Kidney Phantom Research Articles

Multi-institutional validation of a perfused robot-assisted partial nephrectomy procedural simulation platform utilizing clinically relevant objective metrics of simulators (CROMS).

To conduct a multi-institutional validation of a high-fidelity, perfused, inanimate, simulation platform for robot-assisted partial nephrectomy (RAPN) using incorporated clinically relevant objective metrics of simulation (CROMS), applying modern validity standards. Using a combination of three-dimensional (3D) printing and hydrogel casting, a RAPN model was developed from the computed tomography scan of a patient with a 4.2-cm, upper-pole renal tumour (RENAL nephrometry score 7×). 3D-printed casts designed from the patient's imaging were used to fabricate and register hydrogel (polyvinyl alcohol) components of the kidney, including the vascular and pelvicalyceal systems. After mechanical and anatomical verification of the kidney phantom, it was surrounded by other relevant hydrogel organs and placed in a laparoscopic trainer. Twenty-seven novice and 16 expert urologists, categorized according to caseload, from five academic institutions completed the simulation. Clinically relevant objective metrics of simulators, operative complications, and objective performance ratings (Global Evaluative Assessment of Robotic Skills [GEARS]) were compared between groups using Wilcoxon rank-sum (continuous variables) and parametric chi-squared (categorical variables) tests. Pearson and point-biserial correlation coefficients were used to correlate GEARS scores to each CROMS variable. Post-simulation questionnaires were used to obtain subjective supplementation of realism ratings and training effectiveness. Expert ratings demonstrated the model's superiority to other procedural simulations in replicating procedural steps, bleeding, tissue texture and appearance. A significant difference between groups was demonstrated in CROMS [console time (P < 0.001), warm ischaemia time (P < 0.001), estimated blood loss (P < 0.001)] and GEARS (P < 0.001). Six major intra-operative complications occurred only in novice simulations. GEARS scores highly correlated with the CROMS. This perfused, procedural model offers an unprecedented realistic simulation platform, which incorporates objective, clinically relevant and procedure-specific performance metrics.

A Cheap Kidney Phantom for Kidney Biopsy

Percutaneous renal biopsy is the most common method for obtaining renal tissue. In this article, the authors first explained how to make a cheap model of phantom easily by sheep’s kidney in a bowl filled with jelly. Then in the attached video, they showed how to find the ideal site (lower pole of kidney) and in real time, traced biopsy needle from jelly surface to kidney concomitant with ultrasound screen.

Uniaxial compression testing and Cauchy stress modeling to design anatomical silicone replicas

Anatomically realistic organ replicas or phantoms allow for accurate studies and reproducible research. To recreate a human kidney, mimicry of the elastic properties of the human kidney is crucial. However, none of the related work addressed the design and development of a kidney phantom using only silicone as material. In contrast to paraffin and hydrogel, silicone is an ideal variant for its extended shelf life, soft-tissue-like feeling, and viscoelastic modularity. To this end, we conducted Uniaxial Compression testing and Cauchy stress modeling. Results indicate that none of the available manufacturer silicone brands are suitable for the task of creating a realistic kidney phantom. Indeed, the tested silicone mixtures in low and high strain fall outside the required approximate target compressive moduli of 20 kPa and 500 kPa, respectively. This work provides a frame of reference for future work by avoiding the pitfalls of the selected ready-made silicones and reusing the reported theoretical and experimental setup to design a realistic replica of the kidney organ.

Surgical Tracking, Registration, and Navigation Characterization for Image-guided Renal Interventions.

Most image-guided interventions rely on surgical tracking and image/model to patient registration to establish a spatial relationship between the patient and the pre- and intraprocedural images, by using surgical tracking and localization systems. In this work, we characterize the tracking, registration and navigation accuracy using two different surgical localization systems - the NDI Polaris Spectra optical tracking system and the NDI Aurora electromagnetic tracking system - in the context of an image-guided renal intervention, using a 3D printed life-size model of a patient-specific kidney phantom generated from a CT image. Our results reported a 0.05 mm fiducial localization error, 0.70 mm fiducial registration error, and 0.78 mm target registration error, and 0.63 mm overall navigation error using the optical tracking, and 0.12 mm fiducial localization error, 0.78 mm fiducial registration error, 0.93 mm target registration error and 0.89 mm overall navigation error using electromagnetic tracking. Additionally, our study also showed similarity between the overall navigation accuracy using optical (0.63 mm RMS error) or electromagnetic tracking (0.89 mm RMS error) and the overall navigation accuracy achieved using direct visualization of the surgical scene (0.68 mm and 1.06 RMS error respectively), which serves as a baseline control metric.

Ultrasound 3D reconstruction of malignant masses in robotic-assisted partial nephrectomy using the PAF rail system: a comparison study

PurposeIn robotic-assisted partial nephrectomy (RAPN), the use of intraoperative ultrasound (IOUS) helps to localise and outline the tumours as well as the blood vessels within the kidney. The aim of this work is to evaluate the use of the pneumatically attachable flexible (PAF) rail system for US 3D reconstruction of malignant masses in RAPN. The PAF rail system is a novel device developed and previously presented by the authors to enable track-guided US scanning.MethodsWe present a comparison study between US 3D reconstruction of masses based on: the da Vinci Surgical System kinematics, single- and stereo-camera tracking of visual markers embedded on the probe. An US-realistic kidney phantom embedding a mass is used for testing. A new design for the US probe attachment to enhance the performance of the kinematic approach is presented. A feature extraction algorithm is proposed to detect the margins of the targeted mass in US images.ResultsTo evaluate the performance of the investigated approaches the resulting 3D reconstructions have been compared to a CT scan of the phantom. The data collected indicates that single camera reconstruction outperformed the other approaches, reconstructing with a sub-millimetre accuracy the targeted mass.ConclusionsThis work demonstrates that the PAF rail system provides a reliable platform to enable accurate US 3D reconstruction of masses in RAPN procedures. The proposed system has also the potential to be employed in other surgical procedures such as hepatectomy or laparoscopic liver resection.

Protocol analysis of dual-energy CT for optimization of kidney stone detection in virtual non-contrast reconstructions.

Previous studies have shown that split-bolus protocols in virtual non-contrast (VNC) reconstructions of dual-energy computed tomography (DE-CT) significantly decrease radiation dose in patients with urinary stone disease. To evaluate the impact on kidney stone detection rate of stone composition, size, tube voltage, and iodine concentration for VNC reconstructions of DE-CT. In this prospective study, 16 kidney stones of different sizes (1.2-4.5mm) and compositions (struvite, cystine, whewellite, brushite) were placed within a kidney phantom. Seventy-two scans with nine different iodine contrast agents/saline solutions with increasing attenuation (0-1400HU) and different kilovoltage settings (70kV/150kV; 80kV/150kV; 90kV/150kV; 100kV/150kV) were performed. Two experienced radiologists independently rated the images for the presence and absence of stones. Multivariate classification tree analysis and descriptive statistics were used to evaluate the diagnostic performance. Classification tree analysis revealed a higher detection rate of renal calculi > 2mm in size compared with that of renal calculi < 2mm (84.7%; 12.7%; p < 0.001). For stones with a diameter > 2mm, the best results were found at 70kV/Sn 150kV and 80kV/Sn 150kV in scans with contrast media attenuation of 600HU or less, with sensitivity of 99.6% and 96.0%, respectively. A higher luminal attenuation (> 600HU) resulted in a significantly decreased detection rate (91.8%, 0-600HU; 70.7%, 900-1400HU; p < 0.001). In our study setup, the detection rates were best for cystine stones. Scan protocols in DE-CT with lower tube current and lower contrast medium attenuation show excellent results in VNC for stones larger than 2mm but have limitations for small stones. • The detection rate of virtual non-contrast reconstructions is highly dependent on the surrounding contrast medium attenuation at the renal pelvis and should be kept as low as possible, as at an attenuation higher than 600HU the VNC reconstructions are susceptible to masking ureteral stones. • Protocols with lower tube voltages (70kV/Sn 150kV and 80kV/Sn 150kV) improve the detection rate of kidney stones in VNC reconstructions. • The visibility of renal stones in virtual non-contrast of dual-energy CT is highly associated with the size, and results in a significantly lower detection rate in stones below 2mm.

A complex dual-modality kidney phantom for renal biopsy studies.

We developed a reliable and repeatable process to create hyper-realistic, kidney phantoms with tunable image visibility under ultrasound (US) and CT imaging modalities. A methodology was defined to create phantoms that could be produced for renal biopsy evaluation. The final complex kidney phantom was devised containing critical structures of a kidney: kidney cortex, medulla, and ureter. Simultaneously, some lesions were integrated into the phantom to mimic the presence of tumors during biopsy. The phantoms were created and scanned by ultrasound and CT scanners to verify the visibility of the complex internal structures and to observe the interactions between material properties. The result was a successful advancement in knowledge of materials with ideal acoustic and impedance properties to replicate human organs for the field of image-guided interventions.

What You See Is Not What You Get: On the Accuracy of Voxel-Based Dosimetry in Molecular Radiotherapy.

Improvements in quantitative SPECT/CT have aroused growing interest in voxel-based dosimetry for radionuclide therapies, because it promises visualization of absorbed doses at a voxel level. In this work, SPECT/CT-based voxel-level dosimetry of a 3-dimensional (3D) printed 2-compartment kidney phantom was performed, and the resulting absorbed dose distributions were examined. Additionally, the potential of the PETPVC partial-volume correction tool was investigated. Methods: Both kidney compartments (70% cortex, 30% medulla) were filled with different activity concentrations, and SPECT/CT imaging was performed. The images were reconstructed using varying settings (iterations, subsets, and postfiltering). On the basis of these activity concentration maps, absorbed dose distributions were calculated with precalculated 177Lu voxel S values and an empiric kidney half-life. An additional set of absorbed doses was calculated after applying PETPVC for partial-volume correction of the SPECT reconstructions. Results: SPECT/CT imaging blurs the 2 discrete suborgan absorbed dose values into a continuous distribution. Although this effect is slightly improved by applying more iterations, it is enhanced by additional postfiltering. By applying PETPVC, the absorbed dose values are separated into 2 peaks. Although this leads to a better agreement between SPECT/CT-based and nominal values, considerable discrepancies remain. In contrast to the calculated nominal absorbed doses of 7.8 and 1.6 Gy (in the cortex and medulla, respectively), SPECT/CT-based voxel-level dosimetry resulted in mean absorbed doses of 3.0-6.6 Gy (cortex) and 2.7-5.1 Gy (medulla). PETPVC led to improved ranges of 6.1-8.9 Gy (cortex) and 2.1-5.4 Gy (medulla). Conclusion: Our study showed that 177Lu quantitative SPECT/CT imaging leads to voxel-based dose distributions largely differing from the real organ distribution. SPECT/CT imaging and reconstruction deficiencies might directly translate into unrealistic absorbed dose distributions, thus questioning the reliability of SPECT-based voxel-level dosimetry. Therefore, SPECT/CT reconstructions should be adapted to ensure an accurate quantification of the underlying activity and, therefore, absorbed dose in a volume of interest of the expected object size (e.g., organs, organ substructures, lesions, or voxels). As an example, PETPVC largely improves the match between SPECT/CT-based and nominal dose distributions. In conclusion, the concept of voxel-based dosimetry should be treated with caution. Specifically, one should remember that the absorbed dose distribution is mainly a convolved version of the underlying SPECT reconstruction.

A markerless automatic deformable registration framework for augmented reality navigation of laparoscopy partial nephrectomy.

Dense stereo matching and 3D reconstruction, automatic segmentation and surface stitching are combined to obtain a larger dense intraoperative point cloud of the renal surface. A coarse-to-fine deformable registration is performed to achieve a precise automatic registration between the intraoperative point cloud and the preoperative model using the iterative closest point algorithm followed by the coherent point drift algorithm. Kidney phantom experiments and in vivo experiments were performed to evaluate the accuracy and effectiveness of our approach. The average segmentation accuracy rate of the automatic segmentation was 94.9%. The mean target registration error of the phantom experiments was found to be 1.28 ± 0.68mm (root mean square error). In vivo experiments showed that tumor location was identified successfully by superimposing the tumor model on the laparoscopic view. Experimental results have demonstrated that the proposed framework could accurately overlay comprehensive preoperative models on deformable soft organs automatically in a manner of VST-AR without using extra intraoperative imaging modalities and external tracking devices, as well as its potential clinical use.

The Impact of Dust and Confinement on Fragmentation of Kidney Stones by Shockwave Lithotripsy in Tissue Phantoms.

Objective: The goal was to test whether stone composition and kidney phantom configuration affected comminution in extracorporeal shockwave lithotripsy (SWL) laboratory tests. Confinement may enhance the accumulation of dust and associated cavitation bubbles in the fluid surrounding the stone. It is known that high shockwave delivery rates in SWL are less effective because bubbles generated by one shockwave do not have sufficient time to dissolve, thereby shielding the next shockwave. Materials and Methods: Experiments were conducted with a lithotripter coupled to a water bath. The rate of comminution was measured by weighing fragments over 2 mm at 5-minute time points. First, plaster and crystal stones were broken in four phantoms: a nylon wire mesh, an open polyvinyl chloride (PVC) cup, a closed PVC cup, and an anatomical kidney model-the phantoms have decreasing fluid volumes around the stone. Second, the fluid volume in the kidney model was flushed with water at different rates (0, 7, and 86 mL/min) to remove dust. Results: The efficiency of breakage of stones decreases for the dust emitting plaster stones (percentage of breakage in 5 minutes decreased from 92% ± 2% [n = 3] in wire mesh to 19% ± 3% [n = 3] in model calix) with increasing confinement, but not for the calcite crystal stones that produced little dust (percentage of breakage changed from 87% ± 3% [n = 3] in wire mesh to 81% ± 3% [n = 3] in kidney model). Flushing the kidney phantom at the fastest rate improved comminution of smaller plaster stones by 27%. Conclusions: Phantoms restricting dispersion of dust were found to affect stone breakage in SWL and in vitro experiments should replicate kidney environments. The dust around the stone and potential cavitation may shield the stone from shockwaves and reduce efficacy of SWL. Understanding of stone composition and degree of hydronephrosis could be used to adapt patient-specific protocols.

Surface‐based registration between CT and US for image‐guided percutaneous renal access – A feasibility study

As a crucial step in accessing the kidney in several minimally invasive interventions, percutaneous renal access (PRA) practicality and safety may be improved through the fusion of computed tomography (CT) and ultrasound (US) data. This work aims to assess the potential of a surface-based registration technique and establish an optimal US acquisition protocol to fuse two-dimensional (2D) US and CT data for image-guided PRA. Ten porcine kidney phantoms with fiducial markers were imaged using CT and three-dimensional (3D) US. Both images were manually segmented and aligned. In a virtual environment, 2D contours were extracted by slicing the 3D US kidney surfaces and using usual PRA US-guided views, while the 3D CT kidney surfaces were transformed to simulate positional variability. Surface-based registration was performed using two methods of the iterative closest point algorithm (point-to-point, ICP1; and point-to-plane, ICP2), while four acquisition variants were studied: (a) use of single-plane (transverse, SPT ; or longitudinal, SPL ) vs bi-plane views (BP); (b) use of different kidney's coverage ranges acquired by a probe's sweep; (c) influence of sweep movements; and (d) influence of the spacing between consecutive slices acquired for a specific coverage range. BP view showed the best performance (TRE=2.26mm) when ICP2 method, a wide kidney coverage range (20°, with slices spaced by 5°), and a large sweep along the central longitudinal view were used, showing a statistically similar performance (P=0.097) to a full 3D US surface registration (TRE=2.28mm). An optimal 2D US acquisition protocol was evaluated. Surface-based registration, using multiple slices and specific sweep movements and views, is here suggested as a valid strategy for intraoperative image fusion using CT and US data, having the potential to be applied to other image modalities and/or interventions.

Collecting system percutaneous access using MR-assisted guidance: first human phantom experience

Objective: Precise renal puncture is an essential but challenging step for successful percutaneous nephrolithotomy. We evaluated the efficiency of a novel real-time navigation system using Mixed Reality(MR) technology for human phantom kidney puncture. Methods: One human kidney phantom underwent MR-assisted percutaneous collecting system puncture. Two punctures were performed by each of 6 surgeons in the randomize selected upper, middle or lower calyces. Outcome measurements were the number of attempts for renal puncture, the time needed to evaluate the trajectory and to perform percutaneous puncture. Results: A total of 12 punctures were performed successfully using MR-Assisted Guidance. Median evaluation time and renal puncture time for the selected calyces was 13 (range 11 to 19) and 19 seconds (range 15 to 44), respectively. One or Two attempts were needed to achieve a successful renal puncture for all of the surgeons. Conclusions: The proposed MR-assisted guidance solution for renal collecting system puncture proved to be accurate, simple and quick. The inherent limitations of traditional X - ray and ultrasonic technology can be overcome.

Optimizing Image Quantification for 177Lu SPECT/CT Based on a 3D Printed 2-Compartment Kidney Phantom.

The aim of this work was to find an optimal setup for activity determination of 177Lu-based SPECT/CT imaging reconstructed with 2 commercially available methods (xSPECT Quant and Flash3D). For this purpose, 3-dimensional (3D)-printed phantoms of different geometries were manufactured, different partial-volume correction (PVC) methods were applied, and the accuracy of the activity determination was evaluated. Methods: A 2-compartment kidney phantom (70% cortical and 30% medullary compartment), a sphere, and an ellipsoid of equal volumes were 3D printed, filled with 177Lu, and scanned with a SPECT/CT system. Reconstructions were performed with xSPECT and Flash3D. Different PVC methods were applied to find an optimal quantification setup: method 1 was a geometry-specific recovery coefficient based on the 3D printing model, method 2 was a geometry-specific recovery coefficient based on the low-dose CT scan, method 3 was an enlarged volume of interest including spilled-out counts, method 4 was activity concentration in the peak milliliter applied to the entire CT-based volume, and method 5 was a fixed threshold of 42% of the maximum in a large volume containing the object of interest. Additionally, the influence of postreconstruction gaussian filtering was investigated. Results: Although the recovery coefficients of sphere and ellipsoid differed by only 0.7%, a difference of 31.7% was observed between the sphere and the renal cortex phantoms. Without postfiltering, the model-based recovery coefficients (methods 1 and 2) resulted in the best accuracies (xSPECT, 1.5%; Flash3D, 10.3%), followed by the enlarged volume (method 3) (xSPECT, 8.5%; Flash3D, 13.0%). The peak-milliliter method (method 4) showed large errors only for sphere and ellipsoid (xSPECT, 23.4%; Flash3D, 21.6%). Applying a 42% threshold (method 5) led to the largest quantification errors (xSPECT, 32.3%; Flash3D, 46.7%). After postfiltering, a general increase in the errors was observed. Conclusion: In this work, 3D printing was used as a prototyping technique for a geometry-specific investigation of SPECT/CT reconstruction parameters and PVC methods. The optimal setup for activity determination was found to be an unsmoothed SPECT/CT reconstruction in combination with a recovery coefficient based on the low-dose CT. The difference between spheric and renal recovery coefficients suggests that the typically applied volume-dependent but only sphere-based recovery coefficient lookup tables should be replaced by a more geometry-specific alternative.

Improving environmental and stone factors toward a more realistic in vitro lithotripsy model

To improve in vitro lithotripsy models, we investigated the effects of multiple experimental variables on stone fragmentation. We performed timed burst wave lithotripsy (BWL) and shock wave lithotripsy (SWL) exposures in a water tank with the following variable parameters: water gas content (60, 30, and 15% O2), temperature (20 and 37°C), stone holder degree of enclosure (open wire basket, polyvinyl chloride (PVC) open-ended gel, and similar material anatomically accurate artificial kidney), and stone type (Begostone at 2 mixture ratios, calcite, calcium oxalate monohydrate (COM), and uric acid). At least 3 stones were treated for each condition, with fragmentation defined as percent stone mass <2 mm. Begostone (2:1 powder:water ratio) treated with BWL at 20°C vs. 37°C showed 75±13% vs. 62±6% breakage, respectively. Using the same stone type, gas concentrations of 60, 30, and 15% O2 showed breakage of 23±4%, 55±8%, and 82±16%, respectively. More enclosed kidney phantoms showed decreasing lithotripsy efficacy of 94±11%, 64±21%, and 13±2% breakage in basket, PVC, and anatomic phantoms, respectively. 2:1 Begostone most closely mimicked COM stone breakage. SWL exposures produced similar trends. This work indicates the importance of controlling multiple variables during in vitro lithotripsy experiments. [Work supported by NIH P01 DK043881 and K01 DK104854.]To improve in vitro lithotripsy models, we investigated the effects of multiple experimental variables on stone fragmentation. We performed timed burst wave lithotripsy (BWL) and shock wave lithotripsy (SWL) exposures in a water tank with the following variable parameters: water gas content (60, 30, and 15% O2), temperature (20 and 37°C), stone holder degree of enclosure (open wire basket, polyvinyl chloride (PVC) open-ended gel, and similar material anatomically accurate artificial kidney), and stone type (Begostone at 2 mixture ratios, calcite, calcium oxalate monohydrate (COM), and uric acid). At least 3 stones were treated for each condition, with fragmentation defined as percent stone mass <2 mm. Begostone (2:1 powder:water ratio) treated with BWL at 20°C vs. 37°C showed 75±13% vs. 62±6% breakage, respectively. Using the same stone type, gas concentrations of 60, 30, and 15% O2 showed breakage of 23±4%, 55±8%, and 82±16%, respectively. More enclosed kidney phantoms showed decreasing lithotripsy effic...

Robotically assisted ureteroscopy for kidney exploration.

Ureteroscopy is a minimally invasive procedure for diagnosis and treatment of a wide range of urinary tract pathologies. It is most commonly performed in the diagnostic work-up of hematuria and the diagnosis and treatment of upper urinary tract malignancies and calculi. Ergonomic and visualization challenges as well as radiation exposure are limitations to conventional ureteroscopy. For example, for diagnostic tumor inspection, the urologist has to maneuver the ureteroscope through each of the 6 to 12 calyces in the kidney under fluoroscopy to ensure complete surveillance. Therefore, we have been developing a robotic system to "power drive" a flexible fiber-optic ureteroscope with 3D tip tracking and pre-operative image overlay. Our goal is to provide the urologist precise control of the ureteroscope tip with less radiation exposure. Our prototype system allows control of the three degrees of freedom of the ureteroscope via brushless motors and a joystick interface. The robot provides a steady platform for controlling the ureteroscope. Furthermore, the robot design facilitates a quick "snap-in" of the ureteroscope, thus allowing the ureteroscope to be mounted midway through the procedure. We have completed the mechanical system and the controlling software and begun evaluation using a kidney phantom. We put MRI-compatible fiducials on the phantom and obtained MR images. We registered these images with the robot using an electromagnetic tracking system and paired-point registration. The system is described and initial evaluation results are given in this paper.

非侵襲超音波診断治療統合システムのためのロバストかつ高精度な患部追従手法

In recent years, HIFU (High Intensity Focused Ultrasound) therapy, which is one of the non-invasive therapies utilizing focused ultrasound, have attracted a great attention as a novel treatment method for a focal lesion, such as a tumor and a stone. However, the focal lesion moves in accordance with respiration, which may cause the damage for the surrounding normal tissues. To cope with this problem, we have developed a noninvasive ultrasound theragnostic system (NIUTS). In this report, we proposed a novel tracking method, which is implemented in NIUTS, based on “Partial Active Shape Model” to enhance the servo performance for the focal lesion. Experimental results shows the effectiveness of the proposed servo method concerning the precision and robustness for a kidney phantom.

Acoustic radiation force impulse imaging of kidneys - a phantom study.

Aim of the studySince there have been only few works reporting the diagnosis of kidneys using Acoustic Radiation Force Impulse technique and those works do not provide consistent results of shear wave velocity measurements in renal tissue, we have decided to use kidney phantoms with known properties to examine the reliability of the method itself in a controlled setup similar to kidneys examination.Materials and methodsFour gelatin-based phantoms imitating different clinical situations were manufactured – two with thick and two with thin renal cortex, each type at a depth similar to a normal-weight or overweight patient. For each phantom, a series of interest points was chosen and for each point 20 Shear Wave Velocity measurements were taken using the build-in Virtual Touch Tissue Quantification™ tool in a Siemens Acuson S2000 ultrasound scanner equipped with a 6C1 HD Transducer (Siemens Mountainview, USA).ResultsMean Shear Wave Velocity values obtained for all the examined points ranged from 2.445 to 3.941 m/s, with standard deviation exceeding 0.1 in only one case out of 29 points, but differing significantly between all points.ConclusionsThe obtained results indicate that the method is highly reliable as long as the measurement volume contains a uniform tissue region. If the measurement window covers a region with different properties even partially, the obtained results are affected. The variance of measured values on the other hand is not affected by the said non-uniformity of material under examination. Furthermore, the variance of measured values does not show a clear dependency on the depth at which the shear wave velocities are measured.

A 3D-printed anatomical pancreas and kidney phantom for optimizing SPECT/CT reconstruction settings in beta cell imaging using 111In-exendin.

BackgroundQuantitative single photon emission computed tomography (SPECT) is challenging, especially for pancreatic beta cell imaging with 111In-exendin due to high uptake in the kidneys versus much lower uptake in the nearby pancreas. Therefore, we designed a three-dimensionally (3D) printed phantom representing the pancreas and kidneys to mimic the human situation in beta cell imaging. The phantom was used to assess the effect of different reconstruction settings on the quantification of the pancreas uptake for two different, commercially available software packages.Methods3D-printed, hollow pancreas and kidney compartments were inserted into the National Electrical Manufacturers Association (NEMA) NU2 image quality phantom casing. These organs and the background compartment were filled with activities simulating relatively high and low pancreatic 111In-exendin uptake for, respectively, healthy humans and type 1 diabetes patients. Images were reconstructed using Siemens Flash 3D and Hermes Hybrid Recon, with varying numbers of iterations and subsets and corrections. Images were visually assessed on homogeneity and artefacts, and quantitatively by the pancreas-to-kidney activity concentration ratio.ResultsPhantom images were similar to clinical images and showed comparable artefacts. All corrections were required to clearly visualize the pancreas. Increased numbers of subsets and iterations improved the quantitative performance but decreased homogeneity both in the pancreas and the background. Based on the phantom analyses, the Hybrid Recon reconstruction with 6 iterations and 16 subsets was found to be most suitable for clinical use.ConclusionsThis work strongly contributed to quantification of pancreatic 111In-exendin uptake. It showed how clinical images of 111In-exendin can be interpreted and enabled selection of the most appropriate protocol for clinical use.

Soft 3D-Printed Phantom of the Human Kidney with Collecting System

Organ models are used for planning and simulation of operations, developing new surgical instruments, and training purposes. There is a substantial demand for in vitro organ phantoms, especially in urological surgery. Animal models and existing simulator systems poorly mimic the detailed morphology and the physical properties of human organs. In this paper, we report a novel fabrication process to make a human kidney phantom with realistic anatomical structures and physical properties. The detailed anatomical structure was directly acquired from high resolution CT data sets of human cadaveric kidneys. The soft phantoms were constructed using a novel technique that combines 3D wax printing and polymer molding. Anatomical details and material properties of the phantoms were validated in detail by CT scan, ultrasound, and endoscopy. CT reconstruction, ultrasound examination, and endoscopy showed that the designed phantom mimics a real kidney’s detailed anatomy and correctly corresponds to the targeted human cadaver’s upper urinary tract. Soft materials with a tensile modulus of 0.8–1.5 MPa as well as biocompatible hydrogels were used to mimic human kidney tissues. We developed a method of constructing 3D organ models from medical imaging data using a 3D wax printing and molding process. This method is cost-effective means for obtaining a reproducible and robust model suitable for surgical simulation and training purposes.

Design and Fabrication of Kidney Phantoms for Internal Radiation Dosimetry Using 3D Printing Technology

A set of 4 single-compartment kidney phantoms with filling volumes between 8 and 123 mL was designed on the basis of the outer kidney dimensions provided by MIRD pamphlet 19. After the phantoms had been printed, SPECT/CT acquisitions of 3 radionuclides (99mTc, 177Lu, and 131I) were obtained and calibration constants determined for each radionuclide-volume combination. A set of additionally manufactured spheres matching the kidney volumes was also examined to assess the influence of phantom shape and size on the calibration constants. A set of refillable, waterproof, and chemically stable kidneys and spheres was successfully manufactured. Average calibration factors for 99mTc, 177Lu, and 131I were obtained in a large source measured in air. For the largest phantom (122.9 mL), the volumes of interest had to be enlarged by 1.2 mm for 99mTc, 2.5 mm for 177Lu, and 4.9 mm for 131I in all directions to obtain calibration factors comparable to the reference. Although partial-volume effects were observed for decreasing phantom volumes (percentage difference of up to 9.8% for the smallest volume [8.6 mL]), the difference between corresponding sphere-kidney pairs was small (<1.1% for all volumes). 3D printing is a promising prototyping technique for geometry-specific calibration of SPECT/CT systems. Although the underlying radionuclide and the related collimator have a major influence on the calibration, no relevant differences between kidney-shaped and spherically shaped uniform-activity phantoms were observed. With comparably low costs and submillimeter resolution, 3D printing techniques hold the potential for manufacturing individualized anthropomorphic phantoms in many clinical applications in nuclear medicine.