Angle-independent measure of motion for image-based gating in 3D coronary angiography

The role of three-dimensional (3D) image guidance for interventional procedures and minimally invasive surgeries is increasing for the treatment of vascular disease. Currently, most interventional procedures are guided by two-dimensional x-ray angiography, but computed rotational angiography has the potential to provide 3D geometric information about the coronary arteries. The creation of 3D angiographic images of the coronary arteries requires synchronization of data acquisition with respect to the cardiac cycle, in order to minimize motion artifacts. This can be achieved by inferring the extent of motion from a patient's electrocardiogram (ECG) signal. However, a direct measurement of motion (from the 2D angiograms) has the potential to improve the 3D angiographic images by ensuring that only projections acquired during periods of minimal motion are included in the reconstruction. This paper presents an image-based metric for measuring the extent of motion in 2D x-ray angiographic images. Adaptive histogram equalization was applied to projection images to increase the sharpness of coronary arteries and the superior-inferior component of the weighted centroid (SIC) was measured. The SIC constitutes an image-based metric that can be used to track vessel motion, independent of apparent motion induced by the rotational acquisition. To evaluate the technique, six consecutive patients scheduled for routine coronary angiography procedures were studied. We compared the end of the SIC rest period (rho) to R-waves (R) detected in the patient's ECG and found a mean difference of 14 +/- 80 ms. Two simultaneous angular positions were acquired and rho was detected for each position. There was no statistically significant difference (P = 0.79) between rho in the two simultaneously acquired angular positions. Thus we have shown the SIC to be independent of view angle, which is critical for rotational angiography. A preliminary image-based gating strategy that employed the SIC was compared to an ECG-based gating strategy in a porcine model. The image-based gating strategy selected 61 projection images, compared to 45 selected by the ECG-gating strategy. Qualitative comparison revealed that although both the SIC-based and ECG-gated reconstructions decreased motion artifact compared to reconstruction with no gating, the SIC-based gating technique increased the conspicuity of smaller vessels when compared to ECG gating in maximum intensity projections of the reconstructions and increased the sharpness of a vessel cross section in multi-planar reformats of the reconstruction.     

Exact reconstruction in 2D dynamic CT: compensation of time-dependent affine deformations

This work is dedicated to the reduction of reconstruction artefacts due to motion occurring during the acquisition of computerized tomographic projections. This problem has to be solved when imaging moving organs such as the lungs or the heart. The proposed method belongs to the class of motion compensation algorithms, where the model of motion is included in the reconstruction formula. We address two fundamental questions. First what conditions on the deformation are required for the reconstruction of the object from projections acquired sequentially during the deformation, and second how do we reconstruct the object from those projections. Here we answer these questions in the particular case of 2D general time-dependent affine deformations, assuming the motion parameters are known. We treat the problem of admissibility conditions on the deformation in the parallel-beam and fan-beam cases. Then we propose exact reconstruction methods based on rebinning or sequential FBP formulae for each of these geometries and present reconstructed images obtained with the fan-beam algorithm on simulated data.     

Projection-based motion compensation for gated coronary artery reconstruction from rotational x-ray angiograms

Three-dimensional reconstruction of coronary arteries can be performed during x-ray-guided interventions by gated reconstruction from a rotational coronary angiography sequence. Due to imperfect gating and cardiac or breathing motion, the heart's motion state might not be the same in all projections used for the reconstruction of one cardiac phase. The motion state inconsistency causes motion artefacts and degrades the reconstruction quality. These effects can be reduced by a projection-based 2D motion compensation method. Using maximum-intensity forward projections of an initial uncompensated reconstruction as reference, the projection data are transformed elastically to improve the consistency with respect to the heart's motion state. A fast iterative closest-point algorithm working on vessel centrelines is employed for estimating the optimum transformation. Motion compensation is carried out prior to and independently from a final reconstruction. The motion compensation improves the accuracy of reconstructed vessel radii and the image contrast in a software phantom study. Reconstructions of human clinical cases are presented, in which the motion compensation substantially reduces motion blur and improves contrast and visibility of the coronary arteries.     

An optical flow based method for improved reconstruction of 4D CT data sets acquired during free breathing

Respiratory motion degrades anatomic position reproducibility and leads to issues affecting image acquisition, treatment planning, and radiation delivery. Four-dimensional (4D) computer tomography (CT) image acquisition can be used to measure the impact of organ motion and to explicitly account for respiratory motion during treatment planning and radiation delivery. Modern CT scanners can only scan a limited region of the body simultaneously and patients have to be scanned in segments consisting of multiple slices. A respiratory signal (spirometer signal or surface tracking) is used to reconstruct a 4D data set by sorting the CT scans according to the couch position and signal coherence with predefined respiratory phases. But artifacts can occur if there are no acquired data segments for exactly the same respiratory state for all couch positions. These artifacts are caused by device-dependent limitations of gantry rotation, image reconstruction times and by the variability of the patient's respiratory pattern. In this paper an optical flow based method for improved reconstruction of 4D CT data sets from multislice CT scans is presented. The optical flow between scans at neighboring respiratory states is estimated by a non-linear registration method. The calculated velocity field is then used to reconstruct a 4D CT data set by interpolating data at exactly the predefined respiratory phase. Our reconstruction method is compared with the usually used reconstruction based on amplitude sorting. The procedures described were applied to reconstruct 4D CT data sets for four cancer patients and a qualitative and quantitative evaluation of the optical flow based reconstruction method was performed. Evaluation results show a relevant reduction of reconstruction artifacts by our technique. The reconstructed 4D data sets were used to quantify organ displacements and to visualize the abdominothoracic organ motion.     

Iterative 4D cardiac micro-CT image reconstruction using an adaptive spatio-temporal sparsity prior

Temporal-correlated image reconstruction, also known as 4D CT image reconstruction, is a big challenge in computed tomography. The reasons for incorporating the temporal domain into the reconstruction are motions of the scanned object, which would otherwise lead to motion artifacts. The standard method for 4D CT image reconstruction is extracting single motion phases and reconstructing them separately. These reconstructions can suffer from undersampling artifacts due to the low number of used projections in each phase. There are different iterative methods which try to incorporate some a priori knowledge to compensate for these artifacts. In this paper we want to follow this strategy. The cost function we use is a higher dimensional cost function which accounts for the sparseness of the measured signal in the spatial and temporal directions. This leads to the definition of a higher dimensional total variation. The method is validated using in vivo cardiac micro-CT mouse data. Additionally, we compare the results to phase-correlated reconstructions using the FDK algorithm and a total variation constrained reconstruction, where the total variation term is only defined in the spatial domain. The reconstructed datasets show strong improvements in terms of artifact reduction and low-contrast resolution compared to other methods. Thereby the temporal resolution of the reconstructed signal is not affected.     

基于改进光线投射法的冠脉图像三维重建

传统光线投射算法虽然绘制图像时能取得良好的效果，但因为运算速度较慢，限制了其广泛应用。为了在图像三维重建时既能保证质量，又能提高实时交互性，本文提出一种基于改进光线投射算法的冠脉三维重建方法，利用检测原数据点的数据值来简化重采样中三线性插值的复杂性，并结合切比雪夫空体素跳跃法，进一步提高算法的效率。实验结果表明，该算法能够在提高运算速度的同时，保证绘制冠脉三维图像的质量。     

Fully 4D motion-compensated reconstruction of cardiac SPECT images

In this paper, we investigate the benefits of a spatiotemporal approach for reconstruction of image sequences. In the proposed approach, we introduce a temporal prior in the form of motion compensation to account for the statistical correlations among the frames in a sequence, and reconstruct all the frames collectively as a single function of space and time. The reconstruction algorithm is derived based on the maximum a posteriori estimate, for which the one-step late expectation-maximization algorithm is used. We demonstrated the method in our experiments using simulated single photon emission computed tomography (SPECT) cardiac perfusion images. The four-dimensional (4D) gated mathematical cardiac-torso phantom was used for simulation of gated SPECT perfusion imaging with Tc-99m-sestamibi. In addition to bias-variance analysis and time activity curves, we also used a channelized Hotelling observer to evaluate the detectability of perfusion defects in the reconstructed images. Our experimental results demonstrated that the incorporation of temporal regularization into image reconstruction could significantly improve the accuracy of cardiac images without causing any significant cross-frame blurring that may arise from the cardiac motion. This could lead to not only improved detection of perfusion defects, but also improved reconstruction of the heart wall which is important for functional assessment of the myocardium.     

基于投影图像和CT容积图像的三维冠状动脉运动跟踪新方法

目的利用双平面X射线投影图像序列和参考CT容积图像进行冠状动脉的三维运动跟踪建模。方法①提取投影图像序列中的冠状动脉树;②利用多尺度滤波和血管函数提取CT容积图像中的动脉血管;③采用基于B样条配准的方法进行三维运动建模。结果将双投影图像中血管的运动估计结果的三维重建形态与三维运动模型预测出的结果进行了量化比较,调整配准的B样条参数后,两者误差处于有效范围之内。结论由此表明采用投影图像和对应容积图像的联合先验知识进行冠状动脉的三维运动建模是有效的。     

血管造影图像序列中冠状动脉的三维运动估计

提出了由两个角度的单面血管造影图像序列估计冠状动脉骨架树三维运动的算法。首先对冠状动脉造影图像序列进行二维预处理和二维运动估计。然后根据冠脉造影系统的透视投影模型得到两幅不同角度的造影图像之间的几何变换关系，以及空间点三维坐标的计算方法。最后，在对整个图像序列进行分析的过程中，将三维运动估计与重建结合起来，得到各骨架点的三维运动向量。采用临床得到的冠状动脉造影图像序列对算法进行了验证，并分析了误差源。     

冠脉树三维重建中几何变换矩阵的优化

冠脉造影图像间的几何变换矩阵是实现冠脉树三维重建的关键。本研究分析了优化几何变换矩阵的必要性，提出利用分支点坐标、分支血管方向矢量和分支夹角三类数据优化几何变换矩阵的方法，并给出了kvenberg-Marquardt算法的优化步骤。最后利用两幅未标定的单面冠脉造影图像，实现冠脉树骨架的三维重建。重建的误差统计结果表明，优化方法有效地提高了冠状动脉树三维重建的精度。     

Development of a model of the coronary arterial tree for the 4D XCAT phantom

A detailed three-dimensional (3D) model of the coronary artery tree with cardiac motion has great potential for applications in a wide variety of medical imaging research areas. In this work, we first developed a computer-generated 3D model of the coronary arterial tree for the heart in the extended cardiac-torso (XCAT) phantom, thereby creating a realistic computer model of the human anatomy. The coronary arterial tree model was based on two datasets: (1) a gated cardiac dual-source computed tomography (CT) angiographic dataset obtained from a normal human subject and (2) statistical morphometric data of porcine hearts. The initial proximal segments of the vasculature and the anatomical details of the boundaries of the ventricles were defined by segmenting the CT data. An iterative rule-based generation method was developed and applied to extend the coronary arterial tree beyond the initial proximal segments. The algorithm was governed by three factors: (1) statistical morphometric measurements of the connectivity, lengths and diameters of the arterial segments; (2) avoidance forces from other vessel segments and the boundaries of the myocardium, and (3) optimality principles which minimize the drag force at the bifurcations of the generated tree. Using this algorithm, the 3D computational model of the largest six orders of the coronary arterial tree was generated, which spread across the myocardium of the left and right ventricles. The 3D coronary arterial tree model was then extended to 4D to simulate different cardiac phases by deforming the original 3D model according to the motion vector map of the 4D cardiac model of the XCAT phantom at the corresponding phases. As a result, a detailed and realistic 4D model of the coronary arterial tree was developed for the XCAT phantom by imposing constraints of anatomical and physiological characteristics of the coronary vasculature. This new 4D coronary artery tree model provides a unique simulation tool that can be used in the development and evaluation of instrumentation and methods for imaging normal and pathological hearts with myocardial perfusion defects.     

IVUSAngio Tool: A publicly available software for fast and accurate 3D reconstruction of coronary arteries

There is an ongoing research and clinical interest in the development of reliable and easily accessible software for the 3D reconstruction of coronary arteries. In this work, we present the architecture and validation of IVUSAngio Tool, an application which performs fast and accurate 3D reconstruction of the coronary arteries by using intravascular ultrasound (IVUS) and biplane angiography data. The 3D reconstruction is based on the fusion of the detected arterial boundaries in IVUS images with the 3D IVUS catheter path derived from the biplane angiography. The IVUSAngio Tool suite integrates all the intermediate processing and computational steps and provides a user-friendly interface. It also offers additional functionality, such as automatic selection of the end-diastolic IVUS images, semi-automatic and automatic IVUS segmentation, vascular morphometric measurements, graphical visualization of the 3D model and export in a format compatible with other computer-aided design applications. Our software was applied and validated in 31 human coronary arteries yielding quite promising results. Collectively, the use of IVUSAngio Tool significantly reduces the total processing time for 3D coronary reconstruction. IVUSAngio Tool is distributed as free software, publicly available to download and use.     

基于二维X线图像骨组织三维重建的研究进展

医学图像的三维重建是当前国内外图像处理技术研究的热点,基于二维X线图像的三维重建这一新的重建方法在骨科疾病诊疗中的实际应用,不仅能够减少患者的检查费用,检查辐射剂量,更克服了传统的三维重建方式对检查体位的限制。本文结合近年来关于应用二维X线图像进行骨组织三维重建的文献报道,对这一重建方法的重建思路变化以及重建依据的分类进行总结,着重介绍了其在长管状骨、髋膝关节以及脊柱侧凸畸形等方面的应用情况,在对困扰其实际应用的旋转角度限制、图像分割识别等问题进行分析后,认为其必将在人体各组织器官的三维重建中得到应用。     

Model-based normalization for iterative 3D PET image reconstruction

We describe a method for normalization in 3D PET for use with maximum a posteriori (MAP) or other iterative model-based image reconstruction methods. This approach is an extension of previous factored normalization methods in which we include separate factors for detector sensitivity, geometric response, block effects and deadtime. Since our MAP reconstruction approach already models some of the geometric factors in the forward projection, the normalization factors must be modified to account only for effects not already included in the model. We describe a maximum likelihood approach to joint estimation of the count-rate independent normalization factors, which we apply to data from a uniform cylindrical source. We then compute block-wise and block-profile deadtime correction factors using singles and coincidence data, respectively, from a multiframe cylindrical source. We have applied this method for reconstruction of data from the Concorde microPET P4 scanner. Quantitative evaluation of this method using well-counter measurements of activity in a multicompartment phantom compares favourably with normalization based directly on cylindrical source measurements.     

HeinzelCluster: accelerated reconstruction for FORE and OSEM3D

Using iterative three-dimensional (3D) reconstruction techniques for reconstruction of positron emission tomography (PET) is not feasible on most single-processor machines due to the excessive computing time needed, especially so for the large sinogram sizes of our high-resolution research tomograph (HRRT). In our first approach to speed up reconstruction time we transform the 3D scan into the format of a two-dimensional (2D) scan with sinograms that can be reconstructed independently using Fourier rebinning (FORE) and a fast 2D reconstruction method. On our dedicated reconstruction cluster (seven four-processor systems, Intel PIII@700 MHz, switched fast ethernet and Myrinet, Windows NT Server), we process these 2D sinograms in parallel. We have achieved a speedup > 23 using 26 processors and also compared results for different communication methods (RPC, Syngo, Myrinet GM). The other approach is to parallelize OSEM3D (implementation of C Michel), which has produced the best results for HRRT data so far and is more suitable for an adequate treatment of the sinogram gaps that result from the detector geometry of the HRRT. We have implemented two levels of parallelization for four dedicated cluster (a shared memory fine-grain level on each node utilizing all four processors and a coarse-grain level allowing for 15 nodes) reducing the time for one core iteration from over 7 h to about 35 min.     

Real-time 3D motion tracking for small animal brain PET

High-resolution positron emission tomography (PET) imaging of conscious, unrestrained laboratory animals presents many challenges. Some form of motion correction will normally be necessary to avoid motion artefacts in the reconstruction. The aim of the current work was to develop and evaluate a motion tracking system potentially suitable for use in small animal PET. This system is based on the commercially available stereo-optical MicronTracker S60 which we have integrated with a Siemens Focus-220 microPET scanner. We present measured performance limits of the tracker and the technical details of our implementation, including calibration and synchronization of the system. A phantom study demonstrating motion tracking and correction was also performed. The system can be calibrated with sub-millimetre accuracy, and small lightweight markers can be constructed to provide accurate 3D motion data. A marked reduction in motion artefacts was demonstrated in the phantom study. The techniques and results described here represent a step towards a practical method for rigid-body motion correction in small animal PET. There is scope to achieve further improvements in the accuracy of synchronization and pose measurements in future work.     

Rest period duration of the coronary arteries: implications for magnetic resonance coronary angiography

Magnetic resonance (MR) and computed tomography coronary imaging is susceptible to artifacts caused by motion of the heart. The presence of rest periods during the cardiac and respiratory cycles suggests that images free of motion artifacts could be acquired. In this paper, we studied the rest period (RP) duration of the coronary arteries during a cardiac contraction and a tidal respiratory cycle. We also studied whether three MR motion correction methods could be used to increase the respiratory RP duration. Free breathing x-ray coronary angiograms were acquired in ten patients. The three-dimensional (3D) structure of the coronary arteries was reconstructed from a biplane acquisition using stereo reconstruction methods. The 3D motion of the arterial model was then recovered using an automatic motion tracking algorithm. The motion field was then decomposed into separate cardiac and respiratory components using a cardiac respiratory parametric model. For the proximal-to-middle segments of the right coronary artery (RCA), a cardiac RP (<1 mm 3D displacement) of 76+/-34 ms was measured at end systole (ES), and 65+/-42 ms in mid-diastole (MD). The cardiac RP was 80+/-25 ms at ES and 112+/-42 ms at MD for the proximal 5 cm of the left coronary tree. At end expiration, the respiratory RP (in percent of the respiratory period) was 26+/-8% for the RCA and 27+/-17% for the left coronary tree. Left coronary respiratory RP (<0.5 mm 3D displacement) increased with translation (32% of the respiratory period), rigid body (51%), and affine (79%) motion correction. The RCA respiratory RP using translational (27%) and rigid body (33%) motion correction were not statistically different from each other. Measurements of the cardiac and respiratory rest periods will improve our understanding of the temporal and spatial resolution constraints for coronary imaging.     

3D cone-beam CT reconstruction for circular trajectories

3D reconstruction from 2D projections obtained along a single circular source trajectory is most commonly done using an algorithm due to Feldkamp, Davis and Kress. In this paper we propose an alternative approach based on a cone-beam to parallel-beam rebinning step, a corresponding rebinning step into a rectangular virtual detector plane and a filtered backprojection. This approach yields an improved image quality reflected by a decreased low-intensity drop which is well known for 3D reconstruction from projection data obtained along circular trajectories. At the same time the computational complexity is lower than in Feldkamp's original approach. Based on this idea, a hybrid 3D cone-beam reconstruction method is formulated that enlarges the reconstruction volume in its dimension along the rotation axis of the cone-beam CT system. This enlargement is achieved by applying different reconstruction conditions for each voxel. An optimal ratio between the reconstructible and irradiated volume of the scanned object is achieved.     

Internet2-based 3D PET image reconstruction using a PC cluster

We describe an approach to fast iterative reconstruction from fully three-dimensional (3D) PET data using a network of PentiumIII PCs configured as a Beowulf cluster. To facilitate the use of this system, we have developed a browser-based interface using Java. The system compresses PET data on the user's machine, sends these data over a network, and instructs the PC cluster to reconstruct the image. The cluster implements a parallelized version of our preconditioned conjugate gradient method for fully 3D MAP image reconstruction. We report on the speed-up factors using the Beowulf approach and the impacts of communication latencies in the local cluster network and the network connection between the user's machine and our PC cluster.     

Enhanced 4D cone-beam CT with inter-phase motion model

Four-dimensional (4D) cone-beam CT (CBCT) is commonly obtained by respiratory phase binning of the projections, followed by independent reconstructions of the rebinned data in each phase bin. Due to the significantly reduced number of projections per reconstruction, the quality of the 4DCBCT images is often degraded by view-aliasing artifacts easily seen in the axial view. Acquisitions using multiple gantry rotations or slow gantry rotation can increase the number of projections and substantially improve the 4D images. However, the extra cost of the scan time may set fundamental limits to their applications in clinics. Improving the trade-off between image quality and scan time is the key to making 4D onboard imaging practical and more useful. In this article, we present a novel technique toward high-quality 4DCBCT imaging without prolonging the acquisition time, referred to as the "enhanced 4DCBCT". The method correlates the data in different phase bins and integrates the internal motion into the 4DCBCT image formulation. Several strategies of the motion derivation are discussed, and the resultant images are assessed with numerical simulations as well as a clinical case.