reference. The approach allows for motion discontinuities, e.g., the sliding of the liver along the abdominal wall. RESULTS: Implementing the solver completely on the graphics processing unit and combining it with an atlas-based ultrasound simulation approach yields a simulation performance faster than real time (less than 50-s computing time for 100 s of treatment time) on a modern off-the-shelf laptop. The simulation method is incorporated into a treatment planning demonstration application that allows to simulate real patient cases including respiratory motion. CONCLUSION: The high performance of the presented simulation method opens the door to clinical applications. SIGNIFICANCE: The methods bear the potential to enable the application of FUS for moving organs.

A computational tool for preoperative breast augmentation planning in aesthetic plastic surgery.

Breast augmentation was the most commonly performed cosmetic surgery procedure in 2011 in the United States. Although aesthetically pleasing surgical results can only be achieved if the correct breast implant is selected from a large variety of different prosthesis sizes and shapes available on the market, surgeons still rely on visual assessment and other subjective approaches for operative planning because of lacking objective evaluation tools. In this paper, we present the development of a software prototype for augmentation mammaplasty simulation solely based on 3-D surface scans, from which patient-specific finite-element models are generated in a semiautomatic process. The finite-element model is used to preoperatively simulate the expected breast shapes using physical soft-tissue mechanics. Our approach uses a novel mechanism based on so-called displacement templates, which, for a specific implant shape and position, describe the respective internal body forces. Due to a highly efficient numerical solver we can provide immediate visual feedback of the simulation results, and thus, the software prototype can be integrated smoothly into the medical workflow. The clinical value of the developed 3-D computational tool for aesthetic breast augmentation surgery planning is demonstrated in patient-specific use cases.

A hybrid method towards automated nipple detection in 3D breast ultrasound images.

In clinical work-up of breast cancer, nipple position is an important marker to locate lesions. Moreover, it serves as an effective landmark to register a 3D automated breast ultrasound (ABUS) images to other imaging modalities, e.g., X-ray mammography, tomosynthesis or magnetic resonance imaging (MRI). However, the presence of speckle noises caused by the interference waves and variant imaging directions poses challenges to automatically identify nipple positions. In this work, a hybrid fully automatic method to detect nipple positions in ABUS images is presented. The method extends the multi-scale Laplacian-based method that we proposed previously, by integrating a specially designed Hessian-based method to locate the shadow area beneath the nipple and areola. Subsequently, the likelihood maps of nipple positions generated by both methods are combined to build a joint-likelihood map, where the final nipple position is extracted. To validate the efficiency and robustness, the extended hybrid method was tested on 926 ABUS images, resulting in a distance error of 7.08±10.96 mm (mean±standard deviation).

Efficient finite element methods for deformable bodies in medical applications.

Simulation techniques for deformable bodies are of major relevance for a broad range of medical applications. In recent decades, a lot of work has been performed to improve simulation methods, allowing interactivity or even real time. However, this work often focused on applications such as computer games or virtual environments, where physical accuracy is not a primary goal. The goal of this report is to give an overview of efficient physics-based techniques for deformable objects, focusing on finite element methods, and to discuss the applicability of these techniques in medical scenarios. As a result, we focus on techniques that are amenable to simulating highly resolved meshes, which for instance can be generated from computed tomography (CT) or magnetic resonance (MR) images, and we review the so-called corotated finite element method that has shown a high potential in recent years. Specifically, we will capture in detail the related work in this field and demonstrate the current state of the art in efficient deformable bodies simulations.

Stress tensor field visualization for implant planning in orthopedics.

We demonstrate the application of advanced 3D visualization techniques to determine the optimal implant design and position in hip joint replacement planning. Our methods take as input the physiological stress distribution inside a patient's bone under load and the stress distribution inside this bone under the same load after a simulated replacement surgery. The visualization aims at showing principal stress directions and magnitudes, as well as differences in both distributions. By visualizing changes of normal and shear stresses with respect to the principal stress directions of the physiological state, a comparative analysis of the physiological stress distribution and the stress distribution with implant is provided, and the implant parameters that most closely replicate the physiological stress state in order to avoid stress shielding can be determined. Our method combines volume rendering for the visualization of stress magnitudes with the tracing of short line segments for the visualization of stress directions. To improve depth perception, transparent, shaded, and antialiased lines are rendered in correct visibility order, and they are attenuated by the volume rendering. We use a focus+context approach to visually guide the user to relevant regions in the data, and to support a detailed stress analysis in these regions while preserving spatial context information. Since all of our techniques have been realized on the GPU, they can immediately react to changes in the simulated stress tensor field and thus provide an effective means for optimal implant selection and positioning in a computational steering environment.

A generic and scalable pipeline for GPU tetrahedral grid rendering.

Recent advances in algorithms and graphics hardware have opened the possibility to render tetrahedral grids at interactive rates on commodity PCs. This paper extends on this work in that it presents a direct volume rendering method for such grids which supports both current and upcoming graphics hardware architectures, large and deformable grids, as well as different rendering options. At the core of our method is the idea to perform the sampling of tetrahedral elements along the view rays entirely in local barycentric coordinates. Then, sampling requires minimum GPU memory and texture access operations, and it maps efficiently onto a feed-forward pipeline of multiple stages performing computation and geometry construction. We propose to spawn rendered elements from one single vertex. This makes the method amenable to upcoming Direct3D 10 graphics hardware which allows to create geometry on the GPU. By only modifying the algorithm slightly it can be used to render per-pixel iso-surfaces and to perform tetrahedral cell projection. As our method neither requires any pre-processing nor an intermediate grid representation it can efficiently deal with dynamic and large 3D meshes.