Magnetic target tracking is a low-cost, portable, and passive method for tracking materials wherein magnets are physically attached or embedded without the need for line of sight. Traditional magnet tracking techniques use optimization algorithms to determine the positions and orientations of permanent magnets from magnetic field measurements. However, such techniques are constrained by high latencies, primarily due to the numerical calculation of the gradient. In this study, we derive the analytic gradient for multiple-magnet tracking and show a dramatic reduction in tracking latency. We design a physical system comprising an array of magnetometers and one or more spherical magnets. To validate the performance of our tracking algorithm, we compare the magnet tracking estimates with state-of-the-art motion capture measurements for each of four distinct magnet sizes. We find comparable position and orientation errors to state-of-the-art magnet tracking, but demonstrate increased maximum bandwidths of 336%, 525%, 635%, and 773% for the simultaneous tracking of 1, 2, 3, and 4 magnets, respectively. We further show that it is possible to extend the analytic gradient to account for disturbance fields, and we demonstrate the simultaneous tracking of 1 to 4 magnets with disturbance compensation. These findings extend the use of magnetic target tracking to high-speed, real-time applications requiring the tracking of one or more targets without the constraint of a fixed magnetometer array. This advancement enables applications such as low-latency augmented and virtual reality interaction, volitional or reflexive control of prostheses and exoskeletons, and simplified multi-degree-of-freedom magnetic levitation.
Objective: Monitoring microcirculation and visualizing microvasculature are critical for providing diagnosis to medical professionals and guiding clinical interventions.Ultrasound provides a medium for monitoring and visualization; however, there are challenges due to the complex microscale geometry of the vasculature and difficulties associated with quantifying perfusion. Here, we studied established and state-of-theart ultrasonic modalities (using six probes) to compare their detection of slow flow in small microvasculature. Methods: Five ultrasonic modalities were studied: grayscale, color Doppler, power Doppler, superb microvascular imaging (SMI), and microflow imaging (MFI), using six linear probes across two ultrasound scanners. Image readability was blindly scored by radiologists and quantified for evaluation. Vasculature visualization was investigated both in vitro (resolution and flow characterization) and in vivo (fingertip microvasculature detection). Results: Superb Microvascular Imaging (SMI) and Micro Flow Imaging (MFI) modalities provided superior images when compared with conventional ultrasound imaging How to cite this article: Aghabaglou F, Ainechi A, Abramson H, et al. Ultrasound monitoring of microcirculation: An original study from the laboratory bench to the clinic.
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Objects accidentally left behind in the brain following neurosurgical procedures may lead to life-threatening health complications and invasive reoperation. One of the most commonly retained surgical items is the cotton ball, which absorbs blood to clear the surgeon’s field of view yet in the process becomes visually indistinguishable from the brain parenchyma. However, using ultrasound imaging, the different acoustic properties of cotton and brain tissue result in two discernible materials. In this study, we created a fully automated foreign body object tracking algorithm that integrates into the clinical workflow to detect and localize retained cotton balls in the brain. This deep learning algorithm uses a custom convolutional neural network and achieves 99% accuracy, sensitivity, and specificity, and surpasses other comparable algorithms. Furthermore, the trained algorithm was implemented into web and smartphone applications with the ability to detect one cotton ball in an uploaded ultrasound image in under half of a second. This study also highlights the first use of a foreign body object detection algorithm using real in-human datasets, showing its ability to prevent accidental foreign body retention in a translational setting.
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