Simulation, Implementation and Measurement of Defined Sound Fields for Blood-Brain Barrier Opening in Rats.

The blood-brain barrier (BBB) is the most important obstacle to delivery of therapeutics to the central nervous system. Low-intensity pulsed focused ultrasound (FUS) in combination with microbubbles applied under magnetic resonance imaging (MRI) control provides a non-invasive and safe technique for BBB opening (BBBo). In rodent models, however, settings and application protocols differ significantly. Depending on the strain and size, important variables include ultrasound attenuation and sound field distortion caused by the skull. We examined the ultrasound attenuation of the skull of Wistar rats using a targeted FUS system. By modifying the transducer elements and by varying and simulating the acoustic field of the FUS system, we measured a skull attenuation of about 60%. To evaluate potential application of the targeted FUS system in genetically modified animals with increased sensitivity to brain hemorrhage caused by vascular dysfunction, we assessed safety in healthy animals. Histological and MRI analyses of the central nervous system revealed an increase in the number and severity of hyperacute bleeds with focal pressure. At a pressure of 0.4 MPa, no bleeds were induced, albeit at the cost of a weaker hyperintense MRI signal post BBBo. These results indicate a relationship between pressure and the dimension of permeabilization.

High-Frequency Ultrasound for Assessment of Peri-Implant Bone Thickness.

PURPOSE: The aim of this study was to evaluate the accuracy of high-frequency ultrasound (HFUS) for measurement of bone thickness surrounding dental implants. METHODS: Eight porcine bone samples containing dental implants were scanned by a HFUS scanner and compared using cone-beam computed tomography (CBCT) and an optical scanner. Bone thickness was measured in the buccolingual region of dental implants in 10 points distributed between the platform and apical portion of the implant. RESULTS: The mean measurement error for the ultrasound method was 0.11 mm, whereas CBCT showed a measurement error of 0.20 mm. For both devices, the maximal measurement error was 0.28 mm. CONCLUSION: Within the simulated limited conditions of this study, high-frequency ultrasound, with optical scanning used as a reference, presented higher accuracy in comparison to CBCT, and seems to be a promising tool for measuring peri-implant bone.

Assessment of cortical bone thickness using ultrasound.

PURPOSE: The aim of the study was to analyze the accuracy of measuring the cortical bone thickness using a combination of low- and high-frequency ultrasound (US) compared with cone-beam computed tomography (CBCT) and using stereomicroscopy as reference method. MATERIAL AND METHODS: Ten jawbone models were prepared using bovine ribs and porcine gingiva. A dental implant was placed in each model. All models were investigated by US, CBCT, and stereomicroscopy. The cortical bone thickness was measured directly above and 4 mm beside the implant with each method in different slices. RESULTS: The median deviation of US measurements compared to the reference method was 0.23 mm. The CBCT method was slightly more accurate (median percent deviation of 9.2%) than the US method (10.3%). However, US measurements directly above the implant were more accurate than CBCT measurements with a median percent deviation of 10.5% for US vs. 11.8% for CBCT. CONCLUSION: Ultrasound showed a high potential to supplement CBCT for measurements of the cortical bone thickness.

High-frequency ultrasound as an option for scanning of prepared teeth: an in vitro study.

Because of its ability to non-invasively capture hard structures behind soft tissue, high-frequency ultrasound (HFUS)-assisted microscanning could be a patient-friendly and promising alternative for digitization of prepared teeth. However, intra-oral HFUS microscanners for taking digital impressions of prepared teeth are still not available in the clinical setting. Because working range, scanner size, scanning time, surface reconstruction accuracy and costs are major factors in such a system, our overall objective is to minimize hardware efforts and costs while maintaining the accuracy of the surface-reconstructed tooth model in the range 50 µm. In the work described here, we investigated the accuracy of tooth impression taking using a single-element HFUS microscanner with only three translational degrees of freedom under the restriction that only one occlusal scan is performed per tooth. As in favor of time and scanning efforts the data density is expected to be low, the surface reconstruction process is linked to a model-based surface reconstruction approach using a thin spline robust point matching algorithm to fill data gaps. A priori knowledge for the model is generated based on the original HFUS measurement data. Three artificial teeth and one human molar were prepared and scanned using an extra-oral HFUS laboratory microscanner that was built to test and evaluate different scanning setups. A scanner with three translational degrees of freedom was used to scan the teeth from an occlusal direction. After application of the proposed thin-spline robust point matching algorithm-based reconstruction approach, reconstruction accuracy was assessed by comparing the casts with a control group scanned with an extra-oral laser-scanning system. The mean difference between the reconstructed casts and the optical control group was in the range 14-53 µm. The standard deviation was between 21 and 52 µm. This let us assume that the suggested approach can help to decrease hardware efforts while maintaining the robustness of the 3-D surface reconstruction process for future HFUS-based intra-oral scanners.

Soft tissue-preserving computer-aided impression: a novel concept using ultrasonic 3D-scanning.

Subgingival preparations are often affected by blood and saliva during impression taking, regardless of whether one is using compound impression techniques or intraoral digital scanning methods. The latter are currently based on optical principles and therefore also need clean and dry surfaces. In contrast, ultrasonic waves are able to non-invasively penetrate gingiva, saliva, and blood, leading to decisive advantages, as cleaning and drying of the oral cavity becomes unnecessary. In addition, the application of ultrasound may facilitate the detection of subgingival structures without invasive manipulation, thereby reducing the risk of secondary infection and treatment time, and increasing patient comfort. Ultrasound devices commonly available for medical application and for the testing of materials are only suitable to a limited extent, as their resolution, precision, and design do not fulfill the requirements for intraoral scanning. The aim of this article is to describe the development of a novel ultrasound technology that enables soft tissue-preserving digital impressions of preparations for the CAD/CAM-based production of dental prostheses. The concept and development of the high-resolution ultrasound technique and the corresponding intraoral scanning system, as well as the integration into the CAD/CAM process chain, is presented.

Recent advances of ultrasound imaging in dentistry--a review of the literature.

Ultrasonography as an imaging modality in dentistry has been extensively explored in recent years due to several advantages that diagnostic ultrasound provides. It is a non-invasive, inexpensive, painless method and unlike X-ray, it does not cause harmful ionizing radiation. Ultrasound has a promising future as a diagnostic imaging tool in all specialties in dentistry, for both hard and soft tissue detection. The aim of this review is to provide the scientific community and clinicians with an overview of the most recent advances of ultrasound imaging in dentistry. The use of ultrasound is described and discussed in the fields of dental scanning, caries detection, dental fractures, soft tissue and periapical lesions, maxillofacial fractures, periodontal bony defects, gingival and muscle thickness, temporomandibular disorders, and implant dentistry.

Ultrasound-based registration of the pelvic coordinate system in the lateral position using symmetry for total hip replacement.

In total hip replacement, patient placement in the lateral position is preferred by many surgeons. However, it complicates registration of the so-called pelvic coordinate system that is the standard reference for surgeons to measure cup orientation. This coordinate system comprises the anterior pelvic plane and the mid-sagittal plane, and it is conventionally registered on the basis of bony anatomical landmarks including the left and the right anterior superior iliac spine (ASIS). Ultrasound has been suggested for transcutaneous palpation of the bone surface. The difficulty in registration of the pelvic coordinate system with the patient in the lateral position arises because the contralateral ASIS cannot be reached easily by a mechanical pointer and is not accessible by means of an ultrasound probe. Up to now, methods to compensate for these missing data have not been used in clinical routine. This paper describes a new ultrasound-based method that requires neither image segmentation nor statistical shape models and uses symmetry to approximate the position of the contralateral ASIS. A detailed analysis based on computed tomography data of 60 hips following a cadaver study is presented to show the ability of our method to reliably reconstruct the pelvic coordinate system. The median angles between ground truth planes and the "reconstructed" planes were <2°. By choosing a standard cup orientation w.r.t. the "reconstructed" planes, the median abduction and version angle errors were <2°, too.

An ICP variant with anisotropic weighting to accommodate measurement errors in A-Mode ultrasound-based registration.

In computer-assisted surgery, navigation based on pre-operative images and intra-operative tracking requires fusion of data from different coordinate systems. Intra-operative registration is used to determine the spatial relationship between these coordinate systems. Feature-based registration methods rely on reference structures localized both in the pre-operative images and in the surgical site. Optically tracked A-Mode ultrasound (US) allows for non-invasive and cost-efficient digitization of bone surface points needed as input data for registration algorithms. It is especially attractive in combination with surface-based registration algorithms, such as the Iterative Closest Point algorithm and its variants, because they automatically localize the corresponding points, which are covered by soft tissue and, hence, not visible in the site. However, as transcutaneous palpation relies on some assumptions, e.g., regarding the average speed of sound of the scanned soft tissue, that are only partly justified in practice, errors occur that make transcutaneous palpation less reliable than direct palpation. Furthermore, optical tracking causes errors that have to be considered, especially if a so-called dynamic reference base is attached to the patient. The present work investigates how to reduce the effect of important error sources in A-Mode US-based registration. The major contributions are techniques for application-specific error modeling and new methods for surface-based registration with anisotropic weighting. This includes a Newton-like optimization scheme for point-to-point registration and a modified kd-tree-based algorithm for closest point computation. Various combinations of registration algorithms and modeling techniques are tested in a simulation study addressing periacetabular osteotomy, and it is clearly demonstrated that standard methods are not recommendable. On the contrary, the new algorithms allow for a substantial increase in registration accuracy and encourage further research in that field.

Integration of model-based weighting into an ICP variant to account for measurement errors in intra-operative A-Mode ultrasound-based registration.

This paper addresses error modeling in A-Mode ultrasound- (US-) based registration and integration of model-based weighting into the Random-ICP (R-ICP) algorithm. The R-ICP is a variant of the Iterative Closest Point (ICP) algorithm, and it was suggested for surface-based registration using A-Mode US in the context of skull surgery. In that application area the R-ICP could yield high accuracy even in case of a small number of data points and a very inaccurate user-interactive pre-registration. However, it cannot cope with unequal point uncertainty, which is an important drawback in the context of hip surgery: Uncertainty about the average speed of sound is an error source, whose impact on the registration accuracy increases with the thickness of the scanned soft tissue. It can, therefore, lead to considerable localization errors if a thick soft tissue layer is scanned, and it might vary a lot from data point to data point as the soft tissue thickness is inhomogeneous. The present work investigates how to account for this error source considering also other error sources such as the establishment of point correspondences. Simulation results show that registration accuracy can be substantially improved when model-based weighting is integrated into the R-ICP.

Fast and accurate registration of cranial CT images with A-mode ultrasound.

PURPOSE: Within the CRANIO project, a navigation module based on preoperative computed tomography (CT) data was developed for Computer and Robot Assisted Neurosurgery. The approach followed for non-invasive user-interactive registration of cranial CT images with the physical operating space consists of surface-based registration following pre-registration based on anatomical landmarks. Surface-based registration relies on bone surface points digitized transcutaneously by means of an optically tracked A-mode ultrasound (US) probe. As probe alignment and thus bone surface point digitization may be time-consuming, we investigated how to obtain high registration accuracy despite inaccurate pre-registration and a limited number of digitized bone surface points. Furthermore, we aimed at efficient man-machine-interaction during the probe alignment process. Finally, we addressed the problem of registration plausibility estimation in our approach. METHOD: We modified the Iterative Closest Point (ICP) algorithm, presented by Besl and McKay and frequently used for surface-based registration, such that it can escape from local minima of the cost function to be iteratively minimized. The random-based ICP (R-ICP) we developed is less influenced by the quality of the pre-registration as it can escape from local minima close to the starting point for iterative optimization in the 6D domain of rigid transformations. The R-ICP is also better suited to approximate the global minimum as it can escape from local minima in the vicinity of the global minimum, too. Furthermore, we developed both CT-less and CT-based probe alignment tools along with appropriate man-machine strategies for a more time-efficient palpation process. To improve registration reliability, we developed a simple plausibility test based on data readily available after registration. RESULTS: In a cadaver study, where we evaluated the R-ICP algorithm, the probe alignment tools, and the plausibility test, the R-ICP algorithm consistently outperformed the ICP algorithm. Almost no influence of the pre-registration on the final R-ICP registration accuracy could be observed. The probe alignment tools were judged to be useful and allowed for the digitization of 18 bone surface points within 2 min on average. The plausibility test was helpful to detect poor registration accuracy. CONCLUSION: The R-ICP algorithm can provide high registration accuracy despite inaccurate pre-registration and a very limited number of data points. R-ICP registration was shown to be practical and robust versus the quality of the pre-registration. Time-efficiency of the cranial palpation process may be greatly increased and should encourage clinical acceptance.

A-mode ultrasound-based intra-femoral bone cement detection and 3D reconstruction in RTHR.

Due to the difficulty of determining the 3D boundary of the cement-bone interface in Revision Total Hip Replacement (RTHR), the removal of the distal intra-femoral bone cement can be a time-consuming and risky operation. Within the framework of computer- and robot-assisted cement removal, the principles and first results of an automatic detection and 3D surface reconstruction of the cement-bone boundary using A-mode ultrasound are described. Sound propagation time and attenuation of cement were determined considering different techniques for the preparation of bone cement, such as the use of a vacuum system (Optivac, Biomet). A laboratory setup using a rotating, standard 5-MHz transducer was developed. The prototype enables scanning of bisected cement-prepared femur samples in a 90 degrees rotation range along their rotation axis. For system evaluation ex vivo, the distal femur of a human cadaver was prepared with bone cement and drilled (Ø 10 mm) to simulate the prosthesis cavity in a first approximation. The sample was cut in half and CT scanned (0.24 mm resolution; 0.5 mm distance; 0.5 mm thickness), and 3D voxel models of the manually segmented bone cement were reconstructed, providing the ground truth. Afterwards, 90 degrees segments of each ex-vivo sample were scanned by the A-mode ultrasound system. To obtain better ultrasound penetration, we used coded signal excitation and pulse compression filtering. A-mode ultrasound signal detection, filtering and segmentation were accomplished fully automatically. Subsequently, 3D voxel models of each sample were calculated. Accuracy evaluation of the measured ultrasound data was performed by ICP matching of each ultrasound dataset ( approximately 8000 points) to the corresponding CT dataset and calculation of the residual median distance error between the corresponding datasets. Prior to each ICP matching, an initial pre-registration was calculated using prominent landmarks in the corresponding datasets. This method yielded a median distance error in the region of 0.25 mm for the cement-bone interface in both femur halves.