Automatic needle tracking using Mask R-CNN for MRI-guided percutaneous interventions
Journal
International Journal of Computer Assisted Radiology and Surgery
Journal Volume
15
Journal Issue
10
Pages
1673-1684
Date Issued
2020
Author(s)
Abstract
Purpose: Accurate needle tracking provides essential information for MRI-guided percutaneous interventions. Passive needle tracking using MR images is challenged by variations of the needle-induced signal void feature in different situations. This work aimed to develop an automatic needle tracking algorithm for MRI-guided interventions based on the Mask Region Proposal-Based Convolutional Neural Network (R-CNN). Methods: Mask R-CNN was adapted and trained to segment the needle feature using 250 intra-procedural images from 85 MRI-guided prostate biopsy cases and 180 real-time images from MRI-guided needle insertion in ex vivo tissue. The segmentation masks were passed into the needle feature localization algorithm to extract the needle feature tip location and axis orientation. The proposed algorithm was tested using 208 intra-procedural images from 40 MRI-guided prostate biopsy cases, and 3 real-time MRI datasets in ex vivo tissue. The algorithm results were compared with human-annotated references. Results: In prostate datasets, the proposed algorithm achieved needle feature tip localization error with median Euclidean distance (dxy) of 0.71?mm and median difference in axis orientation angle (dθ) of 1.28°, respectively. In 3 real-time MRI datasets, the proposed algorithm achieved consistent dynamic needle feature tracking performance with processing time of 75?ms/image: (a) median dxy = 0.90?mm, median dθ = 1.53°; (b) median dxy = 1.31?mm, median dθ = 1.9°; (c) median dxy = 1.09?mm, median dθ = 0.91°. Conclusions: The proposed algorithm using Mask R-CNN can accurately track the needle feature tip and axis on MR images from in vivo intra-procedural prostate biopsy cases and ex vivo real-time MRI experiments with a range of different conditions. The algorithm achieved pixel-level tracking accuracy in real time and has potential to assist MRI-guided percutaneous interventions. ? 2020, CARS.
Subjects
adult
algorithm
Article
automation
clinical article
controlled study
convolutional neural network
deep learning
ex vivo study
feature detection
human
image segmentation
male
nuclear magnetic resonance imaging
priority journal
prostate biopsy
retrospective study
two-dimensional imaging
image guided biopsy
needle
pathology
procedures
prostate
Algorithms
Humans
Image-Guided Biopsy
Magnetic Resonance Imaging
Male
Needles
Neural Networks, Computer
Prostate
Type
journal article