Multispectral breast image grayscale and quality enhancement by repeated pair image registration & accumulation method.

Nowadays, for detecting breast cancer in its early stages, the focus is on multispectral transmission imaging. Frame accumulation is a promising technique to enhance the grayscale level of the multispectral transmission images. Still, during the image acquisition process, human respiration or camera jitter causes the displacement of the frame's sequence which leads to the loss of accuracy and image quality of the frame accumulated image is reduced. In this article, we have proposed a new method named "repeated pair image registration and accumulation "to resolve the issue. In this method first pair of images from the sequence is first registered and accumulated followed by the next pair to be registered and accumulated. Then these two accumulated frames are registered and accumulated again. This process is repeated until all the frames from the sequence are processed and the final image is obtained. This method is tested on the sequence of breast frames taken at 600 nm, 620 nm, 670 nm, and 760 nm wavelength of light and proved the enhancement of quality, accuracy, and grayscale by various mathematical assessments. Furthermore, the processing time of our proposed method is very low because descent gradient optimization algorithm is used here for image registration purpose. This optimization algorithm has high speed as compared to other methods and is verified by registering a single image of each wavelength by three different methods. It has laid the foundations of early detection of breast cancer using multispectral transmission imaging.

Fully immersive virtual reality for skull-base surgery: surgical training and beyond.

PURPOSE: A virtual reality (VR) system, where surgeons can practice procedures on virtual anatomies, is a scalable and cost-effective alternative to cadaveric training. The fully digitized virtual surgeries can also be used to assess the surgeon's skills using measurements that are otherwise hard to collect in reality. Thus, we present the Fully Immersive Virtual Reality System (FIVRS) for skull-base surgery, which combines surgical simulation software with a high-fidelity hardware setup. METHODS: FIVRS allows surgeons to follow normal clinical workflows inside the VR environment. FIVRS uses advanced rendering designs and drilling algorithms for realistic bone ablation. A head-mounted display with ergonomics similar to that of surgical microscopes is used to improve immersiveness. Extensive multi-modal data are recorded for post-analysis, including eye gaze, motion, force, and video of the surgery. A user-friendly interface is also designed to ease the learning curve of using FIVRS. RESULTS: We present results from a user study involving surgeons with various levels of expertise. The preliminary data recorded by FIVRS differentiate between participants with different levels of expertise, promising future research on automatic skill assessment. Furthermore, informal feedback from the study participants about the system's intuitiveness and immersiveness was positive. CONCLUSION: We present FIVRS, a fully immersive VR system for skull-base surgery. FIVRS features a realistic software simulation coupled with modern hardware for improved realism. The system is completely open source and provides feature-rich data in an industry-standard format.

Twin-S: a digital twin for skull base surgery.

PURPOSE: Digital twins are virtual replicas of real-world objects and processes, and they have potential applications in the field of surgical procedures, such as enhancing situational awareness. We introduce Twin-S, a digital twin framework designed specifically for skull base surgeries. METHODS: Twin-S is a novel framework that combines high-precision optical tracking and real-time simulation, making it possible to integrate it into image-guided interventions. To guarantee accurate representation, Twin-S employs calibration routines to ensure that the virtual model precisely reflects all real-world processes. Twin-S models and tracks key elements of skull base surgery, including surgical tools, patient anatomy, and surgical cameras. Importantly, Twin-S mirrors real-world drilling and updates the virtual model at frame rate of 28. RESULTS: Our evaluation of Twin-S demonstrates its accuracy, with an average error of 1.39 mm during the drilling process. Our study also highlights the benefits of Twin-S, such as its ability to provide augmented surgical views derived from the continuously updated virtual model, thus offering additional situational awareness to the surgeon. CONCLUSION: We present Twin-S, a digital twin environment for skull base surgery. Twin-S captures the real-world surgical progresses and updates the virtual model in real time through the use of modern tracking technologies. Future research that integrates vision-based techniques could further increase the accuracy of Twin-S.

Platform for investigating continuum manipulator behavior in orthopedics.

PURPOSE: The use of robotic continuum manipulators has been proposed to facilitate less-invasive orthopedic surgical procedures. While tools and strategies have been developed, critical challenges such as system control and intra-operative guidance are under-addressed. Simulation tools can help solve these challenges, but several gaps limit their utility for orthopedic surgical systems, particularly those with continuum manipulators. Herein, a simulation platform which addresses these gaps is presented as a tool to better understand and solve challenges for minimally invasive orthopedic procedures. METHODS: An open-source surgical simulation software package was developed in which a continuum manipulator can interact with any volume model such as to drill bone volumes segmented from a 3D computed tomography (CT) image. Paired simulated X-ray images of the scene can also be generated. As compared to previous works, tool-anatomy interactions use a physics-based approach which leads to more stable behavior and wider procedure applicability. A new method for representing low-level volumetric drilling behavior is also introduced to capture material variability within bone as well as patient-specific properties from a CT. RESULTS: Similar interaction between a continuum manipulator and phantom bone was also demonstrated between a simulated manipulator and volumetric obstacle models. High-level material- and tool-driven behavior was shown to emerge directly from the improved low-level interactions, rather than by need of manual programming. CONCLUSION: This platform is a promising tool for developing and investigating control algorithms for tasks such as curved drilling. The generation of simulated X-ray images that correspond to the scene is useful for developing and validating image guidance models. The improvements to volumetric drilling offer users the ability to better tune behavior for specific tools and procedures and enable research to improve surgical simulation model fidelity. This platform will be used to develop and test control algorithms for image-guided curved drilling procedures in the femur.

"Two-dimensional Terraced Compression method" and its application in contour detection of transmission image.

Multispectral transmission imaging provides a possibility for early breast cancer screening. Due to the strong scattering effect of the light source and the absorption characteristics of the material itself, the image signal is weak. The frame accumulation and demodulation technique can improve the accuracy of the image, but it brings a lot of redundant data. This paper proposes the "Two-dimensional Terraced Compression Method" and applies it to detecting heterogeneity contour in transmission images. The experiment is designed to prove its effectiveness. Four kinds of LEDs with different central wavelengths are respectively modulated as the light source to obtain the image sequences, and the Fast Fourier Transform (FFT) and frame accumulation are used to obtain single-wavelength images respectively. The image is first low-pass filtered, then find the gray minimum value in the image, and then find the connected area in the influence domain of the gradient threshold. If the connected area meets the area threshold, it is used as an effective growth point, and the gray value in the connected area is reassigned. Otherwise, mark it as an isolated point, return to find the minimum, and finally implement terraced compression on the image. This method not only reduces the redundancy of gray numbers but also greatly improves the gradient information of the image, and be used as a preprocessing image algorithm-nonlinear filtering also can be used to detect the contour of heterogeneity.