Technical Note: Fully-automated analysis of Jaszczak phantom measurements as part of routine SPECT quality control.

PURPOSE: Inspection and quantitative validation of tomographic imaging properties of SPECT systems, i.e., spatial resolution, contrast, and inhomogeneity must be performed in regular intervals. Typically, the modular Jaszczak phantom is used for that purpose, as it offers the possibility to investigate all three system properties with a single measurement. The interpretation of the measurement is performed visually, thus, being insensitive to subtle changes in system performance. To overcome this limitation, a fully-automated software for the objective analysis of Jaszczak phantom measurements is proposed here. METHODS: The software was developed as an ImageJ plugin and offers a number of sequential evaluation steps: automatic determination of the type of Jaszczak phantom, calculation of sector and sphere contrast, detection of ring artifacts using either the Hough transform, followed by a threshold-based decision criterion, or Student's t-test. Monte Carlo simulations were used to estimate the detectability limits for ring artifacts. RESULTS: The software successfully calculated sector and sphere contrasts and reliably determined ring artifacts present in the homogeneity part of the Jaszczak phantom, based on automatic identification of the phantom type. CONCLUSION: Given the quantitative nature of the produced output, results from one imaging system can easily be compared to another in an objective way. The advantage of the software is clearly that the information provided is objective and does not rely on the experience level of the user.

A quantitative comparison of the performance of three deformable registration algorithms in radiotherapy.

We present an evaluation of various non-rigid registration algorithms for the purpose of compensating interfractional motion of the target volume and organs at risk areas when acquiring CBCT image data prior to irradiation. Three different deformable registration (DR) methods were used: the Demons algorithm implemented in the iPlan Software (BrainLAB AG, Feldkirchen, Germany) and two custom-developed piecewise methods using either a Normalized Correlation or a Mutual Information metric (featureletNC and featureletMI). These methods were tested on data acquired using a novel purpose-built phantom for deformable registration and clinical CT/CBCT data of prostate and lung cancer patients. The Dice similarity coefficient (DSC) between manually drawn contours and the contours generated by a derived deformation field of the structures in question was compared to the result obtained with rigid registration (RR). For the phantom, the piecewise methods were slightly superior, the featureletNC for the intramodality and the featureletMI for the intermodality registrations. For the prostate cases in less than 50% of the images studied the DSC was improved over RR. Deformable registration methods improved the outcome over a rigid registration for lung cases and in the phantom study, but not in a significant way for the prostate study. A significantly superior deformation method could not be identified.

High-performance GPU-based rendering for real-time, rigid 2D/3D-image registration and motion prediction in radiation oncology.

A common problem in image-guided radiation therapy (IGRT) of lung cancer as well as other malignant diseases is the compensation of periodic and aperiodic motion during dose delivery. Modern systems for image-guided radiation oncology allow for the acquisition of cone-beam computed tomography data in the treatment room as well as the acquisition of planar radiographs during the treatment. A mid-term research goal is the compensation of tumor target volume motion by 2D/3D Registration. In 2D/3D registration, spatial information on organ location is derived by an iterative comparison of perspective volume renderings, so-called digitally rendered radiographs (DRR) from computed tomography volume data, and planar reference x-rays. Currently, this rendering process is very time consuming, and real-time registration, which should at least provide data on organ position in less than a second, has not come into existence. We present two GPU-based rendering algorithms which generate a DRR of 512×512 pixels size from a CT dataset of 53 MB size at a pace of almost 100 Hz. This rendering rate is feasible by applying a number of algorithmic simplifications which range from alternative volume-driven rendering approaches - namely so-called wobbled splatting - to sub-sampling of the DRR-image by means of specialized raycasting techniques. Furthermore, general purpose graphics processing unit (GPGPU) programming paradigms were consequently utilized. Rendering quality and performance as well as the influence on the quality and performance of the overall registration process were measured and analyzed in detail. The results show that both methods are competitive and pave the way for fast motion compensation by rigid and possibly even non-rigid 2D/3D registration and, beyond that, adaptive filtering of motion models in IGRT.

Monitoring tumor motion by real time 2D/3D registration during radiotherapy.

BACKGROUND AND PURPOSE: In this paper, we investigate the possibility to use X-ray based real time 2D/3D registration for non-invasive tumor motion monitoring during radiotherapy. MATERIALS AND METHODS: The 2D/3D registration scheme is implemented using general purpose computation on graphics hardware (GPGPU) programming techniques and several algorithmic refinements in the registration process. Validation is conducted off-line using a phantom and five clinical patient data sets. The registration is performed on a region of interest (ROI) centered around the planned target volume (PTV). RESULTS: The phantom motion is measured with an rms error of 2.56 mm. For the patient data sets, a sinusoidal movement that clearly correlates to the breathing cycle is shown. Videos show a good match between X-ray and digitally reconstructed radiographs (DRR) displacement. Mean registration time is 0.5 s. CONCLUSIONS: We have demonstrated that real-time organ motion monitoring using image based markerless registration is feasible.

PET based volume segmentation with emphasis on the iterative TrueX algorithm.

PURPOSE: To assess the influence of reconstruction algorithms for positron emission tomography (PET) based volume quantification. The specifically detected activity in the threshold defined volume was investigated for different reconstruction algorithms as a function of volume size and signal to background ratio (SBR), especially for volumes smaller than 1ml. Special attention was given to the Siemens specific iterative reconstruction algorithm TrueX. METHODS: Measurements were performed with a modified in-house produced IEC body phantom on a Siemens Biograph 64 True Point PET/CT scanner (Siemens, Medical Systems) for six different SBRs (2.1, 3.8, 4.9, 6.7, 8.9, 9.4 and without active background (BG)). The phantom consisted of a water-filled cavity with built-in plastic spheres (0.27, 0.52, 1.15, 2.57, 5.58 and 11.49ml). The following reconstruction algorithms available on the Siemens Syngo workstation were evaluated: Iterative OSEM (OSEM) (4 iterations, 21 subsets), iterative TrueX (TrueX) (4 iterations, 21 subsets) and filtered backprojection (FBP). For the threshold based volume segmentation the software Rover (ABX, Dresden) was used. RESULTS: For spheres larger than 2.5ml a constant threshold (standard deviation (SD) 10%) level was found for a given SBR and reconstruction algorithm and therefore a mean threshold for the largest three spheres was calculated. This threshold could be approximated by a function inversely proportional to the SBR. The threshold decreased with increasing SBR for all sphere sizes. For the OSEM algorithm the threshold for small spheres with 0.27, 0.52 and 1.15ml varied between 17% and 44% (depending on sphere size). The threshold for the TrueX algorithm was substantially lower (up to 17%) than for the OSEM algorithm for all sphere sizes. The maximum activity in a specific volume yielded the true activity for the OSEM algorithm when using a SBR independent correction factor C, which depended on sphere size. For the largest three volumes a constant factor C=1.10±0.03 was found. For smaller volumes, C increased exponentially due to the partial volume effect. For the TrueX algorithm the maximum activity overestimated the true activity. CONCLUSION: The threshold values for PET based target volume segmentation increased with increasing sphere size for all tested algorithms. True activity values of spheres in the phantom could be extracted using experimentally determined correction factors C. The TrueX algorithm has to be used carefully for quantitative comparison (e.g. follow-up) and multicenter studies.

Comparison of advanced iterative reconstruction methods for SPECT/CT.

AIM: Corrective image reconstruction methods which produce reconstructed images with improved spatial resolution and decreased noise level became recently commercially available. In this work, we tested the performance of three new software packages with reconstruction schemes recommended by the manufacturers using physical phantoms simulating realistic clinical settings. METHODS: A specially designed resolution phantom containing three (99m)Tc lines sources and the NEMA NU-2 image quality phantom were acquired on three different SPECT/CT systems (General Electrics Infinia, Philips BrightView and Siemens Symbia T6). Measurement of both phantoms was done with the trunk filled with a (99m)Tc-water solution. The projection data were reconstructed using the GE's Evolution for Bone(®), Philips Astonish(®) and Siemens Flash3D(®) software. The reconstruction parameters employed (number of iterations and subsets, the choice of post-filtering) followed theses recommendations of each vendor. These results were compared with reference reconstructions using the ordered subset expectation maximization (OSEM) reconstruction scheme. RESULTS: The best results (smallest value for resolution, highest percent contrast values) for all three packages were found for the scatter corrected data without applying any post-filtering. The advanced reconstruction methods improve the full width at half maximum (FWHM) of the line sources from 11.4 to 9.5mm (GE), from 9.1 to 6.4mm (Philips), and from 12.1 to 8.9 mm (Siemens) if no additional post filter was applied. The total image quality control index measured for a concentration ratio of 8:1 improves for GE from 147 to 189, from 179. to 325 for Philips and from 217 to 320 for Siemens using the reference method for comparison. The same trends can be observed for the 4:1 concentration ratio. The use of a post-filter reduces the background variability approximately by a factor of two, but deteriorates significantly the spatial resolution. CONCLUSIONS: Using advanced reconstruction algorithms the largest improvement in image resolution and contrast is found for the scatter corrected slices without applying post-filtering. The user has to choose whether noise reduction by post-filtering or improved image resolution fits better a particular imaging procedure.

Validation for 2D/3D registration. II: The comparison of intensity- and gradient-based merit functions using a new gold standard data set.

PURPOSE: A new gold standard data set for validation of 2D/3D registration based on a porcine cadaver head with attached fiducial markers was presented in the first part of this article. The advantage of this new phantom is the large amount of soft tissue, which simulates realistic conditions for registration. This article tests the performance of intensity- and gradient-based algorithms for 2D/3D registration using the new phantom data set. METHODS: Intensity-based methods with four merit functions, namely, cross correlation, rank correlation, correlation ratio, and mutual information (MI), and two gradient-based algorithms, the backprojection gradient-based (BGB) registration method and the reconstruction gradient-based (RGB) registration method, were compared. Four volumes consisting of CBCT with two fields of view, 64 slice multidetector CT, and magnetic resonance-T1 weighted images were registered to a pair of kV x-ray images and a pair of MV images. A standardized evaluation methodology was employed. Targets were evenly spread over the volumes and 250 starting positions of the 3D volumes with initial displacements of up to 25 mm from the gold standard position were calculated. After the registration, the displacement from the gold standard was retrieved and the root mean square (RMS), mean, and standard deviation mean target registration errors (mTREs) over 250 registrations were derived. Additionally, the following merit properties were computed: Accuracy, capture range, number of minima, risk of nonconvergence, and distinctiveness of optimum for better comparison of the robustness of each merit. RESULTS: Among the merit functions used for the intensity-based method, MI reached the best accuracy with an RMS mTRE down to 1.30 mm. Furthermore, it was the only merit function that could accurately register the CT to the kV x rays with the presence of tissue deformation. As for the gradient-based methods, BGB and RGB methods achieved subvoxel accuracy (RMS mTRE down to 0.56 and 0.70 mm, respectively). Overall, gradient-based similarity measures were found to be substantially more accurate than intensity-based methods and could cope with soft tissue deformation and enabled also accurate registrations of the MR-T1 volume to the kV x-ray image. CONCLUSIONS: In this article, the authors demonstrate the usefulness of a new phantom image data set for the evaluation of 2D/3D registration methods, which featured soft tissue deformation. The author's evaluation shows that gradient-based methods are more accurate than intensity-based methods, especially when soft tissue deformation is present. However, the current nonoptimized implementations make them prohibitively slow for practical applications. On the other hand, the speed of the intensity-based method renders these more suitable for clinical use, while the accuracy is still competitive.

Stochastic rank correlation: a robust merit function for 2D/3D registration of image data obtained at different energies.

In this article, the authors evaluate a merit function for 2D/3D registration called stochastic rank correlation (SRC). SRC is characterized by the fact that differences in image intensity do not influence the registration result; it therefore combines the numerical advantages of cross correlation (CC)-type merit functions with the flexibility of mutual-information-type merit functions. The basic idea is that registration is achieved on a random subset of the image, which allows for an efficient computation of Spearman's rank correlation coefficient. This measure is, by nature, invariant to monotonic intensity transforms in the images under comparison, which renders it an ideal solution for intramodal images acquired at different energy levels as encountered in intrafractional kV imaging in image-guided radiotherapy. Initial evaluation was undertaken using a 2D/3D registration reference image dataset of a cadaver spine. Even with no radiometric calibration, SRC shows a significant improvement in robustness and stability compared to CC. Pattern intensity, another merit function that was evaluated for comparison, gave rather poor results due to its limited convergence range. The time required for SRC with 5% image content compares well to the other merit functions; increasing the image content does not significantly influence the algorithm accuracy. The authors conclude that SRC is a promising measure for 2D/3D registration in IGRT and image-guided therapy in general.

A comparative study on manual and automatic slice-to-volume registration of CT images.

In order to assess the clinical relevance of a slice-to-volume registration algorithm, this technique was compared to manual registration. Reformatted images obtained from a diagnostic CT examination of the lower abdomen were reviewed and manually registered by 41 individuals. The results were refined by the algorithm. Furthermore, a fully automatic registration of the single slices to the whole CT examination, without manual initialization, was also performed. The manual registration error for rotation and translation was found to be 2.7+/-2.8 degrees and 4.0+/-2.5 mm. The automated registration algorithm significantly reduced the registration error to 1.6+/-2.6 degrees and 1.3+/-1.6 mm (p = 0.01). In 3 of 41 (7.3%) registration cases, the automated registration algorithm failed completely. On average, the time required for manual registration was 213+/-197 s; automatic registration took 82+/-15 s. Registration was also performed without any human interaction. The resulting registration error of the algorithm without manual pre-registration was found to be 2.9+/-2.9 degrees and 1.1+/-0.2 mm. Here, a registration took 91+/-6 s, on average. Overall, the automated registration algorithm improved the accuracy of manual registration by 59% in rotation and 325% in translation. The absolute values are well within a clinically relevant range.

Multiple window spatial registration error of a gamma camera: 133Ba point source as a replacement of the NEMA procedure.

BACKGROUND: The accuracy of multiple window spatial resolution characterises the performance of a gamma camera for dual isotope imaging. In the present study we investigate an alternative method to the standard NEMA procedure for measuring this performance parameter. METHODS: A long-lived 133Ba point source with gamma energies close to 67Ga and a single bore lead collimator were used to measure the multiple window spatial registration error. Calculation of the positions of the point source in the images used the NEMA algorithm. The results were validated against the values obtained by the standard NEMA procedure which uses a liquid 67Ga source with collimation. RESULTS: Of the source-collimator configurations under investigation an optimum collimator geometry, consisting of a 5 mm thick lead disk with a diameter of 46 mm and a 5 mm central bore, was selected. The multiple window spatial registration errors obtained by the 133Ba method showed excellent reproducibility (standard deviation < 0.07 mm). The values were compared with the results from the NEMA procedure obtained at the same locations and showed small differences with a correlation coefficient of 0.51 (p < 0.05). In addition, the 133Ba point source method proved to be much easier to use. A Bland-Altman analysis showed that the 133Ba and the 67Ga Method can be used interchangeably. CONCLUSION: The 133Ba point source method measures the multiple window spatial registration error with essentially the same accuracy as the NEMA-recommended procedure, but is easier and safer to use and has the potential to replace the current standard procedure.

The Zernike expansion--an example of a merit function for 2D/3D registration based on orthogonal functions.

Current merit functions for 2D/3D registration usually rely on comparing pixels or small regions of images using some sort of statistical measure. Problems connected to this paradigm the sometimes problematic behaviour of the method if noise or artefacts (for instance a guide wire) are present on the projective image. We present a merit function for 2D/3D registration which utilizes the decomposition of the X-ray and the DRR under comparison into orthogonal Zernike moments; the quality of the match is assessed by an iterative comparison of expansion coefficients. Results in a imaging study on a physical phantom show that--compared to standard cross--correlation the Zernike moment based merit function shows better robustness if histogram content in images under comparison is different, and that time expenses are comparable if the merit function is constructed out of a few significant moments only.

2D/3D registration of endoscopic ultrasound to CT volume data.

This paper describes a computer-aided navigation system using image fusion to support endoscopic interventions such as the accurate collection of biopsy specimens. An endoscope provides the physician with real-time ultrasound (US) and a video image. An image slice that corresponds to the corresponding image from the US scan head is derived from a preoperative computed tomography (CT) or magnetic resonance image volume data set using oblique reformatting and displayed side by side with the US image. The position of the image acquired by the US scan head is determined by a miniaturized electromagnetic tracking system (EMTS) after calibrating the endoscope's scan head. The transformation between the patient coordinate system and the preoperative data set is calculated using a 2D/3D registration. This is achieved by calibrating an intraoperative interventional CT slice with an optical tracking system (OTS) using the same algorithm as for the US calibration. The slice is then used for 2D/3D registration with the coordinate system of the preoperative volume. The fiducial registration error (FRE) for the US calibration was 2.0 mm +/- 0.4 mm; the interventional CT FRE was 0.36 +/- 0.12 mm; and the 2D/3D registration target registration error (TRE) was 1.8 +/- 0.3 mm. The point-to-point registration between the OTS and the EMTS had an FRE of 0.9 +/- 0.4 mm. Finally, we found an overall TRE for the complete system to be 3.9 +/- 0.6 mm.

Fast DRR splat rendering using common consumer graphics hardware.

Digitally rendered radiographs (DRR) are a vital part of various medical image processing applications such as 2D/3D registration for patient pose determination in image-guided radiotherapy procedures. This paper presents a technique to accelerate DRR creation by using conventional graphics hardware for the rendering process. DRR computation itself is done by an efficient volume rendering method named wobbled splatting. For programming the graphics hardware, NVIDIAs C for Graphics (Cg) is used. The description of an algorithm used for rendering DRRs on the graphics hardware is presented, together with a benchmark comparing this technique to a CPU-based wobbled splatting program. Results show a reduction of rendering time by about 70%-90% depending on the amount of data. For instance, rendering a volume of 2 x 10(6) voxels is feasible at an update rate of 38 Hz compared to 6 Hz on a common Intel-based PC using the graphics processing unit (GPU) of a conventional graphics adapter. In addition, wobbled splatting using graphics hardware for DRR computation provides higher resolution DRRs with comparable image quality due to special processing characteristics of the GPU. We conclude that DRR generation on common graphics hardware using the freely available Cg environment is a major step toward 2D/3D registration in clinical routine.

Comparison of laser surface scanning and fiducial marker-based registration in frameless stereotaxy. Technical note.

The authors compared the accuracy of laser surface scanning patient registration using the commercially available Fazer (Medtronic, Inc.) with the conventional registration procedure based on fiducial markers (FMs) in computer-assisted surgery. Four anatomical head specimens were prepared with 10 titanium microscrews placed at defined locations and scanned with a 16-slice spiral computed tomography unit. To compare the two registration methods, each method was applied five times for each cadaveric specimen; thus data were obtained from 40 registrations. Five microscrews (selected following a randomization protocol) were used for each FM-based registration; the other five FMs were selected for coordinate measurements by touching with a point measurement stylus. Coordinates of these points were also measured manually on the screen of the navigation computer. Coordinates were measured in the same manner after laser surface registration. The root mean square error as calculated by the navigation system ranged from 1.3 to 3.2 mm (mean 1.8 mm) with the Fazer and from 0.3 to 1.8 mm (mean 1.0 mm) with FM-based registration. The overall mean deviations (the arithmetic mean of the mean deviations of measurements on the four specimens) were 3.0 mm (standard deviation [SD] range 1.4-2.6 mm) with the Fazer and 1.4 mm (SD range 0.4-0.9 mm) with the FMs. The Fazer registration scans 300 surface points. Statistical tests showed the difference in the accuracy of these methods to be highly significant. In accordance with the findings of other groups, the authors concluded that the inclusion of a larger number of registration points might improve the accuracy of Fazer registration.

Rigid 2D/3D slice-to-volume registration and its application on fluoroscopic CT images.

Registration of single slices from FluoroCT, CineMR, or interventional magnetic resonance imaging to three dimensional (3D) volumes is a special aspect of the two-dimensional (2D)/3D registration problem. Rather than digitally rendered radiographs (DRR), single 2D slice images obtained during interventional procedures are compared to oblique reformatted slices from a high resolution 3D scan. Due to the lack of perspective information and the different imaging geometry, convergence behavior differs significantly from 2D/3D registration applications comparing DRR images with conventional x-ray images. We have implemented a number of merit functions and local and global optimization algorithms for slice-to-volume registration of computed tomography (CT) and FluoroCT images. These methods were tested on phantom images derived from clinical scans for liver biopsies. Our results indicate that good registration accuracy in the range of 0.50 and 1.0 mm is achievable using simple cross correlation and repeated application of local optimization algorithms. Typically, a registration took approximately 1 min on a standard personal computer. Other merit functions such as pattern intensity or normalized mutual information did not perform as well as cross correlation in this initial evaluation. Furthermore, it appears as if the use of global optimization algorithms such as simulated annealing does not improve reliability or accuracy of the registration process. These findings were also confirmed in a preliminary registration study on five clinical scans. These experiments have, however, shown that a strict breath-hold protocol is inevitable when using rigid registration techniques for lesion localization in image-guided biopsy retrieval. Finally, further possible applications of slice-to-volume registration are discussed.

Esophageal acid exposure in upright and recumbent postures: roles of lower esophageal sphincter, esophageal contractile and transport function, hiatal hernia, age, sex, and body mass.

This study aimed to assess, using multiple regression analyses, the roles of lower esophageal sphincter, esophageal contractile and transport function, hiatal hernia, age, sex, and body mass for esophageal acid exposure in upright and recumbent postures and for esophagitis. In 116 patients with reflux symptoms, acid exposure was recorded by 24-hr pH monitoring, motility manometrically, bolus transport scintigraphically, hiatal hernia and esophagitis endoscopically. In upright posture, the percentage time at pH <4 increased significantly with higher body mass index and lower distal esophageal amplitude, the number of episodes >5 min at pH <4 with lower distal amplitude, slower transport, and higher body mass, and the longest episode at pH <4 with lower distal amplitude. In recumbency, the percentage time at pH <4 increased with lower percentage of effective esophageal contraction waves and male sex, and the number of episodes and the longest episode with lower percentage effective waves. The severity of esophagitis augmented with slower supine transport and male sex. In both postures, acid exposure and esophagitis seem to be determined primarily by impaired esophageal motility and the ensuing slow bolus transport rather than by compromised lower esophageal sphincter function and the presence and size of a hiatal hernia.

[Evaluation of the performance of a gamma camera equipped with a 5/8" versus 1" thick NaI detector]. / Vergleich der Abbildungseigenschaften einer Gammakamera mit 5/8" (15 mm) NaI-Szintillationskristall und 1" (25 mm)-Kristall.

The upgrade of a gamma camera from a 5/8" to a 1" thick crystal, the latter with StarBrite technology, prompted to the investigation of changes in performance parameters for planar scintigraphy and SPECT as well as for PET in coincidence mode. For planar and SPECT parameters, the performance was measured according to NEMA Standard Protocol NU1-2001. No changes were found in terms of intrinsic uniformity, intrinsic spatial resolution, linearity, energy resolution, system resolution, and tomographic system resolution. The only change was an increase of system sensitivity for higher energy gamma rays. For the PET scanner in coincidence mode, the image quality of the camera was determined according to NEMA NU2-2001. Visually and in terms of contrast values there was a significant improvement of image quality. Changes in image quality relevant for clinical use were tested by evaluation of planar patient scans acquired within a short time with two gamma cameras of the same type, different only in crystal thickness (5/8" and 1"). No statistically significant difference was found between corresponding scans. For planar and SPECT imaging, the gamma camera with 1" thick detector and StarBrite technology demonstrated the same performance of a camera with a 5/8" crystal. For PET in coincidence mode the new detector proved clearly superior.

A fully automated calibration method for an optical see-through head-mounted operating microscope with variable zoom and focus.

Ever since the development of the first applications in image-guided therapy (IGT), the use of head-mounted displays (HMDs) was considered an important extension of existing IGT technologies. Several approaches to utilizing HMDs and modified medical devices for augmented reality (AR) visualization were implemented. These approaches include video-see through systems, semitransparent mirrors, modified endoscopes, and modified operating microscopes. Common to all these devices is the fact that a precise calibration between the display and three-dimensional coordinates in the patient's frame of reference is compulsory. In optical see-through devices based on complex optical systems such as operating microscopes or operating binoculars-as in the case of the system presented in this paper-this procedure can become increasingly difficult since precise camera calibration for every focus and zoom position is required. We present a method for fully automatic calibration of the operating binocular Varioscope M5 AR for the full range of zoom and focus settings available. Our method uses a special calibration pattern, a linear guide driven by a stepping motor, and special calibration software. The overlay error in the calibration plane was found to be 0.14-0.91 mm, which is less than 1% of the field of view. Using the motorized calibration rig as presented in the paper, we were also able to assess the dynamic latency when viewing augmentation graphics on a mobile target; spatial displacement due to latency was found to be in the range of 1.1-2.8 mm maximum, the disparity between the true object and its computed overlay represented latency of 0.1 s. We conclude that the automatic calibration method presented in this paper is sufficient in terms of accuracy and time requirements for standard uses of optical see-through systems in a clinical environment.

Design and application of an assessment protocol for electromagnetic tracking systems.

This paper defines a simple protocol for competitive and quantified evaluation of electromagnetic tracking systems such as the NDI Aurora (A) and Ascension microBIRD with dipole transmitter (B). It establishes new methods and a new phantom design which assesses the reproducibility and allows comparability with different tracking systems in a consistent environment. A machined base plate was designed and manufactured in which a 50 mm grid of holes was precisely drilled for position measurements. In the center a circle of 32 equispaced holes enables the accurate measurement of rotation. The sensors can be clamped in a small mount which fits into pairs of grid holes on the base plate. Relative positional/orientational errors are found by subtracting the known distances/ rotations between the machined locations from the differences of the mean observed positions/ rotation. To measure the influence of metallic objects we inserted rods made of steel (SST 303, SST 416), aluminum, and bronze into the sensitive volume between sensor and emitter. We calculated the fiducial registration error and fiducial location error with a standard stylus calibration for both tracking systems and assessed two different methods of stylus calibration. The positional jitter amounted to 0.14 mm(A) and 0.08 mm(B). A relative positional error of 0.96 mm +/- 0.68 mm, range -0.06 mm; 2.23 mm(A) and 1.14 mm +/- 0.78 mm, range -3.72 mm; 1.57 mm(B) for a given distance of 50 mm was found. The relative rotation error was found to be 0.51 degrees (A)/0.04 degrees (B). The most relevant distortion caused by metallic objects results from SST 416. The maximum error 4.2 mm(A)/ > or = 100 mm(B) occurs when the rod is close to the sensor(20 mm). While (B) is more sensitive with respect to metallic objects, (A) is less accurate concerning orientation measurements. (B) showed a systematic error when distances are calculated.

Variations in the output power and surface heating effects of transducers in therapeutic ultrasound.

OBJECTIVE: To determine the real emitted output power and maximum surface heating of commercial therapeutic ultrasound transducers emitting in air for various therapeutic regimens. DESIGN: Surface temperatures of ultrasound transducers with frequencies of .05 to 3 MHz were detected over 5 minutes by using a calibrated infrared thermographic camera; additionally, the indicated output power was checked with a radiation force balance. SETTING: University center for biomedical engineering and physics and medical school for physical medicine and rehabilitation. PARTICIPANTS: Not applicable. INTERVENTIONS: Not applicable. MAIN OUTCOME MEASURES: Power variations and surface temperatures of clinical devices were analyzed to determine whether they comply with obligatory limits given in International Electrotechnical Commission standard 60601-2-5. RESULTS: Depending on the operation mode and the output power, surface temperatures ranged between 24.2 degrees to 80 degrees C within 5 minutes. Differences between measured and displayed power output (limit, +/-20%) ranged between -32% and 28%. CONCLUSIONS: The effectiveness of treatment is lowered if the value of emitted power is not known reliably. In the worst case, damage or irritation of the skin is possible, particularly in patients with sensory compromised skin. Damage may be caused by hot surfaces if the threshold level required to activate the device is lowered or if the device is defective. Improved thermal control units are necessary to prevent potential thermal hazards. Regular checks of transducer emission should be obligatory to ensure correct and precise function of the clinical devices.