Johan Sarrazin, PhD Student

Contact | Thesis Subject | Publications | Teaching |

Contact Information

Email:Johan.Sarrazin@imag.fr
Mailing Address:
Location

Equipe GMCAO - Laboratoire TIMC-IMAG
Bureau B06 - Pavillon Taillefer - RDC
Université Joseph Fourier - CNRS UMR 5525
Pavillon Taillefer
Faculté de Médecine
38706 La Tronche - France

Tel:
Fax:
(+33) 4 56 52 00 02
(+33) 4 56 52 00 55

Thesis Outline

In 2012 in France, prostate cancer is the most frequent cancer with 53 465 new cases estimated and 8 876 deaths. Prostate biopsy is the only method used to prove the presence of cancer with a histopathologic study. This medical gesture is hard to accomplish and is usually performed using a transrectal ultrasonography and with transrectal or transperineal punctures. Twelve biopsies are evenly punctured all around the prostate by the urologist. Pre-operative MRI targets can also be punctured. The difficulties for the urologist are to perform these punctures precisely and accurately with 2D live transrectal ultrasound poor quality images. Moreover this type of probe moves and deforms the prostate.

It is within this framework that we proposed the development of patient-specific biomechanical model of prostate. The model will allow the urologist to monitor the deformations and the displacements of the prostate and to follow targeted areas. Firstly, we were interested in building a validation workflow to evaluate the impact of each necessary step before the dynamic simulation. We then developed and validated tools to improve the workflow and to perform real patient data acquisitions. An evaluation of the impact of each parameter of the biomechanical model was achieved on a realistic deformable prostate phantom. Finally, the workflow was applied on ultrasound patient acquisitions.

Keywords: Biomechanical Modeling of Prostate; General Validation Workflow; Hand-Eye Calibration; TransRectal UltraSonography (TRUS); Prostate Biopsy Session;
Biomechanical Model applied to Prostate Deformation during TransRectal UltraSonography

The video below shows a biomechanical model built from a 3D ultrasound volume. This model allow us to predict the displacements and the deformation of the prostate and segmented targets induced by a transrectal probe during ultrasonography. The simulation is based on patient data acquisitions and probe motions is monitored by means of calibrated probe-holder robot. The video shows probe movements made by an urologist for the two first biopsy samples of a prostate biopsy session. (speed-up x2)

Evaluation of a probe constraint

In this section, we present an automatic target tracking method based on OpenCV library to evaluate the accuracy of our probe constraint method. A gelatin phantom is deformed by a mimicked transrectal probe. A calibrated camera follows the targets glued on the phantom. A chessboard pattern is used to obtain the depth in the image. The first video (speed-up x2) presents the image processing tool we developed to track the targets.

This second video (no speed-up) presents the biomechanical model built from the automatic tracking. The right part in the video shows the Von-Mises stress comptued on each tetrehedral elements with our method. The dynamic simulation is performed with a 0.5 s time-step. The probe is inserted in the phantom (1.1 centimeter).

Publications

2015
Sarrazin, J. and Promayon, E. and Baumann, M. and Troccaz, J. (2015),
"hand-eye calibration of a robot - ultrasound probe system without any 3d localizers", Engineering in Medicine and Biology Society (EMBC), Vol., pp.21-24.
BibTeX:
@inproceedings{Sarrazin2015,
  author = {Sarrazin, J. and Promayon, E. and Baumann, M. and Troccaz, J.},
  title = {hand-eye calibration of a robot - ultrasound probe system without any 3d localizers},
  booktitle = {Engineering in Medicine and Biology Society (EMBC), 2015 37th Annual International Conference of the IEEE},
  year = {2015},
  pages = {21-24},
  doi = {http://dx.doi.org/10.1109/EMBC.2015.7318251}
}
Vitrani, M-A and Troccaz, J and Silvent, A-S and Selmi, SY and Sarrazin, J. and Reversat, D and Promayon, E and Poquet, C and Mozer, P and Morel, G and others (2015),
"prosbot--model and image controlled prostatic robot", IRBM. Vol.36, pp.118--125.
BibTeX:
@article{Vitrani2015,
  author = {Vitrani, M-A and Troccaz, J and Silvent, A-S and Selmi, SY and Sarrazin, J and Reversat, D and Promayon, E and Poquet, C and Mozer, P and Morel, G and others},
  title = {prosbot--model and image controlled prostatic robot},
  journal = {IRBM},
  publisher = {Elsevier},
  year = {2015},
  volume = {36},
  number = {2},
  pages = {118--125}
}
2014
Sarrazin, Johan and Promayon, Emmanuel and Baumann, Michael and Troccaz, Jocelyne (2014),
"3d ultrasound probe calibration using robotic arm and image registration", Proceedings of Surgetica. Vol.2014, pp..
BibTeX:
@article{Sarrazin2014,
  author = {Sarrazin, Johan and Promayon, Emmanuel and Baumann, Michael and Troccaz, Jocelyne},
  title = {3d ultrasound probe calibration using robotic arm and image registration},
  journal = {Proceedings of Surgetica},
  year = {2014},
  volume = {2014}
}
Selmi, Sonia-Yuki and Promayon, Emmanuel and Sarrazin, Johan and Troccaz, Jocelyne (2014),
"3d interactive ultrasound image deformation for realistic prostate biopsy simulation", Biomedical Simulation, Vol.8789, pp.122-130.
BibTeX:
@incollection{Selmi2014,
  author = {Selmi, Sonia-Yuki and Promayon, Emmanuel and Sarrazin, Johan and Troccaz, Jocelyne},
  title = {3d interactive ultrasound image deformation for realistic prostate biopsy simulation},
  booktitle = {Biomedical Simulation},
  publisher = {Springer International Publishing},
  year = {2014},
  volume = {8789},
  pages = {122-130},
  url = {http://dx.doi.org/10.1007/978-3-319-12057-7_14},
  doi = {http://dx.doi.org/10.1007/978-3-319-12057-7_14}
}
2013
Promayon, E. and Fouard, C. and Bailet, M. and Deram, A. and Fiard, G. and Hungr, N. and Luboz, V. and Payan, Y. and Sarrazin, J. and Saubat, N. and Selmi, S.Y. and Voros, S. and Cinquin, P. and Troccaz, J. (2013),
"using camitk for rapid prototyping of interactive computer assisted medical intervention applications", Engineering in Medicine and Biology Society (EMBC), Vol., pp.4933-4936.
BibTeX:
@inproceedings{Promayon2013,
 author = {Promayon, E. and Fouard, C. and Bailet, M. and Deram, A. and Fiard, G. and Hungr, N. and Luboz, V. and Payan, Y. and Sarrazin, J. and Saubat, N. and Selmi, S.Y. and Voros, S. and Cinquin, P. and Troccaz, J.},
 title = {using camitk for rapid prototyping of interactive computer assisted medical intervention applications},
 booktitle = {Engineering in Medicine and Biology Society (EMBC), 2013 35th Annual International Conference of the IEEE},
 year = {2013},
 pages = {4933-4936},
 doi = {http://dx.doi.org/10.1109/EMBC.2013.6610654}
}
                                    

Teaching

2015-2016: Teaching Assistant (20H) in XML Technologies et Web Services:
  • Markup language XML, XMLSchéma, XPath, XSLT ...
  • Object-oriented programming Java
  • How to bind OOP and Markup language (DOM, XMLWriter/Reader ...)
Students: Polytech'Grenoble - TIS (Master 1) (Information and Technology for health).
2014-2015:
Teaching Assistant (49H) in web language:
  • Markup language XML, XMLSchéma, XPath, XSLT ...
  • Object-oriented programming Java
  • How to bind OOP and Markup language (DOM, XMLWriter/Reader ...)
Students: Licence 3 MIAGE (Méthodes Informatiques Appliquées à la Gestion des Entreprises).
2013-2014:
Teaching Assistant (36H) in web language:
  • Markup language XML, XMLSchéma, XPath, XSLT ...
  • Object-oriented programming Java
  • How to bind OOP and Markup language (DOM, XMLWriter/Reader ...)
Students: Licence 3 MIAGE (Méthodes Informatiques Appliquées à la Gestion des Entreprises).