Catheter pose-dependent virtual angioscopy images for endovascular aortic repair: validation with a video graphics array (VGA) camera

Previous research reported catheter pose-dependent virtual angioscopy images for endovascular aortic repair (EVAR) (phantom studies) without any validation with video images. The goal of our study focused on conducting this validation using a video graphics array (VGA) camera. The spatial relationship between the coordinate system of the virtual camera and the VGA camera was computed with a Hand-Eye calibration so that both cameras produced similar images. A re-projection error of 3.18 pixels for the virtual camera and 2.14 pixels for the VGA camera was obtained with a designed three-dimensional (3D) printed chessboard. Similar images of the vessel (3D printed aorta) were acquired with both cameras except for the different depth. Virtual angioscopy images provide information from inside the vessel that may facilitate the understanding of the tip position of the endovascular tools while performing EVAR.

Catheter pose-dependent virtual angioscopy images visualized on augmented reality glasses

Fluoroscopy and digital subtraction angiography provide guidance in endovascular aortic repair (EVAR) but introduce radiation exposure and require the administration of contrast agent. To overcome these disadvantages, previous studies proposed to display the pose of an electromagnetically (EM) tracked catheter tip within a three-dimensional virtual aorta on augmented reality (AR) glasses. For further guidance, we propose to create virtual angioscopy images based on the catheter tip pose within the aorta and to display them on HoloLens. The aorta was segmented from the computed tomography (CT) data using MeVisLab software. A landmarkbased registration allowed the calculation of the pose of the EM sensor in the CT coordinate system. The sensor pose was sent to MeVisLab running on a computer and a virtual angioscopy image was created at runtime based on the segmented aorta. When requested by HoloLens, the last encoded image was sent from MeVisLab to the AR glasses via Wi-Fi using a remote procedure call (gRPC), and then decoded and displayed on HoloLens. For evaluation purposes, the latency of transmitting and displaying the images was measured using two different lossy compression formats (namely JPEG and DXT1). A mean latency of 82 ms was measured for the JPEG format. On the other hand, using the DXT1 format, the mean latency was reduced by 87 %. This study proved the feasibility of creating pose-dependent virtual angioscopy images and displaying them on HoloLens. Additionally, the results showed that the DXT1 format outperformed the JPEG format regarding latency. The virtual angioscopy may add valuable additional information for guidance in radiation-sparing EVAR procedure approaches.

Navigation and visualisation with HoloLens in endovascular aortic repair

IntroductionEndovascular aortic repair (EVAR) is a minimal-invasive technique that prevents life-threatening rupture in patients with aortic pathologies by implantation of an endoluminal stent graft. During the endovascular procedure, device navigation is currently performed by fluoroscopy in combination with digital subtraction angiography. This study presents the current iterative process of biomedical engineering within the disruptive interdisciplinary project Nav EVAR, which includes advanced navigation, image techniques and augmented reality with the aim of reducing side effects (namely radiation exposure and contrast agent administration) and optimising visualisation during EVAR procedures. This article describes the current prototype developed in this project and the experiments conducted to evaluate it.MethodsThe current approach of the Nav EVAR project is guiding EVAR interventions in real-time with an electromagnetic tracking system after attaching a sensor on the catheter tip and displaying this information on Microsoft HoloLens glasses. This augmented reality technology enables the visualisation of virtual objects superimposed on the real environment. These virtual objects include three-dimensional (3D) objects (namely 3D models of the skin and vascular structures) and two-dimensional (2D) objects [namely orthogonal views of computed tomography (CT) angiograms, 2D images of 3D vascular models, and 2D images of a new virtual angioscopy whose appearance of the vessel wall follows that shown in ex vivo and in vivo angioscopies]. Specific external markers were designed to be used as landmarks in the registration process to map the tracking data and radiological data into a common space. In addition, the use of real-time 3D ultrasound (US) is also under evaluation in the Nav EVAR project for guiding endovascular tools and updating navigation with intraoperative imaging. US volumes are streamed from the US system to HoloLens and visualised at a certain distance from the probe by tracking augmented reality markers. A human model torso that includes a 3D printed patient-specific aortic model was built to provide a realistic test environment for evaluation of technical components in the Nav EVAR project. The solutions presented in this study were tested by using an US training model and the aortic-aneurysm phantom.ResultsDuring the navigation of the catheter tip in the US training model, the 3D models of the phantom surface and vessels were visualised on HoloLens. In addition, a virtual angioscopy was also built from a CT scan of the aortic-aneurysm phantom. The external markers designed for this study were visible in the CT scan and the electromagnetically tracked pointer fitted in each marker hole. US volumes of the US training model were sent from the US system to HoloLens in order to display them, showing a latency of 259±86 ms (mean±standard deviation).ConclusionThe Nav EVAR project tackles the problem of radiation exposure and contrast agent administration during EVAR interventions by using a multidisciplinary approach to guide the endovascular tools. Its current state presents several limitations such as the rigid alignment between preoperative data and the simulated patient. Nevertheless, the techniques shown in this study in combination with fibre Bragg gratings and optical coherence tomography are a promising approach to overcome the problems of EVAR interventions.