This event, created by Gözde Ãnal, Ioannis. Kakadiaris, Greg Slabaugh, and Allen Tannenbaum, was the first International Workshop on Computer Vision for ...
COMPUTING AND VISUALIZATION FOR INTRAVASCULAR IMAGING AND COMPUTER-ASSISTED STENTING
The Elsevier and MICCAI Society Book Series
Advisory board Stephen Aylward (Kitware, USA) David Hawkes (University College London, United Kingdom) Kensaku Mori (University of Nagoya, Japan) Alison Noble (University of Oxford, United Kingdom) Sonia Pujol (Harvard University, USA) Daniel Rueckert (Imperial College, United Kingdom) Xavier Pennec (INRIA Sophia-Antipolis, France) Pierre Jannin (University of Rennes, France) Also available: Wu, Machine Learning and Medical Imaging, 9780128040768 Zhou, Deep Learning for Medical Image Analysis, 9780128104088 Zhou, Medical Image Recognition, Segmentation and Parsing, 9780128025819
COMPUTING AND VISUALIZATION FOR INTRAVASCULAR IMAGING AND COMPUTER-ASSISTED STENTING Edited by
SIMONE BALOCCO MARIA A. ZULUAGA GUILLAUME ZAHND SU-LIN LEE STEFANIE DEMIRCI
AMSTERDAM • BOSTON • HEIDELBERG • LONDON NEW YORK • OXFORD • PARIS • SAN DIEGO SAN FRANCISCO • SINGAPORE • SYDNEY • TOKYO Academic Press is an imprint of Elsevier
Academic Press is an imprint of Elsevier 125 London Wall, London EC2Y 5AS, United Kingdom 525 B Street, Suite 1800, San Diego, CA 92101-4495, United States 50 Hampshire Street, 5th Floor, Cambridge, MA 02139, United States The Boulevard, Langford Lane, Kidlington, Oxford OX5 1GB, United Kingdom © 2017 Elsevier Ltd. All rights reserved. No part of this publication may be reproduced or transmitted in any form or by any means, electronic or mechanical, including photocopying, recording, or any information storage and retrieval system, without permission in writing from the publisher. Details on how to seek permission, further information about the Publisher’s permissions policies and our arrangements with organizations such as the Copyright Clearance Center and the Copyright Licensing Agency, can be found at our website: www.elsevier.com/ permissions. This book and the individual contributions contained in it are protected under copyright by the Publisher (other than as may be noted herein). Notices Knowledge and best practice in this field are constantly changing. As new research and experience broaden our understanding, changes in research methods, professional practices, or medical treatment may become necessary. Practitioners and researchers must always rely on their own experience and knowledge in evaluating and using any information, methods, compounds, or experiments described herein. In using such information or methods they should be mindful of their own safety and the safety of others, including parties for whom they have a professional responsibility. To the fullest extent of the law, neither the Publisher nor the authors, contributors, or editors, assume any liability for any injury and/or damage to persons or property as a matter of products liability, negligence or otherwise, or from any use or operation of any methods, products, instructions, or ideas contained in the material herein. Library of Congress Cataloging-in-Publication Data A catalog record for this book is available from the Library of Congress British Library Cataloguing-in-Publication Data A catalogue record for this book is available from the British Library ISBN: 978-0-12-811018-8 For information on all Academic Press publications visit our website at https://www.elsevier.com/
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CONTENTS
Contributors About the Editors Preface
Section I: Clinical Introduction 1. Intravascular Imaging to Assess Coronary Atherosclerosis and Percutaneous Coronary Interventions
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1 3
S. Carlier, K. Houissa 1. Intravascular Imaging Development 2. Safety of Intravascular Imaging 3. Intravascular Imaging Versus Coronary Angiography 4. Intravascular Imaging Assessment of Plaque Progression/Regression 5. Intravascular Imaging Assessment of Lesions to Be Revascularized, or Not 6. Intravascular Imaging Assessment of Percutaneous Interventions 7. Future Developments and Final Word References
2. Atherosclerotic Plaque Progression and OCT/IVUS Assessment
3 7 8 9 13 16 23 24
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J. Rigla 1. Aims and Introduction 2. Description of Atherosclerosis Lesions in Children, Adults, and Elderly Population 3. Atherosclerosis Histologist Classification 4. Phases of Progression of Atherosclerosis Disease 5. OCT 6. IVUS 7. Vulnerable Plaques 8. Summary References
3. AAA Treatment Strategy Change Over Time
33 34 36 38 40 42 46 46 48
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R. Ghotbi, R. Mansour 1. 2. 3. 4. 5.
Introduction Pathogenesis Open Surgical Repair Endovascular Aneurysm Repair Preoperative Planning
54 56 60 62 65
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Contents
6. Imaging for Planning the Intraoperative Procedure and Postoperative Follow-Up References
4. Overview of Different Medical Imaging Techniques for the Identification of Coronary Atherosclerotic Plaques
74 76
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A. Taki, A. Kermani, S.M. Ranjbarnavazi, A. Pourmodheji 1. Introduction 2. Clinical Overview 3. Imaging Techniques 4. Discussion References
Section II: Vascular and Intravascular Analysis of Plaque 5. Implications of the Kinematic Activity of the Atherosclerotic Plaque: Analysis Using a Comprehensive Framework for B-Mode Ultrasound of the Carotid Artery
79 80 85 103 105
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A. Gastounioti, S. Golemati, P. Mermigkas, M. Prevenios, K.S. Nikita 1. Introduction 2. Study Population and Ultrasound Image Data 3. A Comprehensive Framework for Quantifying the Arterial Wall Motion 4. Bilateral Asymmetry in Kinematic Features of Atherosclerotic Arteries 5. Risk Stratification Driven by the Kinematic Activity of the Arterial Wall 6. Data Mining of Association-Based Phenotypic Networks 7. Conclusion Acknowledgments References
109 111 112 114 119 125 127 128 128
6. Right Generalized Cylinder Model for Vascular Segmentation
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L. Flórez-Valencia, M. Orkisz 1. Motivation 2. Direct Model 3. Parameters Inversion 4. Model-Guided Image Segmentation 5. Conclusions References
7. Domain Adapted Model for In Vivo Intravascular Ultrasound Tissue Characterization
132 133 141 149 154 155
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S. Conjeti, A.G. Roy, D. Sheet, S. Carlier, T. Syeda-Mahmood, N. Navab, A. Katouzian 1. Introduction
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Contents
2. State of the Art 3. Mathematical Modeling of Ultrasonic Backscattering and Signal Propagation Physics in Heterogeneous Tissues 4. Domain Adaptation for In Vivo TC 5. Experiments and Discussion 6. Conclusions Acknowledgments References
8. Intracoronary Optical Coherence Tomography
161 163 170 173 178 179 179
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G.J. Ughi, T. Adriaenssens 1. Introduction 2. Coronary Imaging 3. OCT Clinical Research 4. OCT Image Processing 5. Future Outlook References
183 189 201 202 207 216
Section III: Vascular Biomechanics and Modeling
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9. Vascular Hemodynamics with Computational Modeling and Experimental Studies
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S. Beier, J. Ormiston, M. Webster, J. Cater, S. Norris, P. Medrano-Gracia, A. Young, B. Cowan 1. Vascular Hemodynamics and Atherosclerosis 2. Vessel Geometry 3. Computational (CFD) Modeling 4. Experimental Studies 5. Data Postprocessing, Co-Registration, and Comparison 6. Accuracy and Reliability 7. Current Developments Acknowledgments References
228 230 232 235 241 243 246 247 247
10. Arterial Flow Impact on Aneurysmal Hemodynamics
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H.G. Morales, O. Bonnefous 1. 2. 3. 4. 5.
Introduction Modeling Aneurysm Hemodynamics Contributions of this Chapter Part 1: Peak-Systolic and Maximum Hemodynamic Condition Part 2: Characteristic Curves of Intra-Aneurysmal Hemodynamics
254 256 257 264 273
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6. Conclusions Acknowledgments References
11. Toward a Mechanical Mapping of the Arterial Tree: Challenges and Potential Solutions
284 284 285
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R.L. Maurice, K.Y.H. Chen, D. Burgner, L.B. Daniels, L. Vaujois, N. Idris, J.-L. Bigras, N. Dahdah 1. Overview and Objectives 2. Arterial Pathophysiology, Mechanics, and Stiffness Assessment 3. Method: Imaging-Based Biomarker (ImBioMark) 4. ImBioMark: Applications on Carotid, Brachial, and Aorta Arteries 5. Discussion 6. Conclusion Acknowledgments References
Section IV: Computer-Assisted Stenting 12. Computerized Navigation Support for Endovascular Procedures
289 290 294 299 307 308 309 309
313 315
P. Fallavollita, S. Demirci 1. Introduction 2. Simulation for Training 3. Interventional Navigation Support References
13. Interventional Quantification of Cerebral Blood Flow
315 317 322 337
341
S. Demirci, M. Kowarschik 1. Introduction to the Clinical Value of Blood Flow Quantification 2. Blood Flow Assessment Using Angiographic X-Ray Imaging References
14. Virtual Stenting for Intracranial Aneurysms: A Risk-Free, Patient-Specific Treatment Planning Support for Neuroradiologists and Neurosurgeons
341 344 367
371
P. Berg, L. Daróczy, G. Janiga 1. Intracranial Aneurysms 2. Existing Approaches—From Precise to Pragmatic 3. Validation—The Curse of Computational Predictions 4. Selected Applications—How Numerical Models Can Assist 5. Future Directions—Chances and Limitations Acknowledgments References
372 373 387 389 406 407 407
Contents
15. Preoperative Planning of Endovascular Procedures in Aortic Aneurysms
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I. Macía, J.H. Legarreta, K. López-Linares, C. Doblado, L. Kabongo 1. Introduction 2. Overview of Endograft Sizing for Aortic Aneurysms 3. Vascular Segmentation 4. Vascular Analysis 5. Quantitative Image Analysis 6. Visualization and Workflow 7. Endograft Sizing Software 8. Conclusions and Future Perspectives References Index
413 415 416 419 424 429 437 439 440 445
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CONTRIBUTORS
T. Adriaenssens University Hospitals Leuven; KU Leuven, Leuven, Belgium S. Beier The University of Auckland, Auckland, New Zealand P. Berg University of Magdeburg “Otto von Guericke”, Magdeburg, Germany J.-L. Bigras University of Montreal, Montreal, QC, Canada O. Bonnefous Medisys-Philips Research, Paris, France D. Burgner Murdoch Childrens Research Institute, Parkville; University of Melbourne, Parkville; Monash University, Clayton, VIC, Australia S. Carlier University of Mons, Mons, Belgium J. Cater The University of Auckland, Auckland, New Zealand K.Y.H. Chen Murdoch Childrens Research Institute; University of Melbourne, Parkville, VIC, Australia S. Conjeti Technical University of Munich, Munich, Germany B. Cowan The University of Auckland, Auckland, New Zealand N. Dahdah University of Montreal, Montreal, QC, Canada L.B. Daniels University of California San Diego, La Jolla, CA, United States L. Daróczy University of Magdeburg “Otto von Guericke”, Magdeburg, Germany
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Contributors
S. Demirci Technical University of Munich, Munich, Germany C. Doblado Vicomtech-IK4 Foundation; Biodonostia Health Research Institute, San Sebastián, Spain P. Fallavollita University of Ottawa, Ottawa, ON, Canada L. Flórez-Valencia Pontifical Xavierian University, Bogotá, Colombia A. Gastounioti National Technical University of Athens, Athens, Greece R. Ghotbi Helios Klinikum Munich West Academic Hospital of Ludwig-Maximilian University, Munich, Germany S. Golemati National Kapodistrian University of Athens, Athens, Greece K. Houissa University of Mons, Mons, Belgium N. Idris University of Indonesia/Cipto Mangunkusumo General Hospital, Jakarta, Indonesia G. Janiga University of Magdeburg “Otto von Guericke”, Magdeburg, Germany L. Kabongo Vicomtech-IK4 Foundation; Biodonostia Health Research Institute, San Sebastián, Spain A. Katouzian IBM Almaden Research Center, San Jose, CA, United States A. Kermani Iran University of Science and Technology (IUST), Tehran, Iran M. Kowarschik Siemens Healthineers, Forchheim, Germany J.H. Legarreta Vicomtech-IK4 Foundation; Biodonostia Health Research Institute, San Sebastián, Spain K. López-Linares Vicomtech-IK4 Foundation; Biodonostia Health Research Institute, San Sebastián, Spain I. Macía Vicomtech-IK4 Foundation; Biodonostia Health Research Institute, San Sebastián, Spain
Contributors
R. Mansour Helios Klinikum Munich West Academic Hospital of Ludwig-Maximilian University, Munich, Germany R.L. Maurice University of Montreal, Montreal, QC, Canada P. Medrano-Gracia The University of Auckland, Auckland, New Zealand P. Mermigkas National Technical University of Athens, Athens, Greece H.G. Morales Medisys-Philips Research, Paris, France N. Navab Technical University of Munich, Munich, Germany; Johns Hopkins University, Baltimore, MD, United States S. Norris The University of Auckland, Auckland, New Zealand K.S. Nikita National Technical University of Athens, Athens, Greece M. Orkisz Univ Lyon, CNRS UMR5220, Inserm U1206, INSA-Lyon, Université Lyon 1, CREATIS, F-69621, Lyon, France J. Ormiston Auckland Heart Group, Auckland, New Zealand A. Pourmodheji Azad University, Dubai, UAE M. Prevenios National Technical University of Athens, Athens, Greece S.M. Ranjbarnavazi Tehran Azad University of Medical Science, Tehran, Iran J. Rigla Barcelona Perceptual Computing Laboratory, Universitat de Barcelona, Barcelona, Spain A.G. Roy Technical University of Munich, Munich, Germany; Indian Institute of Technology Kharagpur, Kharagpur, West Bengal, India D. Sheet Indian Institute of Technology Kharagpur, Kharagpur, West Bengal, India
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Contributors
T. Syeda-Mahmood IBM Almaden Research Center, San Jose, CA, United States A. Taki Technical University of Munich (TUM), Munich, Germany G.J. Ughi Massachusetts General Hospital and Harvard Medical School, Boston, MA, United States L. Vaujois University of Montreal, Montreal, QC, Canada M. Webster Auckland City Hospital, Auckland, New Zealand A. Young The University of Auckland, Auckland, New Zealand
ABOUT THE EDITORS
Simone Balocco is associate professor at the Department of Mathematics and Informatics, University of Barcelona, Spain, and is a senior researcher at the Computer Vision Center, Bellaterra. He obtained a PhD degree in Acoustics at the CREATIS laboratory, Lyon, France, and in Electronic and Telecommunication in MSD Lab, University of Florence, Italy. He performed postdoctoral research at the laboratory CISTIB, at Universitat Pompeu Fabra, Spain. Balocco’s main research interests are pattern recognition and computer vision methods for the computer-aided detection of clinical pathologies. In particular, his research focuses on ultrasound and magnetic imaging applications and vascular modeling.
Maria A. Zuluaga In 2011, Maria A. Zuluaga obtained her PhD degree from Université Claude Bernard Lyon 1, France, investigating automatic methods for the diagnosis of coronary artery disease. After a year as a postdoctoral fellow at the European Synchrotron Radiation Facility (Grenoble, France), she joined University College London, UK, in March 2012, as a research associate to work on cardiovascular image analysis and computer-aided diagnosis of cardiovascular pathologies. Since August 2014, she has been part of the Guided Instrumentation for Fetal Therapy and Surgery (GIFT-Surg) as a senior research associate.
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About the Editors
Guillaume Zahnd received his engineering degree from the National Institute of Applied Science (INSA-Lyon, France) in 2007, and obtained his PhD from the CREATIS Laboratory, University of Lyon, France, in 2012. In 2013, he joined the Biomedical Imaging Group Rotterdam, Erasmus MC, The Netherlands, as a postdoctoral researcher. From 2016, he is a research fellow in the Imagingbased Computational Biomedicine Laboratory at the Nara Institute of Science and Technology, Japan. His work focuses on image-processing methodologies toward cardiovascular risk assessment. His fields of interest include vascular imaging, image-based biomarkers, ultrasound, intracoronary optical coherence tomography, motion tracking, contour segmentation, and machine learning.
Su-Lin Lee received her MEng in Information Systems Engineering and PhD from Imperial College London, UK, in 2002 and 2006, respectively, for her work on statistical shape modeling and biomechanical modeling. She is currently a lecturer at the Hamlyn Centre for Robotic Surgery and the Department of Computing, Imperial College London. Her current research focuses on machine learning and shape modeling with application to guidance in cardiovascular interventions. Of particular interest to her are improved navigation and decision support for safer and more efficient robotic-assisted minimally invasive cardiovascular procedures.
About the Editors
Stefanie Demirci is a postdoctoral researcher and research manager at the Technical University of Munich (TUM), Germany. She received her PhD from the same institution in 2011 for her work on novel approaches to computer-assisted endovascular procedures. After being a postdoctoral fellow at the SINTEF Medical Technology Laboratory in Trondheim, Norway, she returned back to the TUM where she is currently teaching Interventional Imaging and Image Processing, and managing the Computer Aided Medical Procedures (CAMP) Laboratory. Her current research focuses on multimodal imaging and image processing, machine learning, and biomedical gamification, with particular interest in crowd sourcing for biomedical ground truth creation.
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PREFACE
Cardiovascular disease is the primary cause of mortality worldwide, necessitating clinical and technical improvements to cardiovascular disease prediction, prevention, and treatment. To address this major public health issue, a myriad of techniques have been developed that offer increasingly useful information regarding vascular anatomy and function and are poised to have dramatic impact on the diagnosis, analysis, modeling, and treatment of vascular diseases. Today, scientific research in the field of computerassisted technological advances in diagnostic and intraoperative vascular imaging and stenting benefits from an ever-growing interest. In 2006, a workshop was organized to bring together researchers, clinicians, and industry in the field of intravascular imaging. This event, created by Gözde Ünal, Ioannis Kakadiaris, Greg Slabaugh, and Allen Tannenbaum, was the first International Workshop on Computer Vision for Intravascular and Intracardiac Imaging (CVII), organized in conjunction with MICCAI (Medical Image Computing and Computer-Assisted Intervention) in Copenhagen, Denmark. The aim was to provide a platform to present state-of-the-art techniques in computing and visualization for vascular applications. Technological advances in intravascular imaging such as B-mode ultrasound (US), intravascular ultrasound (IVUS), and optical coherence tomography (OCT), as well as more traditional vascular imaging methods such as computed tomography angiography (CTA), X-ray angiography, and fluoroscopy, have had a dramatic impact on the diagnosis, analysis, modeling, and treatment of vascular diseases. Computer vision methods applied to these images have received tremendous interest, allowing for improved modeling, simulation, visualization, classification, and assessment. This first workshop addressing these issues was a success with 24 papers presented; it was followed by workshops in New York City, USA (2008) and Toronto, Canada (2011). Following these footsteps, the first International MICCAI Workshop on ComputerAssisted Stenting was organized by Stefanie Demirci, Gözde Ünal, Su-Lin Lee, and Petia Radeva, and was held in Nice, France, in 2012. This workshop brought together researchers in the field of endovascular stenting procedures and covered research dealing with cerebral, coronary, carotid, and aortic stenting, crossing anatomical boundaries. It was also, to the best of our knowledge, the first technical workshop dealing with this difficult, minimally invasive procedure. The program of this first workshop included 16 papers and a plenary talk by Dr. Reza Ghotbi, a vascular surgeon, describing his experience of stenting and the current clinical challenges. A second workshop was held the following year—2013—in Nagoya, Japan.
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Preface
With the aim of these two different workshops targeting improved vascular procedures, it seemed like the most natural step to combine both workshops. The Joint MICCAI-Workshop on Computing and Visualization for Intravascular Imaging and Computer-Assisted Stenting (CVII-STENT) was launched in 2014 in Boston, USA and since then has become the main annual technical workshop dedicated to computer assistance for vascular procedures and vascular imaging. The workshop was held again in 2015 in Munich, Germany as well as in 2016 in Athens, Greece. After the second edition of the CVII-STENT workshop (2015), we were presented with the opportunity to edit a book providing a snapshot of the state-of-the-art methods and techniques in both the clinical and technical domains. This is the book that you are holding in your hands now. We have invited the top researchers in the field of computer-assisted endovascular stenting and intravascular imaging to contribute a chapter describing their research. Both the clinical and technical communities have provided material on the existing clinical challenges and context, as well as the latest in technical innovations. Their views on the future research perspectives in the field are a tremendous resource to any academic, clinical, and industrial researchers working in the area of endovascular imaging and interventions. This book is divided into four main sections. Section I covers the Clinical Introduction to the book. Here the authors provide a clinical overview of vessel pathologies, which can be treated endovascularly, and the imaging technologies involved in their assessment and treatment. In Chapter 1, we compare IVUS and OCT in the assessment of coronary artery disease and review their role in percutaneous coronary interventions. A broader review of IVUS and OCT, not limited to just the heart but to plaque progression and atherosclerosis in general, is then presented (Chapter 2). Afterward, we address abdominal aortic aneurysms (AAA) and the key role imaging has played in all the aspects of the clinical workflow (Chapter 3). Finally, given that IVUS and OCT are the most common imaging modalities in plaque assessment, the section is concluded by providing a more global overview of all the modalities involved in this task (Chapter 4). Section II covers the Vascular and Intravascular Analysis of Plaque. This part focuses on imaging and modeling techniques aimed at plaque analysis; it includes segmentation, vessel reconstruction, and movement quantification methods applied to several imaging modalities (B-mode US, CTA, IVUS, and OCT). We first explore the implications of the kinematic activity of the atherosclerotic plaque applied to B-mode US images of the carotid artery (Chapter 5). We then present a right generalized cylinder model which can be used both for 3D vessel reconstruction and for vascular segmentation of CTA images (Chapter 6). Then we present a technique for in vivo IVUS tissue characterization which exploits a domain-adapted model (Chapter 7). Finally, in Chapter 8, we cover different imaging techniques for plaque segmentation, stent analysis, and tissue characterization applied to OCT sequences.
Preface
Vascular Biomechanics and Modeling is presented in Section III. This section focuses on numerical simulations of arterial parameters to characterize relevant biomarkers. We first investigate a large-scale approach to model and quantify coronary flow with computational fluid dynamics (CFD) (Chapter 9). We then address the challenge of CFD-based numerical simulations of aneurysms and hemodynamics in cerebral arteries (Chapter 10). To conclude this section, we focus on methods to identify at-risk subjects in the early stage of the pathology for improvement of preventive care, by means of an US elastography approach devised to detect functional alterations in the vascular wall (Chapter 11). Finally, Section IV covers Computer-Assisted Stenting. The chapters here cover computing methods for both preoperative and intraoperative stages of endovascular procedures. For the former, we explore the careful sizing required for aortic aneurysm stenting (Chapter 15) and also the simulation of stenting for intracranial aneurysms (Chapter 14). For the latter, we review the navigation support for live endovascular procedures (Chapter 12) as well as the live quantification of blood flow during a procedure (Chapter 13). Research into effective intraoperative guidance of stenting is starting to take off and we hope this section is a good starting point for further investigations. Editing this book has been a pleasure. We hope that it will constitute a very valuable introduction to readers new to the field of intravascular imaging and stenting. Likewise, we hope that experts in the field will be exposed to different research approaches to known problems. Finally, our sincerest thanks go to the authors of all chapters for their dedication to this project and to Elsevier for their support. Su-Lin Lee Guillaume Zahnd Maria A. Zuluaga Stefanie Demirci Simone Balocco
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