An Intelligent Ultrasonic Based Neuro-Navigation System for Improved Image Guided Neurosurgery

2003 ◽  
Author(s):  
Jennifer Akers ◽  
Probir Kumar Ray ◽  
Ajay Mahajan ◽  
Sumeer Lal
Keyword(s):  
Genetic Algorithm ◽  
Position Estimation ◽  
Optimal Placement ◽  
Line Of Sight ◽  
Current Image ◽  
Laboratory Environment ◽  
Image Guided ◽  
Genetic Algorithm Approach ◽  
Estimation System ◽  
Better Than

This paper shows the feasibility of using an accurate 3D ultrasonic position estimation system for realtime image guided neurosurgery. Current image guided systems use camera based technology that is space-intensive, have an accuracy of about 2mm, and are prone to occasional failures. The 3D system presented in this paper eliminates the space intensive camera, has an accuracy better than 2mm in the operating range of about 20–40cm, makes the system independent of line-of-sight occlusion problems, and is expected to pave the way for accurate fusion models of MRI and ultrasonography to account for brain shifts during surgery. This paper presents the system formulation, optimal placement of receivers using an innovative genetic algorithm approach, a scheme for automatic installation and calibration, and finally some preliminary experimental results within a laboratory environment.

An Intelligent Systems Approach for an Ultrasonic Based Neuro-Navigation System

2004 ◽  
Author(s):  
Jennifer Akers ◽  
Sanjeevi Chitikeshi ◽  
Ajay Mahajan ◽  
Tsuchin Chu ◽  
Etienne Witte ◽  
...  
Keyword(s):  
Intelligent Systems ◽  
Systems Approach ◽  
Position Estimation ◽  
Current Image ◽  
Image Guided ◽  
Real Time Image ◽  
Estimation System ◽  
Data Acquisition And Processing ◽  
Electronic Hardware ◽  
Time Image

This paper shows the feasibility of using an intelligent systems approach to increase the accuracy of a 3D ultrasonic position estimation system for real-time image guided neurosurgery. Current image guided systems use camera based technology that is space-intensive, have an accuracy of about 1.0–2.0 mm, and are prone to occasional failures. The 3D system presented in this paper eliminates the space intensive camera, has an accuracy of around 1.0 mm in the operating range of about 200–400 mm, makes the system independent of line-of-sight occlusion problems, and is expected to pave the way for accurate fusion models of MRI and ultrasonography to account for brain shifts during surgery. Hence, the proposed system provides many more advantages over existing systems without compromising on the accuracy. This paper presents the system formulation, a neural network model that uses the raw signals, the electronic hardware for data acquisition and processing as well as simulation and actual results.

Optimal Fiducial Configuration in Image-Guided Neurosurgery Using a Genetic Algorithm

2010 ◽  
Vol 4 (4) ◽  
Author(s):  
Laura Gastaldi ◽  
Alessandro Battezzato ◽  
Claudio Bernucci ◽  
Marco Mannino ◽  
Stefano Pastorelli
Keyword(s):  
Genetic Algorithm ◽  
Image Guidance ◽  
3D Model ◽  
Magnetic Resonance Images ◽  
Optimal Placement ◽  
Fiducial Markers ◽  
Virtual Spaces ◽  
Target Registration Error ◽  
Image Guided ◽  
Localize Lesion

Image-guided neurosurgery allows surgeons to navigate and localize lesion through the patient’s cranium with a 3D image guidance. The model of the head is reconstructed using preoperative computed tomography or magnetic resonance images and real and virtual spaces are aligned by means of fiducial markers placed on the patient. In this paper, a new method for the optimal placement of the fiducial markers in order to reduce misalignment is presented. Using routine diagnostic images, a customized 3D model of the patient’s cranium is reconstructed. A genetic algorithm calculates optimal positions of the marker in order to minimize the target registration error. The fiducial set is shown to the surgeons on the 3D model to help him/her in placement of them.

Optimal Configuration of Ultrasonic Sensors in a 3D Position Estimation System Using Genetic Algorithms

2001 ◽  
Author(s):  
Probir Kumar Ray ◽  
Nishant Unnikrishnan ◽  
Ajay Mahajan
Keyword(s):  
Autonomous Vehicles ◽  
Wave Theory ◽  
Position Estimation ◽  
Optimal Placement ◽  
Accurate Estimation ◽  
Delay Term ◽  
Electronic Circuitry ◽  
3D Space ◽  
The Difference ◽  
Estimation System

Abstract This paper provides a genetic algorithm based approach to calculate the optimal placement of receivers in a 3D position estimation system that uses the difference in the time-of-arrivals (TOA) of an ultrasonic wave from a transmitter to the different receivers fixed in 3D space. This is a different approach to traditional systems that use the actual time-of-flights (TOF) from the transmitter to the different receivers and triangulate the position of the transmitter. The new approach makes the system more accurate, makes the transmitter independent of the receivers and does not require the need of calculating the time delay term that is inherent in traditional systems due to delays caused by the electronic circuitry. This paper presents a thorough analysis of receiver configurations in the 2D and 3D system that lead to singularities, i.e. locations of receivers that lead to formulations that can not be solved due to a shortage of information. It provides guidelines of where not to place receivers, and further, presents a detailed analysis of locations that are optimal, i.e. locations that lead to the most accurate estimation of the transmitter positions. The results presented in this paper are not only applicable to ultrasonic systems, but all systems that use wave theory, e.g. infrared, laser, etc. This work finds applications in virtual reality cells, robotics, guidance of indoor autonomous vehicles and vibration analysis.

scholarly journals Genetic Algorithm for Biobjective Urban Transit Routing Problem

2013 ◽  
Vol 2013 ◽  
pp. 1-15 ◽  
Author(s):  
J. S. C. Chew ◽  
L. S. Lee ◽  
H. V. Seow
Keyword(s):  
Genetic Algorithm ◽  
Feasible Solution ◽  
Benchmark Problems ◽  
Computational Results ◽  
Crossover Operator ◽  
Urban Transit ◽  
Routing Problem ◽  
Genetic Algorithm Approach ◽  
Better Than

This paper considers solving a biobjective urban transit routing problem with a genetic algorithm approach. The objectives are to minimize the passengers’ and operators’ costs where the quality of the route sets is evaluated by a set of parameters. The proposed algorithm employs an adding-node procedure which helps in converting an infeasible solution to a feasible solution. A simple yet effective route crossover operator is proposed by utilizing a set of feasibility criteria to reduce the possibility of producing an infeasible network. The computational results from Mandl’s benchmark problems are compared with other published results in the literature and the computational experiments show that the proposed algorithm performs better than the previous best published results in most cases.

Optimal Fiducial Configuration in Image-Guided Neurosurgery Using a Genetic Algorithm

2010 ◽  
Author(s):  
Laura Gastaldi ◽  
Alessandro Battezzato ◽  
Claudio Bernucci ◽  
Marco Mannino ◽  
Stefano Pastorelli
Keyword(s):  
Genetic Algorithm ◽  
Image Guidance ◽  
3D Model ◽  
Optimal Placement ◽  
Fiducial Markers ◽  
Mr Images ◽  
Virtual Spaces ◽  
Target Registration Error ◽  
Image Guided ◽  
Localize Lesion

Image Guided Neurosurgery allows surgeons to navigate and localize lesion through the patient’s cranium with a 3D image guidance. The model of the head is reconstructed using pre-operative Computed Tomography (CT) or Magnetic Resonance (MR) images and real and virtual spaces are aligned by means of fiducial markers placed on the patient. In the paper a new method for the optimal placement of the fiducial markers in order to reduce misalignment is presented. Using routine diagnostic images a customized 3D model of the patient’s cranium is reconstructed. A genetic algorithm calculates optimal positions of the marker in order to minimize the Target Registration Error (TRE). The fiducial set is shown to the surgeons on the 3D model to help him/her in placement of them.

An Iterative Kalman Filter for a 3D Ultrasonic Position Estimation System

2007 ◽  
Author(s):  
Sanjeevi Chitikeshi ◽  
Ajay Mahajan ◽  
Jennifer Akers
Keyword(s):  
Kalman Filter ◽  
Inertial Frame ◽  
Position Estimation ◽  
Image Guided Surgery ◽  
Guided Surgery ◽  
Image Guided ◽  
Multiple Receivers ◽  
The Difference ◽  
Estimation System ◽  
Increase In Accuracy

This paper describes an iterative Kalman Filter to increase the accuracy of a dynamic 3D position estimation system. The novelty of the system lies in the fact that a difference in the time of arrivals is used in conjunction with an estimated speed of sound within the system formulation, and the Kalman Filter is used to further increase the accuracy and robustness of the output. The output is a 3D position of the transmitter obtained from the difference in time of arrivals of the wave burst at multiple receivers fixed within an inertial frame. Results are provided to show the increase in accuracy and robustness along with some limitations of the system. The system has many applications the most significant being image guided surgery.

GASBOR: A GENETIC ALGORITHM APPROACH FOR SOLVING THE SWITCHBOX ROUTING PROBLEM

1996 ◽  
Vol 06 (04) ◽  
pp. 359-373 ◽  
Author(s):  
JENS LIENIG ◽  
K. THULASIRAMAN
Keyword(s):  
Genetic Algorithm ◽  
Integrated Circuits ◽  
Design Process ◽  
Three Dimensional ◽  
Genetic Operators ◽  
Dimensional Representation ◽  
Routing Problem ◽  
Three Dimensional Representation ◽  
Genetic Algorithm Approach ◽  
Better Than

A new genetic algorithm for switchbox routing in the physical design process of integrated circuits is presented. Our algorithm, called GASBOR (Genetic Algorithm for SwitchBOx Routing), is based on a three-dimensional representation of the switchbox and problem-specific genetic operators. The performance of the algorithm is tested on different benchmarks and it is shown that the results obtained using the proposed algorithm are either qualitatively similar to or better than the best published results.

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