A novel three-dimensional endoscopic ultrasound technique for the freehand examination of the oesophagus.

This study details the development and evaluation of a freehand radial three-dimensional endoscopic ultrasound (3D-EUS) technique for use in the upper gastro-intestinal tract. It comprised of a commercial EUS system, a custom acquisition system to simultaneous acquire radial B-mode images and corresponding incremental changes in position of the scope as it was withdrawn and a custom 3D-EUS package written in Matlab™, to reconstruct and analyse the volume. This technique was evaluated using an EUS phantom with embedded objects of known dimensions and volumes and with clinical images acquired during routine cancer staging. For the phantom measurements, average Z-dimensional error was <1% and volume errors were 1.4% (volume(1) = 48930 mm(3)) and 4.5% (volume(2) = 5100 mm(3)). Application of this technique to EUS acquired clinical images produced excellent characterisation of oesophageal structures and accurate dimension and volume measurements. It also enabled the endoscopist to review "off-line" the EUS examination in case important information was missed.