Performance evaluation of 3D computer vision techniques

This work presents the implementation and comparison of three different techniques of three-dimensional computer vision as follows: • Stereo vision - correlation between two 2D images • Sensorial fusion - use of different sensors: camera 2D + ultrasound sensor (1D); • Structured light The computer vision techniques herein presented took into consideration the following characteristics: • Computational effort ( elapsed time for obtain the 3D information); • Influence of environmental conditions (noise due to a non uniform lighting, overlighting and shades); • The cost of the infrastructure for each technique; • Analysis of uncertainties, precision and accuracy. The option of using the Matlab software, version 5.1, for algorithm implementation of the three techniques was due to the simplicity of their commands, programming and debugging. Besides, this software is well known and used by the academic community, allowing the results of this work to be obtained and verified. Examples of three-dimensional vision applied to robotic assembling tasks ("pick-and-place") are presented.

Abdominal ultrasound in the evaluation of fibrosis and portal hypertension in an area of schistosomiasis low endemicity

This study was undertaken in the municipality of Bananal, São Paulo, an endemic area for schistosomiasis with a prevalence under 10% and low parasite load among infected individuals. Our objective was to identify the clinical forms of schistosomiasis among 109 patients in whom the disease had been diagnosed through direct fecal analysis and who had been medicated with oxamniquine at the time of the Plan for the Intensification of Schistosomiasis Control Actions (1998-2000). These patients were submitted to an abdominal ultrasonography and fecal analysis by Kato-Katz method, four years, on average, after the end of the Plan. Five patients, whose abdominal ultrasound images were compatible with either peripheral or central periportal fibrosis and portal hypertension, were identified. None of the 109 patients presented Schistosoma mansoni eggs at fecal analysis. Ultrasonography is a sensitive, noninvasive diagnostic method that allows a better identification of the extent of liver involvement in schistosomiasis cases.

Magnetic resonance imaging and ultrasound in hepatosplenic schistosomiasis mansoni

We report the findings of abdominal ultrasound and magnetic resonance imaging observed in a patient with advanced schistosomiasis mansoni. A 25-year-old man with hepatosplenic schistosomiasis and variceal bleeding confirmed by upper endoscopy was submitted to abdominal ultrasound and magnetic resonance imaging. During surgery for portal hypertension, a liver biopsy was taken and the diagnosis of Symmers' fibrosis was confirmed. magnetic resonance imaging scans gave more precise information about the gallbladder, periportal thickening and abdominal venous system than did the ultrasound.

Comparative clinical and ultrasound study of egg-negative and egg-positive individuals from Schistosoma mansoni low morbidity endemic areas, and hospitalized patients with hepatosplenic disease

Two hundred and twenty three subjects from a Schistosoma mansoni low morbidity endemic area and nine hospitalized hepatosplenic patients were submitted to stool test and clinical examination and abdomen ultrasound assessments. According to stool examination and ultrasound results, they were grouped as follows: G1 - 63 Schistosoma mansoni egg-negative individuals; G2 - 141 egg-positive patients and without evidence of periportal fibrosis; G3 - 19 egg-positive patients with periportal echogenicity (3-6mm); and G4 - 9 hepatosplenic patients with periportal echogenicity (> 6mm). Hepatomegaly detected by physical examination of the abdomen evaluated in the midclavicular line was verified in G1, G2 and G3, respectively, in 11.1, 12.1 and 26.3%. In G1, G2 and G3, periportal thickening occurred only in schistosomal patients (8.5%). Mild pathological alterations in patients that cannot yet be detected by clinical examination were detectable in the liver by ultrasound and can be due to fibrosis. The degree of mild periportal fibrosis was diminished in 57.9% of patients 12 months after treatment of schistosomiasis with oxamniquine. At ultrasonography, the mean liver left lobe measurement of G3 was larger than that of G1, and that of G4 larger than that of G1 and G2. The mean size of the spleen of G4 was significantly larger than that of the other three groups, and that of G3 larger than that of G1 and G2.

Clinical and ultrasound findings before and after praziquantel treatment among Venezuelan schistosomiasis patients

Abdominal ultrasound can be a useful tool for diagnosing periportal fibrosis related to Schistosoma mansoni infection, and also for planning and monitoring the evolution of hepatic morbidity following control measures. We evaluated the standardized ultrasound methodology proposed by the World Health Organization for detecting periportal fibrosis and portal hypertension, among patients from an endemic area in Venezuela, and the impact of praziquantel treatment 3-5 years later. After chemotherapy, complete reversal of periportal lesions was observed in 28.2% of the cases and progression of the disease in 5.1%. Improvement in the hepatic disease started with a reduction in the periportal thickening followed by a decrease in the size of the left hepatic lobe, spleen and mesenteric and spleen veins. Ultrasound confirmed the clinical findings after chemotherapy among the patients with reversal of the disease. However, in patients with more advanced disease, these findings were contradictory. There was no correlation between evolution of the disease seen on ultrasound and age, intensity of infection or serological findings.

Ultrasound and magnetic resonance imaging findings in Schistosomiasis mansoni: expanded gallbladder fossa and fatty hilum signs

INTRODUCTION: There is no study relating magnetic resonance imaging (MRI) to ultrasound (US) findings in patients with Schistosomiasis mansoni. Our aim was to describe MRI findings inpatients with schistosomal liver disease identified by US. METHODS: Fifty-four patients (mean age 41.6±13.5years) from an area endemic for Schistosomiasis mansoni were selected for this study.All had US indicating liver schistosomal fibrosis and were evaluated with MRI performed witha 1.5-T superconducting magnet unit (Sigma). RESULTS: Forty-seven (87%) of the 54 patientsshowing signs of periportal fibrosis identified through US investigation had confirmed diagnosesby MRI. In the seven discordant cases (13%), MRI revealed fat tissue filling in the hilar periportalspace where US indicated isolated thickening around the main portal vein at its point of entryto the liver. We named this the fatty hilum sign. One of the 47 patients with MRI evidence ofperiportal fibrosis had had his gallbladder removed previously. Thirty-five (76.1%) of the other46 patients had an expanded gallbladder fossa filled with fat tissue, whereas MRI of the remainingeleven showed pericholecystic signs of fibrosis. CONCLUSIONS: Echogenic thickening of thegallbladder wall and of the main portal vein wall heretofore attributed to fibrosis were frequentlyidentified as fat tissue in MRI. However, the gallbladder wall thickening shown in US (expandedgallbladder fossa in MRI) is probably secondary to combined hepatic morphologic changes inschistosomiasis, representing severe liver involvement.

Fração de ejeção e volumes do ventrículo esquerdo medidos com eco 3D e com tomografia ultra-rápida

FUNDAMENTO: O ecocardiograma tridimensional em tempo real (ECO 3D) e a tomografia computadorizada ultra-rápida (CT) são dois novos métodos de análise da fração de ejeção e dos volumes do VE. OBJETIVO: Comparar as medidas da FEVE e dos volumes do VE aferidos pelo ECO 3D e pela CT ultra-rápida. MÉTODOS: Foram estudados pelo ECO 3D e pela CT ultra-rápida de 64 cortes, 39 pacientes consecutivos (27 homens, média etária de 57±12 anos). Foram analisados: FEVE e volumes do VE. Análise estatística: coeficiente de correlação (r: Pearson), teste de Bland & Altman, teste de regressão linear, 95 % IC, p<0,05. RESULTADOS: Medidas do ECO 3D: a FEVE variou de 56,1 a 78,6 (65,5±5,58)%; volume diastólico final variou de 49,6 a 178,2 (87±27,8)ml; volume sistólico final variou de 11,4 a 78 (33,1±13,6)ml. Medidas da CT: a FEVE variou de 53 a 86 (67,8±7,78)%; volume diastólico final variou de 51 a 186 (106,5±30,3) ml; volume sistólico final variou de 7 a 72 (35,5±13,4)ml. As correlações entre ECO 3D e CT foram: FEVE (r: 0,7888, p<0,0001, 95% IC 0,6301 a 0,8843); volume diastólico final (r: 0,7695, p<0,0001, 95% IC 0,5995 a 0,8730); volume sistólico final (r: 0,8119, p<0,0001, 95% IC 0,6673 a 0,8975). CONCLUSÃO: Nesta série, foi observada boa correlação entre as medidas da FEVE e entre os volumes ventriculares aferidos pelo ECO3D e pela CT ultra-rápida de 64 cortes.

"Hiper-resposta" avaliada pelo eco 3D após terapia de ressincronização cardíaca

A terapia de ressincronização cardíaca consiste em tratamento promissor para pacientes com insuficiência cardíaca grave, porém cerca de 30% dos pacientes não apresentam melhora clínica com este tratamento. Por outro lado, aproximadamente 10% dos pacientes submetidos a essa terapia podem apresentar hiper resposta, e a ecocardiografia tridimensional pode oferecer uma opção interessante para a seleção e avaliação de tratamento desses pacientes.

Comparação entre a ecocardiografia 2D e 3D na avaliação do remodelamento reverso após a TRC

FUNDAMENTO: A ecocardiografia consiste em método muito útil para seleção e avaliação de resposta à terapia de ressincronização cardíaca (TRC). O eco 3D já tem seu papel estabelecido na avaliação dos volumes ventriculares e fração de ejeção ventricular esquerda (FEVE) com excelente correlação de resultados quando comparado à RNM. OBJETIVO: Comparar a avaliação dos volumes ventriculares (VDVE, VSVE), FEVE e massa do VE antes e após a TRC pela ecocardiografia bi (Eco 2D) e tridimensional (Eco 3D). MÉTODOS: Foram avaliados 24 pacientes com IC CFIII ou IV (NYHA), ritmo sinusal QRS > 150 ms, em vigência de terapêutica otimizada para IC submetidos a TRC. Foram realizados eletrocardiograma (ECG), avaliação clínica, Eco 2D e 3D antes, três e seis meses após a TRC. A comparação entre as técnicas foi realizada utilizando-se a correlação de Pearson (r). RESULTADOS: No momento basal, a correlação entre os métodos foi de 0,96 para avaliação do VDVE, 0,95 para avaliação do VSVE, 0,87 para FEVE, e 0,72 para massa do VE. Após três meses da TRC, a correlação entre os métodos para análise do VDVE foi de 0,96, 0,95 para VSVE, 0,95 para FEVE, e 0,77 para massa do VE. Após seis meses da TRC, a correlação entre o Eco 2D e 3D para análise do VDVE foi de 0,98, 0,91 para VSVE, 0,96 para FEVE, e 0,85 para massa do VE. CONCLUSÃO: Neste estudo foi observada redução dos VDVE,VSVE, além de melhora da FEVE após a TRC. Houve excelente correlação entre o Eco 2D e o 3D para avaliação dos volumes ventriculares e FEVE, e boa correlação entre os métodos para avaliação da massa ventricular esquerda antes e após a TRC.

Estudo piloto com Eco 3D das modificações geométricas do VE após infarto do miocárdio

FUNDAMENTO: Remodelamento ventricular esquerdo (RVE) após IAM caracteriza fator de mau prognóstico. Há pouca informação na literatura sobre o RVE analisado com ecocardiografia tridimensional (ECO 3D) OBJETIVO: Analisar com ECO 3D as modificações geométricas e volumétricas do ventrículo esquerdo (VE) seis meses após IAM em pacientes submetidos a tratamento primário percutâneo. MÉTODOS: Estudo prospectivo com ECO 3D de 21 indivíduos (16 homens, 56 ± 12 anos), acometidos por IAM com elevação do segmento ST. Foi feita a análise morfofuncional (VE) com ECO 3D (volumes, FEVE, índice de esfericidade 3D) até sete dias e seis meses após o IAM. RVE foi considerado para aumento > 15% do volume diastólico final do VE (VDFVE) após seis meses do IAM, comparado ao VDFVE até sete dias do evento. RESULTADOS: Oito (38%) pacientes apresentaram RVE. Medidas ecocardiográficas (n = 21 pacientes): I- até sete dias do IAM: 1- VDFVE: 92,3 ± 22,3 mL; 2- FEVE: 0,51 ± 0,01; 3- índice de esfericidade: 0,38 ± 0,05; II- após seis meses: 1- VDFVE: 107,3 ± 26,8 mL; 2- FEVE: 0,59 ± 0,01; 3- índice de esfericidade: 0,31 ± 0,05. Coeficiente de correlação (r) entre índice de esfericidade até sete dias do IAM e VDFVE aos seis meses (n = 8) após o IAM: r: 0,74, p = 0,0007; (r) entre índice de esfericidade após seis meses do IAM e VDFVE aos seis meses do IAM: r: 0,85, p < 0,0001. CONCLUSÃO: Nesta série, foi observado RVE em 38% dos pacientes seis meses após IAM. O índice de esfericidade tridimensional foi associado à ocorrência de RVE.

A Comparison of Radiation Dose Between Standard and 3D Angiography in Congenital Heart Disease

Background: The use of three-dimensional rotational angiography (3D-RA) to assess patients with congenital heart diseases appears to be a promising technique despite the scarce literature available. Objectives: The objective of this study was to describe our initial experience with 3D-RA and to compare its radiation dose to that of standard two-dimensional angiography (2D-SA). Methods: Between September 2011 and April 2012, 18 patients underwent simultaneous 3D-RA and 2D-SA during diagnostic cardiac catheterization. Radiation dose was assessed using the dose-area-product (DAP). Results: The median patient age and weight were 12.5 years and 47.5 Kg, respectively. The median DAP of each 3D-RA acquisition was 1093µGy.m2 and 190µGy.m2 for each 2D-SA acquisition (p<0.01). In patients weighing more than 45Kg (n=7), this difference was attenuated but still significant (1525 µGy.m2 vs.413µGy.m2, p=0.01). No difference was found between one 3D-RA and three 2D-SA (1525µGy.m2 vs.1238 µGy.m2, p = 0.575) in this population. This difference was significantly higher in patients weighing less than 45Kg (n=9) (713µGy.m2 vs.81µGy.m2, P = 0.008), even when comparing one 3D-RA with three 2D-SA (242µGy.m2, respectively, p<0.008). 3D-RA was extremely useful for the assessment of conduits of univentricular hearts, tortuous branches of the pulmonary artery, and aorta relative to 2D-SA acquisitions. Conclusions: The radiation dose of 3D-RA used in our institution was higher than those previously reported in the literature and this difference was more evident in children. This type of assessment is of paramount importance when starting to perform 3D-RA.