Franca Wagner

Robotic cochlear implantation: surgical procedure and first clinical experience

Abstract Conclusion: A system for robotic cochlear implantation (rCI) has been developed and a corresponding surgical workflow has been described. The clinical feasibility was demonstrated through the conduction of a safe and effective rCI procedure. Objectives: To define a clinical workflow for rCI and demonstrate its feasibility, safety, and effectiveness within a clinical setting. Method: A clinical workflow for use of a previously described image guided surgical robot system for rCI was developed. Based on pre-operative images, a safe drilling tunnel targeting the round window was planned and drilled by the robotic system. Intra-operatively the drill path was assessed using imaging and sensor-based data to confirm the proximity of the facial nerve. Electrode array insertion was manually achieved under microscope visualization. Electrode array placement, structure preservation, and the accuracy of the drilling and of the safety mechanisms were assessed on post-operative CT images. Results: Robotic drilling was conducted with an accuracy of 0.2 mm and safety mechanisms predicted proximity of the nerves to within 0.1 mm. The approach resulted in a minimal mastoidectomy and minimal incisions. Manual electrode array insertion was successfully performed through the robotically drilled tunnel. The procedure was performed without complications, and all surrounding structures were preserved.

Significant Artifact Reduction at 1.5T and 3T MRI by the Use of a Cochlear Implant with Removable Magnet: An Experimental Human Cadaver Study

Objective Cochlear implants (CIs) are standard treatment for postlingually deafened individuals and prelingually deafened children. This human cadaver study evaluated diagnostic usefulness, image quality and artifacts in 1.5T and 3T magnetic resonance (MR) brain scans after CI with a removable magnet. Methods Three criteria (diagnostic usefulness, image quality, artifacts) were assessed at 1.5T and 3T in five cadaver heads with CI. The brain magnetic resonance scans were performed with and without the magnet in situ. The criteria were analyzed by two blinded neuroradiologists, with focus on image distortion and limitation of the diagnostic value of the acquired MR images. Results MR images with the magnet in situ were all compromised by artifacts caused by the CI. After removal of the magnet, MR scans showed an unequivocal artifact reduction with significant improvement of the image quality and diagnostic usefulness, both at 1.5T and 3T. Visibility of the brain stem, cerebellopontine angle, and parieto-occipital lobe ipsilateral to the CI increased significantly after magnet removal. Conclusions The results indicate the possible advantages for 1.5T and 3T MR scanning of the brain in CI carriers with removable magnets. Our findings support use of CIs with removable magnets, especially in patients with chronic intracranial pathologies.

Population Statistics Approach for Safety Assessment in Robotic Cochlear Implantation.

HYPOTHESIS Descriptive statistics with respect to patient anatomy and image guidance accuracy can be used to assess the effectiveness of any system for minimally invasive cochlear implantation, on both an individual patient and wider population level. BACKGROUND Minimally invasive cochlear implantation involves the drilling of a tunnel from the surface of the mastoid to cochlea, with the trajectory passing through the facial recess. The facial recess anatomy constrains the drilling path and places prohibitive accuracy requirements on the used system. Existing single thresholds are insufficient for assessing the effectiveness of these systems. METHODS A statistical model of the anatomical situation encountered during minimally invasive drilling of the mastoid for cochlear implantation was developed. A literature review was performed to determine the statistical distribution of facial recess width; these values were confirmed through facial recess measurements on computed tomography (CT) data. Based on the accuracy of a robotic system developed by the authors, the effect of variation of system accuracy, precision, and tunnel diameter examined with respect to the potential treatable portion of the population. RESULTS A facial recess diameter of 2.54 ± 0.51 mm (n = 74) was determined from a review of existing literature; subsequent measurements on CT data revealed a facial recess diameter of 2.54 ± 0.5 mm (n = 23). The developed model demonstrated the effects of varying accuracy on the treatable portion of the population. CONCLUSIONS The presented model allows the assessment of the applicability of a system on a wider population scale beyond examining only the systems ability to reach an arbitrary threshold accuracy.

Instrument flight to the inner ear

Image-guided robotic surgery, designed for operating on small structures, is demonstrated for robotic cochlear implantation. Surgical robot systems can work beyond the limits of human perception, dexterity, and scale, making them inherently suitable for use in microsurgical procedures. However, despite extensive research, image-guided robotics applications for microsurgery have seen limited introduction into clinical care to date. Among others, challenges are geometric scale and haptic resolution at which the surgeon cannot sufficiently control a device outside the range of human faculties. Mechanisms are required to ascertain redundant control on process variables that ensure safety of the device, much like instrument flight in avionics. Cochlear implantation surgery is a microsurgical procedure, in which specific tasks are at submillimetric scale and exceed reliable visuo-tactile feedback. Cochlear implantation is subject to intra- and interoperative variations, leading to potentially inconsistent clinical and audiological outcomes for patients. The concept of robotic cochlear implantation aims to increase consistency of surgical outcomes, such as preservation of residual hearing, and to reduce invasiveness of the procedure. We report successful image-guided, robotic cochlear implantation in human. The robotic treatment model encompasses computer-assisted surgery planning, precision stereotactic image guidance, in situ assessment of tissue properties, and multipolar neuromonitoring, all based on in vitro, in vivo, and pilot data. The model is expandable to integrate additional robotic functionalities such as cochlear access and electrode insertion. Our results demonstrate the feasibility and possibilities of using robotic technology for microsurgery on the lateral skull base. It has the potential for benefit in other microsurgical domains for which there is no task-oriented robotic technology available at present.

Nabla-net: A Deep Dag-Like Convolutional Architecture for Biomedical Image Segmentation

Biomedical image segmentation requires both voxel-level information and global context. We report on a deep convolutional architecture which combines a fully-convolutional network for local features and an encoder-decoder network in which convolutional layers and maxpooling compute high-level features, which are then upsampled to the resolution of the initial image using further convolutional layers and tied unpooling. We apply the method to segmenting multiple sclerosis lesions and gliomas.

The value of susceptibility-weighted imaging (SWI) in patients with non-neonatal hypoxic-ischemic encephalopathy

OBJECTIVE In susceptibility-weighted imaging (SWI) in the normal brain, cortical veins appear hypointense due to paramagnetic properties of deoxy-hemoglobin. Global cerebral anoxia decreases cerebral oxygen metabolism, thereby increasing oxy-hemoglobin levels in cerebral veins. We hypothesized that a lower cerebral oxygen extraction fraction in comatose patients with non-neonatal hypoxic-ischemic encephalopathy (IHE) produces a pattern of global rarefied or pseudo-diminished cortical veins due to higher oxy-hemoglobin. PURPOSE (1) To investigate the topographic relationship between susceptibility effects in cortical veins and related diffusion restrictions on diffusion-weighted imaging (DWI) in patients with IHE. (2) To relate imaging findings to patterns of altered resting activity on surface EEG. METHODS Twenty-three IHE patients underwent MRI. EEG patterns were used to classify the depth of coma. Regional vs. global susceptibility changes on SWI and patterns of DWI restrictions were compared with the depth of coma. RESULTS All patients exhibited areas of restricted cortical diffusion and SWI abnormalities. The dominant DWI restrictions encompassed widespread areas along the precuneus, frontal and parietal association cortices and basal ganglia. For SWI, nineteen patients had generalized bi-hemispherical patterns, the EEG patterns correlated with coma grades III-V. Four patients had focal decreases of deoxy-hemoglobin following DWI restrictions; associated with normal EEGs. CONCLUSION Focal patterns of diamagnetic effects on SWI according to relative decreases in deoxy-hemoglobin due to reduced metabolic demand are associated with normal EEG in IHE patients. Global patterns indicated increased depth of coma and widespread cortical damage. CLINICAL RELEVANCE The results indicate a potential diagnostic value of SWI in patients with IHE.

Cervical polyradiculopathy caused by vertebral artery dissection

A 36-year-old woman with unremarkable medical history was referred to our emergency department in November, 2012, with a 10-day history of right-sided pulsating neck pain radiating into the shoulder. The pain started spontaneously and did not respond to analgesics. 4 days after the onset of pain, the patient had numbness on her right side, extending from the mandibular angle to the neck, the clavicular region, and the proximal arm along the deltoid muscle. She further developed right-sided weakness of arm abduction and elbow fl exion plus dyspnoea. On initial examination, the patient was generally well. We noticed weakness of the deltoid muscle (strength grade 2/5 according to the Medical Research Council [MRC] scale), the supraspinatus and infraspinatus muscles (MRC 4/5), and the biceps brachii muscle (MRC 4/5) on the right side. Right-sided biceps brachii tendon refl ex was diminished. Additionally, she had an area of hypoaesthesia as described above. At that point, the diff erential diagnosis of the spontaneous, painful, sensorimotor proximal right arm paralysis included a lesion aff ecting the upper brachial plexus or a cervical polyradiculopathy. MRI of the cervical spine before referral excluded vertebral abnormality. Retrospectively, the MRI indicated a disturbed fl ow void signal in the right vertebral artery. To exclude vascular injury, additional MRI-sequences were acquired (T1weighted fat saturated turbospin echo sequences and contrast-enhanced-MR angiography) confi rming an intramural haematoma of the right vertebral artery, which is the hallmark of vertebral artery dissection. The enlarged vessel showed a circumferential, asymmetrical half-moon shaped hyperintensity extending from the V2 to the V3 segment. The prominent intramural haematoma caused severe neuroforaminal stenosis with compression of the nerve roots C4, C5, and lesser C6 intraforaminally (fi gure). The chest x-ray (fi gure) showed right diaphragmatic palsy and dystelectasis at the Lancet 2013; 381: 1510

Clinical evaluation of the iterative metal artefact reduction algorithm for post-operative CT examination after maxillofacial surgery

OBJECTIVES Metal artefacts present challenges to both radiologists and clinicians during post-operative imaging. Such artefacts reduce the diagnostic effectiveness of CT scans and mask findings that could be vital for patient management. Thus, a powerful artefact reduction tool is necessary when imaging patients with metal implants. Our aim was to test the recently introduced iterative metal artefact reduction (iMAR) algorithm in patients with maxillofacial implants. METHODS Images from 17 patients with diverse maxillofacial metal implants who had undergone CT scans were qualitatively and quantitatively analyzed before and after metal artefact reduction with iMAR. RESULTS After iMAR application, images exhibited decreased artefacts and improved image quality, leading to detection of lesions that were previously masked by artefacts. The application of iMAR did not affect image quality in regions distant from the metal implants. CONCLUSIONS The application of iMAR to CT examinations of patients with maxillofacial metal implants leads to artefact reduction, improvement of image quality and increased diagnostic utility. Routine implementation of iMAR during imaging of patients with metal hardware implants could add diagnostic value to their CT examinations.

Primary intramedullary melanocytoma in the cervical spinal cord: Case report and literature review.

A 63-year-old man with right hemiparesis was found (on MRI) to have an expansive intramedullary tumorous lesion at the C2-C3 level. After complete neurosurgical tumor resection, the tumor was histologically categorized as an intermediate grade of intramedullary melanocytoma, an uncommon neoplasm. Based on this peculiar case and review of the literature, radical surgical resection appears to be the therapy of choice for intramedullary melanocytomas. However, their high recurrence rate and aggressive behavior suggest the need for close followup with serial MRI.

Objective Evaluation of Multiple Sclerosis Lesion Segmentation using a Data Management and Processing Infrastructure

We present a study of multiple sclerosis segmentation algorithms conducted at the international MICCAI 2016 challenge. This challenge was operated using a new open-science computing infrastructure. This allowed for the automatic and independent evaluation of a large range of algorithms in a fair and completely automatic manner. This computing infrastructure was used to evaluate thirteen methods of MS lesions segmentation, exploring a broad range of state-of-theart algorithms, against a high-quality database of 53 MS cases coming from four centers following a common definition of the acquisition protocol. Each case was annotated manually by an unprecedented number of seven different experts. Results of the challenge highlighted that automatic algorithms, including the recent machine learning methods (random forests, deep learning, …), are still trailing human expertise on both detection and delineation criteria. In addition, we demonstrate that computing a statistically robust consensus of the algorithms performs closer to human expertise on one score (segmentation) although still trailing on detection scores.