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Background and Objective: Intra-operative X-ray angiography, the current standard method for visualizing and diagnosing cardiovascular disease, is limited in its ability to provide essential 3D information. These limitations are disadvantages in treating patients. For example, it is a cause of lowering the success rate of interventional procedures. Here, we propose a novel 2D-3D non-rigid registration method to understand vascular geometry during percutaneous coronary intervention. Methods: The proposed method uses the local bijection pair distance as a cost function to minimize the effect of inconsistencies from center-line extraction. Moreover, novel cage-based 3D deformation and multi-threaded particle swarm optimization are utilized to implement real-time registration. We evaluated the proposed method for 154 examinations from 10 anonymous patients by coverage percentage, comparing the average distance of the 2D extracted center-line with that of the registered 3D center-line. Results: The proposed 2D-3D non-rigid registration method achieved an average distance of 1.98 mm with a 0.54 s computation time. Additionally, in aiming to reduce the uncertainty of XA images, we used the proposed method to retrospectively visualize the connections between 2D vascular segments and the distal part of occlusions. Conclusions: Ultimately, the proposed 2D/3D non-rigid registration method can successfully register the 3D center-line of coronary arteries with corresponding 2D XA images, and is computationally sufficient for online usage. Therefore, this method can improve the success rate of such procedures as a percutaneous coronary intervention and provide the information necessary to diagnose cardiovascular diseases better.
Siyeop Yoon; Chang Hwan Yoon; Deukhee Lee. Topological recovery for non-rigid 2D/3D registration of coronary artery models. Computer Methods and Programs in Biomedicine 2021, 200, 105922 .
AMA StyleSiyeop Yoon, Chang Hwan Yoon, Deukhee Lee. Topological recovery for non-rigid 2D/3D registration of coronary artery models. Computer Methods and Programs in Biomedicine. 2021; 200 ():105922.
Chicago/Turabian StyleSiyeop Yoon; Chang Hwan Yoon; Deukhee Lee. 2021. "Topological recovery for non-rigid 2D/3D registration of coronary artery models." Computer Methods and Programs in Biomedicine 200, no. : 105922.
Cardiovascular-related diseases are one of the leading causes of death worldwide. An understanding of heart movement based on images plays a vital role in assisting postoperative procedures and processes. In particular, if shape information can be provided in real-time using electrocardiogram (ECG) signal information, the corresponding heart movement information can be used for cardiovascular analysis and imaging guides during surgery. In this paper, we propose a 3D+t cardiac coronary artery model which is rendered in real-time, according to the ECG signal, where hierarchical cage-based deformation modeling is used to generate the mesh deformation used during the procedure. We match the blood vessel’s lumen obtained from the ECG-gated 3D+t CT angiography taken at multiple cardiac phases, in order to derive the optimal deformation. Splines for 3D deformation control points are used to continuously represent the obtained deformation in the multi-view, according to the ECG signal. To verify the proposed method, we compare the manually segmented lumen and the results of the proposed method for eight patients. The average distance and dice coefficient between the two models were 0.543 mm and 0.735, respectively. The required time for registration of the 3D coronary artery model was 23.53 s/model. The rendering speed to derive the model, after generating the 3D+t model, was faster than 120 FPS.
Siyeop Yoon; Changhwan Yoon; Eun Ju Chun; Deukhee Lee. A Patient-Specific 3Dt Coronary Artery Motion Modeling Method Using Hierarchical Deformation with Electrocardiogram+. Sensors 2020, 20, 5680 .
AMA StyleSiyeop Yoon, Changhwan Yoon, Eun Ju Chun, Deukhee Lee. A Patient-Specific 3Dt Coronary Artery Motion Modeling Method Using Hierarchical Deformation with Electrocardiogram+. Sensors. 2020; 20 (19):5680.
Chicago/Turabian StyleSiyeop Yoon; Changhwan Yoon; Eun Ju Chun; Deukhee Lee. 2020. "A Patient-Specific 3Dt Coronary Artery Motion Modeling Method Using Hierarchical Deformation with Electrocardiogram+." Sensors 20, no. 19: 5680.
Cardiovascular-related diseases are one of the leading causes of death worldwide. An understanding of heart movement based on images plays a vital role in assisting the procedure in the postoperative and postoperative processes. In particular, if the shape information can be provided in real-time using the electrocardiogram(ECG) signal using this information, the heart’s movement information can be used for cardiovascular analysis and imaging guides during surgery. In this paper, we propose creating a 3D+t cardiac coronary artery model that is rendered in real-time according to the ECG signal. Hierarchical cage-based deformation modeling is used to generate mesh deformation used during the procedure according to the ECG signal. We match the blood vessel’s lumen obtained from the ECG-gated 3D+t CT angiography taken at the multiple cardiac phases to derive the optimal deformation. Splines for 3D deformation control points were used to continuously represent the obtained deformation at the multi-view according to the ECG signal. To verify the proposed method, we compared the manually segmented lumen and results of the proposed method for eight patients. The average distance and dice coefficient between the two models was 0.543mm and 0.735, respectively. The required time for registration of the 3D coronary artery model is 23.53 seconds/model. rendering speed to derive the model according to the ECG signal after generating the 3D+t model is faster than 120 FPS.
Siyeop Yoon; Changhwan Yoon; Eun Ju Chun; Deukhee Lee. A Patient-Specific 3D+t Coronary Artery Motion Modeling Method Using a Hierarchical Deformation with Electrocardiogram. 2020, 1 .
AMA StyleSiyeop Yoon, Changhwan Yoon, Eun Ju Chun, Deukhee Lee. A Patient-Specific 3D+t Coronary Artery Motion Modeling Method Using a Hierarchical Deformation with Electrocardiogram. . 2020; ():1.
Chicago/Turabian StyleSiyeop Yoon; Changhwan Yoon; Eun Ju Chun; Deukhee Lee. 2020. "A Patient-Specific 3D+t Coronary Artery Motion Modeling Method Using a Hierarchical Deformation with Electrocardiogram." , no. : 1.
The creation of 3D models for cardiac mapping systems is time-consuming, and the models suffer from issues with repeatability among operators. The present study aimed to construct a double-shaped model composed of the left ventricle and left atrium. We developed cascaded-regression-based segmentation software with probabilistic point and appearance correspondence. Group-wise registration of point sets constructs the point correspondence from probabilistic matches, and the proposed method also calculates appearance correspondence from these probabilistic matches. Final point correspondence of group-wise registration constructed independently for three surfaces of the double-shaped model. Stochastic appearance selection of cascaded regression enables the effective construction in the aspect of memory usage and computation time. The two correspondence construction methods of active appearance models were compared in terms of the paired segmentation of the left atrium (LA) and left ventricle (LV). The proposed method segmented 35 cardiac CTs in six-fold cross-validation, and the symmetric surface distance (SSD), Hausdorff distance (HD), and Dice coefficient (DC), were used for evaluation. The proposed method produced 1.88 ± 0.37 mm of LV SSD, 2.25 ± 0.51 mm* of LA SSD, and 2.06 ± 0.34 mm* of the left heart (LH) SSD. Additionally, DC was 80.45% ± 4.27%***, where * p < 0.05, ** p < 0.01, and *** p < 0.001. All p values derive from paired t-tests comparing iterative closest registration with the proposed method. In conclusion, the authors developed a cascaded regression framework for 3D cardiac CT segmentation.
Jang Pyo Bae; Malinda Vania; Siyeop Yoon; Sojeong Cheon; Chang Hwan Yoon; Deukhee Lee. Cascaded Regression-Based Segmentation of Cardiac CT under Probabilistic Correspondences. Applied Sciences 2020, 10, 4947 .
AMA StyleJang Pyo Bae, Malinda Vania, Siyeop Yoon, Sojeong Cheon, Chang Hwan Yoon, Deukhee Lee. Cascaded Regression-Based Segmentation of Cardiac CT under Probabilistic Correspondences. Applied Sciences. 2020; 10 (14):4947.
Chicago/Turabian StyleJang Pyo Bae; Malinda Vania; Siyeop Yoon; Sojeong Cheon; Chang Hwan Yoon; Deukhee Lee. 2020. "Cascaded Regression-Based Segmentation of Cardiac CT under Probabilistic Correspondences." Applied Sciences 10, no. 14: 4947.
As a promising method for robotic catheter therapeutics, a controllable wireless microrobot system with a less invasive intraoperative procedure has been presented for thrombosis surgery. The controllable wireless microrobot utilizes an electromagnetic actuator system for microrobot actuation and biplane X-ray system for microrobot imaging. We propose the new 3D tracking method of microrobot for this system. As a learning-based system, cascade classifier was adapted for real-time microrobot tracking. Combination of cascade classifier and contour-based system made accurate microrobot detection method on 2D projected X-ray images. Kalman filter interpolated lost frames, and triangulation method reconstructed 3D pose (position and orientation) from 4 endpoints of microrobot pairs. Also, the semi-automatic calibration method for bi-plane C-arm devices was proposed by using modified shortest path algorithm. To find the optimal rescaling setting, 3D tracking accuracy was investigated according to the rescaling of original intensity values. The experiment results showed a good performance with tracking errors of 2.37±9.91mm in position and 6.53±13.80° in orientation under 2200 optimal width of rescaling. If tracking evaluation is constrained under frames detected by cascade classifier, 3D tracking errors improved sincerely by 0.28±1.13mm in position and 3.48±2.89° in orientation. The optimal width of the rescaling setting needed bigger value than the mean of intensity values. The proposed tracking technique accomplished a fast frame rate of 34.72 frames/sec under OpenCL implementation of OpenCV. Learning based system is robust to the change of graphics setting since training can adapt rapidly to this change. Also, proposed framework can cooperate with the change of microrobot shape if a contour-based method is optimized. Hence, the method can be used for therapeutic millimeter- or micron-sized manipulator recognition in vascular, as well as implanted objects in the human body.
Jang Pyo Bae; Siyeop Yoon; Malinda Vania; Deukhee Lee. Three Dimensional Microrobot Tracking Using Learning-based System. International Journal of Control, Automation and Systems 2019, 18, 21 -28.
AMA StyleJang Pyo Bae, Siyeop Yoon, Malinda Vania, Deukhee Lee. Three Dimensional Microrobot Tracking Using Learning-based System. International Journal of Control, Automation and Systems. 2019; 18 (1):21-28.
Chicago/Turabian StyleJang Pyo Bae; Siyeop Yoon; Malinda Vania; Deukhee Lee. 2019. "Three Dimensional Microrobot Tracking Using Learning-based System." International Journal of Control, Automation and Systems 18, no. 1: 21-28.
Siyeop Yoon; Stephen Baek; Deukhee Lee. 4D Cardiac Motion Modeling Using Pair-Wise Mesh Registration. Computer Vision 2019, 161 -170.
AMA StyleSiyeop Yoon, Stephen Baek, Deukhee Lee. 4D Cardiac Motion Modeling Using Pair-Wise Mesh Registration. Computer Vision. 2019; ():161-170.
Chicago/Turabian StyleSiyeop Yoon; Stephen Baek; Deukhee Lee. 2019. "4D Cardiac Motion Modeling Using Pair-Wise Mesh Registration." Computer Vision , no. : 161-170.
The registration of preoperative 3D to intraoperative 2D images plays a crucial role in percutaneous coronary intervention. This technique reduces uncertainty regarding vessel topology and depth information in 2D intraoperative images. The aim of 2D/3D image registration is to determine the most appropriate image alignment. However, 2D/3D registration of heart images is challenging, due to differences in dimensionality and non-rigid motion, among others. In this paper, we propose a bifurcation-based biplane non-rigid 2D/3D registration method for coronary arteries. Experiments were performed in a virtual environment, and the results of the registration show an average distance with a ground truth of 0.57 mm.
Siyeop Yoon; Jinwon Son; Youngjun Kim; Sehyung Park; Deukhee Lee. A study for non-rigid 2x2D-3D registration of coronary artery images using bifurcation points matching with bi-plane X-ray fluoroscopy. 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) 2017, 583 -584.
AMA StyleSiyeop Yoon, Jinwon Son, Youngjun Kim, Sehyung Park, Deukhee Lee. A study for non-rigid 2x2D-3D registration of coronary artery images using bifurcation points matching with bi-plane X-ray fluoroscopy. 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI). 2017; ():583-584.
Chicago/Turabian StyleSiyeop Yoon; Jinwon Son; Youngjun Kim; Sehyung Park; Deukhee Lee. 2017. "A study for non-rigid 2x2D-3D registration of coronary artery images using bifurcation points matching with bi-plane X-ray fluoroscopy." 2017 14th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) , no. : 583-584.
Venipuncture is an important health diagnosis process. Although venipuncture is one of the most commonly performed procedures in medical environments, locating the veins of infants, obese, anemic, or colored patients is still an arduous task even for skilled practitioners. To solve this problem, several devices using infrared light have recently become commercially available. However, such devices for venipuncture share a common drawback, especially when visualizing deep veins or veins of a thick part of the body like the cubital fossa. This paper proposes a new vein-visualizing device applying a new penetration method using near-infrared (NIR) light. The light module is attached directly on to the declared area of the skin. Then, NIR beam is rayed from two sides of the light module to the vein with a specific angle. This gives a penetration effect. In addition, through an image processing procedure, the vein structure is enhanced to show it more accurately. Through a phantom study, the most effective penetration angle of the NIR module is decided. Additionally, the feasibility of the device is verified through experiments in vivo. The prototype allows us to visualize the vein patterns of thicker body parts, such as arms.
Donghoon Kim; Yujin Kim; Siyeop Yoon; Deukhee Lee. Preliminary Study for Designing a Novel Vein-Visualizing Device. Sensors 2017, 17, 304 .
AMA StyleDonghoon Kim, Yujin Kim, Siyeop Yoon, Deukhee Lee. Preliminary Study for Designing a Novel Vein-Visualizing Device. Sensors. 2017; 17 (2):304.
Chicago/Turabian StyleDonghoon Kim; Yujin Kim; Siyeop Yoon; Deukhee Lee. 2017. "Preliminary Study for Designing a Novel Vein-Visualizing Device." Sensors 17, no. 2: 304.
Siyeop Yoon; Sangkyun Shin; Hyunchul Cho; Youngjun Kim; Laehyun Kim; Deukhee Lee; Gunwoo Noh. Enhanced markerless surgical robotic guidance system for keyhole neurosurgery. Journal of Advanced Mechanical Design, Systems, and Manufacturing 2017, 11, JAMDSM0046 -JAMDSM0046.
AMA StyleSiyeop Yoon, Sangkyun Shin, Hyunchul Cho, Youngjun Kim, Laehyun Kim, Deukhee Lee, Gunwoo Noh. Enhanced markerless surgical robotic guidance system for keyhole neurosurgery. Journal of Advanced Mechanical Design, Systems, and Manufacturing. 2017; 11 (4):JAMDSM0046-JAMDSM0046.
Chicago/Turabian StyleSiyeop Yoon; Sangkyun Shin; Hyunchul Cho; Youngjun Kim; Laehyun Kim; Deukhee Lee; Gunwoo Noh. 2017. "Enhanced markerless surgical robotic guidance system for keyhole neurosurgery." Journal of Advanced Mechanical Design, Systems, and Manufacturing 11, no. 4: JAMDSM0046-JAMDSM0046.
Design optimization and fabrication of concentric tube robots are time consuming because of the complexity of their workspaces and the characteristics of the superelastic materials used to make them. This paper presents a procedure for the expeditious design and fabrication of a concentric tube robot for applications that require rapid tube preparation but have less complex design constraints. This procedure reduces a 3D workspace optimization problem to a 2D problem. The continuum robot includes a heat-shrink tube to reduce fabrication time and to give it a small radius of curvature. Experimental results illustrate the feasibility of the proposed procedure.
Gunwoo Noh; Siyeop Yoon; Sung Yoon; Keri Kim; Woosub Lee; Sungchul Kang; Deukhee Lee. Expeditious design optimization of a concentric tube robot with a heat-shrink plastic tube. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2016, 3671 -3676.
AMA StyleGunwoo Noh, Siyeop Yoon, Sung Yoon, Keri Kim, Woosub Lee, Sungchul Kang, Deukhee Lee. Expeditious design optimization of a concentric tube robot with a heat-shrink plastic tube. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2016; ():3671-3676.
Chicago/Turabian StyleGunwoo Noh; Siyeop Yoon; Sung Yoon; Keri Kim; Woosub Lee; Sungchul Kang; Deukhee Lee. 2016. "Expeditious design optimization of a concentric tube robot with a heat-shrink plastic tube." 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , no. : 3671-3676.
Endoscopic disc surgery requires a process of inserting a guide-needle to the target lumbar disc. And the insertion path is manually planned by drawing lines on the patient's skin while monitoring the fluoroscopic view of the lumbar. Such operative procedure inevitably exposes both surgeon and patient to the fluoroscopic radiation emitted from c-arm for a long time. To reduce the radiation exposure time, this study proposes a computer assisted operative planning method implemented by using computer vision and computer graphics theory. This method calculates the 3 -dimensional path line of guide-needle from multiple triangular planes. Triangular planes can be obtained by analyzing 2-dimensional images of patient's disc in 3 different angles from rotationally movable c-arm. Additionally, a method of guiding robot's control based on the 3-dimensional needle path was developed by implementing the Hand-eye (end-effector and camera) calibration. Hand-eye calibration method calculates the geometric transformation matrix between the c-arm coordinate system and base of guidance robot coordinate system. The proposed system was then tested for its accuracy.
Jinkon Park; Hyon Min Yoon; Siyeop Yoon; Malinda Vania; Deukhee Lee; Park Jinkon; Yoon Hyon Min; Yoon Siyeop; Vania Malinda; Lee Deukhee. A method for fluoroscopy based navigation system to assist needle insertion concerning reduced radiation exposure for endoscopic disc surgery. 2015 15th International Conference on Control, Automation and Systems (ICCAS) 2015, 820 -824.
AMA StyleJinkon Park, Hyon Min Yoon, Siyeop Yoon, Malinda Vania, Deukhee Lee, Park Jinkon, Yoon Hyon Min, Yoon Siyeop, Vania Malinda, Lee Deukhee. A method for fluoroscopy based navigation system to assist needle insertion concerning reduced radiation exposure for endoscopic disc surgery. 2015 15th International Conference on Control, Automation and Systems (ICCAS). 2015; ():820-824.
Chicago/Turabian StyleJinkon Park; Hyon Min Yoon; Siyeop Yoon; Malinda Vania; Deukhee Lee; Park Jinkon; Yoon Hyon Min; Yoon Siyeop; Vania Malinda; Lee Deukhee. 2015. "A method for fluoroscopy based navigation system to assist needle insertion concerning reduced radiation exposure for endoscopic disc surgery." 2015 15th International Conference on Control, Automation and Systems (ICCAS) , no. : 820-824.
Conventional intracerebral hemorrhage (ICH) surgery uses a stereotactic frame to access an intracerebral hematoma. Using a stereotactic frame for ICH surgery requires a long preparation time. In order to resolve this problem, we propose a markerless surgical robotic system. This system uses weighted iterative closest point technology for surface registration, hand-eye calibration for needle insertion, and 3D surface scanning for registration. We need calibration to integrate the technologies: calibration of robot and needle coordinates and calibration of 3D surface scanning and needle coordinates. These calibrations are essential elements of the markerless surgical robotic system. This system has the advantages of being non-invasive, a short total operation time, and low radiation exposure compared to conventional ICH surgery.
Sangkyun Shin; Hyunchul Cho; Siyeop Yoon; Kyusic Park; Youngjun Kim; Sehyung Park; Laehyun Kim; Deukhee Lee. Markerless surgical robotic system for intracerebral hemorrhage surgery. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) 2015, 2015, 5272 -5.
AMA StyleSangkyun Shin, Hyunchul Cho, Siyeop Yoon, Kyusic Park, Youngjun Kim, Sehyung Park, Laehyun Kim, Deukhee Lee. Markerless surgical robotic system for intracerebral hemorrhage surgery. 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC). 2015; 2015 ():5272-5.
Chicago/Turabian StyleSangkyun Shin; Hyunchul Cho; Siyeop Yoon; Kyusic Park; Youngjun Kim; Sehyung Park; Laehyun Kim; Deukhee Lee. 2015. "Markerless surgical robotic system for intracerebral hemorrhage surgery." 2015 37th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBC) 2015, no. : 5272-5.