Lung nodule detection in low-dose and thin-slice computed tomography

A computer-aided detection (CAD) system for the identification of small pulmonary nodules in low-dose and thin-slice CT scans has been developed. The automated procedure for selecting the nodule candidates is mainly based on a filter enhancing spherical-shaped objects. A neural approach based on the classification of each single voxel of a nodule candidate has been purposely developed and implemented to reduce the amount of false-positive findings per scan. The CAD system has been trained to be sensitive to small internal and sub-pleural pulmonary nodules collected in a database of low-dose and thin-slice CT scans. The system performance has been evaluated on a data set of 39 CT containing 75 internal and 27 sub-pleural nodules. The FROC curve obtained on this data set shows high values of sensitivity to lung nodules (80-85% range) at an acceptable level of false positive findings per patient (10-13 FP/scan).     

Automated detection of lung nodules in CT scans: preliminary results

We have developed a fully automated computerized method for the detection of lung nodules in helical computed tomography (CT) scans of the thorax. This method is based on two-dimensional and three-dimensional analyses of the image data acquired during diagnostic CT scans. Lung segmentation proceeds on a section-by-section basis to construct a segmented lung volume within which further analysis is performed. Multiple gray-level thresholds are applied to the segmented lung volume to create a series of thresholded lung volumes. An 18-point connectivity scheme is used to identify contiguous three-dimensional structures within each thresholded lung volume, and those structures that satisfy a volume criterion are selected as initial lung nodule candidates. Morphological and gray-level features are computed for each nodule candidate. After a rule-based approach is applied to greatly reduce the number of nodule candidates that corresponds to nonnodules, the features of remaining candidates are merged through linear discriminant analysis. The automated method was applied to a database of 43 diagnostic thoracic CT scans. Receiver operating characteristic (ROC) analysis was used to evaluate the ability of the classifier to differentiate nodule candidates that correspond to actual nodules from false-positive candidates. The area under the ROC curve for this categorization task attained a value of 0.90 during leave-one-out-by-case evaluation. The automated method yielded an overall nodule detection sensitivity of 70% with an average of 1.5 false-positive detections per section when applied to the complete 43-case database. A corresponding nodule detection sensitivity of 89% with an average of 1.3 false-positive detections per section was achieved with a subset of 20 cases that contained only one or two nodules per case.     

Automated lung nodule classification following automated nodule detection on CT: a serial approach

We have evaluated the performance of an automated classifier applied to the task of differentiating malignant and benign lung nodules in low-dose helical computed tomography (CT) scans acquired as part of a lung cancer screening program. The nodules classified in this manner were initially identified by our automated lung nodule detection method, so that the output of automated lung nodule detection was used as input to automated lung nodule classification. This study begins to narrow the distinction between the "detection task" and the "classification task." Automated lung nodule detection is based on two- and three-dimensional analyses of the CT image data. Gray-level-thresholding techniques are used to identify initial lung nodule candidates, for which morphological and gray-level features are computed. A rule-based approach is applied to reduce the number of nodule candidates that correspond to non-nodules, and the features of remaining candidates are merged through linear discriminant analysis to obtain final detection results. Automated lung nodule classification merges the features of the lung nodule candidates identified by the detection algorithm that correspond to actual nodules through another linear discriminant classifier to distinguish between malignant and benign nodules. The automated classification method was applied to the computerized detection results obtained from a database of 393 low-dose thoracic CT scans containing 470 confirmed lung nodules (69 malignant and 401 benign nodules). Receiver operating characteristic (ROC) analysis was used to evaluate the ability of the classifier to differentiate between nodule candidates that correspond to malignant nodules and nodule candidates that correspond to benign lesions. The area under the ROC curve for this classification task attained a value of 0.79 during a leave-one-out evaluation.     

Selective enhancement filters for nodules,vessels, and airway walls in two- and three-dimensional CT scans

Computer-aided diagnostic (CAD) schemes have been developed to assist radiologists in the early detection of lung cancer in radiographs and computed tomography (CT) images. In order to improve sensitivity for nodule detection, many researchers have employed a filter as a preprocessing step for enhancement of nodules. However, these filters enhance not only nodules, but also other anatomic structures such as ribs, blood vessels, and airway walls. Therefore, nodules are often detected together with a large number of false positives caused by these normal anatomic structures. In this study, we developed three selective enhancement filters for dot, line, and plane which can simultaneously enhance objects of a specific shape (for example, dot-like nodules) and suppress objects of other shapes (for example, line-like vessels). Therefore, as preprocessing steps, these filters would be useful for improving the sensitivity of nodule detection and for reducing the number of false positives. We applied our enhancement filters to synthesized images to demonstrate that they can selectively enhance a specific shape and suppress other shapes. We also applied our enhancement filters to real two-dimensional (2D) and three-dimensional (3D) CT images to show their effectiveness in the enhancement of specific objects in real medical images. We believe that the three enhancement filters developed in this study would be useful in the computerized detection of cancer in 2D and 3D medical images.     

Computer-aided diagnosis of pulmonary nodules on CT scans: segmentation and classification using 3D active contours

We are developing a computer-aided diagnosis (CAD) system to classify malignant and benign lung nodules found on CT scans. A fully automated system was designed to segment the nodule from its surrounding structured background in a local volume of interest (VOI) and to extract image features for classification. Image segmentation was performed with a three-dimensional (3D) active contour (AC) method. A data set of 96 lung nodules (44 malignant, 52 benign) from 58 patients was used in this study. The 3D AC model is based on two-dimensional AC with the addition of three new energy components to take advantage of 3D information: (1) 3D gradient, which guides the active contour to seek the object surface, (2) 3D curvature, which imposes a smoothness constraint in the z direction, and (3) mask energy, which penalizes contours that grow beyond the pleura or thoracic wall. The search for the best energy weights in the 3D AC model was guided by a simplex optimization method. Morphological and gray-level features were extracted from the segmented nodule. The rubber band straightening transform (RBST) was applied to the shell of voxels surrounding the nodule. Texture features based on run-length statistics were extracted from the RBST image. A linear discriminant analysis classifier with stepwise feature selection was designed using a second simplex optimization to select the most effective features. Leave-one-case-out resampling was used to train and test the CAD system. The system achieved a test area under the receiver operating characteristic curve (A(z)) of 0.83 +/- 0.04. Our preliminary results indicate that use of the 3D AC model and the 3D texture features surrounding the nodule is a promising approach to the segmentation and classification of lung nodules with CAD. The segmentation performance of the 3D AC model trained with our data set was evaluated with 23 nodules available in the Lung Image Database Consortium (LIDC). The lung nodule volumes segmented by the 3D AC model for best classification were generally larger than those outlined by the LIDC radiologists using visual judgment of nodule boundaries.     

Lung nodule diagnosis using 3D template matching

In this paper, to utilize the third dimension of Computed Tomography, regions of interest (ROI) slices were combined to form 3D ROI image and a 3D template was determined to find the structures with similar properties of nodules. Convolution of 3D ROI image with the proposed template strengthens the shapes similar to the template and weakens the other ones. False-positive (FP) per nodule and per slice versus diagnosis sensitivity were obtained. The Computer Aided Diagnosis system achieved 100% sensitivity with 0.83 FP per nodule and 0.46 FP per slice, when the nodule thickness was greater than or equal to 5.625 mm.     

Pleural nodule identification in low-dose and thin-slice lung computed tomography

A completely automated system for the identification of pleural nodules in low-dose and thin-slice computed tomography (CT) of the lung has been developed. The directional-gradient concentration method has been applied to the pleura surface and combined with a morphological opening-based procedure to generate a list of nodule candidates. Each nodule candidate is characterized by 12 morphological and textural features, which are analyzed by a rule-based filter and a neural classifier. This detection system has been developed and validated on a dataset of 42 annotated CT scans. The k-fold cross validation has been used to evaluate the neural classifier performance. The system performance variability due to different ground truth agreement levels is discussed. In particular, the poor 44% sensitivity obtained on the ground truth with agreement level 1 (nodules annotated by only one radiologist) with six FP per scan grows up to the 72% if the underlying ground truth is changed to the agreement level 2 (nodules annotated by two radiologists).     

Computer-Assisted Detection of Pulmonary Nodules: Preliminary Observations Using a Prototype System with Multidetector-Row CT Data Sets

The continued revolution in multidetector-row CT (MDCT) scanning increases the quality of lung imaging but at the cost of a greater burden of data for review and interpretation. This article discusses our preliminary experience with prototype software for lung nodule detection and characterization using MDCT data sets. We discuss the potential role of computer-assisted detection (CAD) as applied to the automatic detection of lung nodules. We also review the process of CAD, outline its potential results, and explore how it may fit into existing radiology practice. Finally, we discuss MDCT data-acquisition parameters and how they may affect the performance of CAD.     

Deep Learning-based Artificial Intelligence Improves Accuracy of Error-prone Lung Nodules

Introduction: Early detection of lung cancer is one way to improve outcomes. Improving the detection of nodules on chest CT scans is important. Previous artificial intelligence (AI) modules show rapid advantages, which improves the performance of detecting lung nodules in some datasets. However, they have a high false-positive (FP) rate. Its effectiveness in clinical practice has not yet been fully proven. We aimed to use AI assistance in CT scans to decrease FP.Materials and methods: CT images of 60 patients were obtained. Five senior doctors who were blinded to these cases participated in this study for the detection of lung nodules. Two doctors performed manual detection and labeling of lung nodules without AI assistance. Another three doctors used AI assistance to detect and label lung nodules before manual interpretation. The AI program is based on a deep learning framework.Results: In total, 266 nodules were identified. For doctors without AI assistance, the FP was 0.617-0.650/scan and the sensitivity was 59.2-67.0%. For doctors with AI assistance, the FP was 0.067 to 0.2/scan and the sensitivity was 59.2-77.3% This AI-assisted program significantly reduced FP. The error-prone characteristics of lung nodules were central locations, ground-glass appearances, and small sizes. The AI-assisted program improved the detection of error-prone nodules.Conclusions: Detection of lung nodules is important for lung cancer treatment. When facing a large number of CT scans, error-prone nodules are a great challenge for doctors. The AI-assisted program improved the performance of detecting lung nodules, especially for error-prone nodules.     

A Segmentation Framework of Pulmonary Nodules in Lung CT Images

Accurate segmentation of pulmonary nodules is a prerequisite for acceptable performance of computer-aided detection (CAD) system designed for diagnosis of lung cancer from lung CT images. Accurate segmentation helps to improve the quality of machine level features which could improve the performance of the CAD system. The well-circumscribed solid nodules can be segmented using thresholding, but segmentation becomes difficult for part-solid, non-solid, and solid nodules attached with pleura or vessels. We proposed a segmentation framework for all types of pulmonary nodules based on internal texture (solid/part-solid and non-solid) and external attachment (juxta-pleural and juxta-vascular). In the proposed framework, first pulmonary nodules are categorized into solid/part-solid and non-solid category by analyzing intensity distribution in the core of the nodule. Two separate segmentation methods are developed for solid/part-solid and non-solid nodules, respectively. After determining the category of nodule, the particular algorithm is set to remove attached pleural surface and vessels from the nodule body. The result of segmentation is evaluated in terms of four contour-based metrics and six region-based metrics for 891 pulmonary nodules from Lung Image Database Consortium and Image Database Resource Initiative (LIDC/IDRI) public database. The experimental result shows that the proposed segmentation framework is reliable for segmentation of various types of pulmonary nodules with improved accuracy compared to existing segmentation methods.     

Computerized scheme for determination of the likelihood measure of malignancy for pulmonary nodules on low-dose CT images

An automated computerized scheme has been developed for determination of the likelihood measure of malignancy of pulmonary nodules on low-dose helical CT (LDCT) images. Our database consisted of 76 primary lung cancers (147 slices) and 413 benign nodules (576 slices). With this automated computerized scheme, the location of a nodule was first indicated by a radiologist. The outline of the nodule was segmented automatically by use of a dynamic programming technique. Various objective features on the nodules were determined by use of outline analysis and image analysis, and the likelihood measure of malignancy was determined by use of linear discriminant analysis (LDA). The effect of many different combinations of features and the performance of LDA in distinguishing benign nodules from malignant ones were evaluated by means of receiver operating characteristic (ROC) analysis. The Az value (area under the ROC curve) obtained by the computerized scheme in distinguishing benign nodules from malignant ones was 0.828 when a single slice was employed for each of the nodules. However, the Az value was improved to 0.846 when multiple slices were used for determination of the likelihood measure of malignancy. The Az values obtained by the computerized scheme on LDCT images were significantly greater than the Az value of 0.70, which was obtained from our previous observer studies by radiologists in distinguishing benign nodules from malignant ones on LDCT images. The automated computerized scheme for determination of the likelihood measure of malignancy would be useful in assisting radiologists to distinguish between benign and malignant pulmonary nodules on LDCT images.     

基于边界逼近的肺实质分割方法

肺部CT图像的分割是计算机辅助诊断系统处理的一个重要环节,其分割的结果影响到医生的诊断与进一步的分析。由于胸膜结节的灰度与肺实质外围的灰度相近,运用传统的分割方法无法正确分割出此类病灶。将胸膜结节包含肺实质一起分割出来,使计算机辅助诊断系统能够对此类病灶做进一步的分析。提出一种结合Graham算法以及边界逼近的方法,对肺实质的轮廓进行修正,进而得到修正的二值模板;将该模板与原图像做乘运算,得到包含胸膜结节的肺实质。运用所提出的方法,对公开数据库LIDC中68张含病灶的CT样本图像做处理,通过与传统方法的对比以及对算法的过分割比例、欠分割比例以及准确性的分析,得到准确率为98.5%,平均过分割比例为1.35%,平均欠分割比例为0.51%,证明了该方法的有效性。     

A CAD system for nodule detection in low-dose lung CTs based on region growing and a new active contour model

A computer-aided detection (CAD) system for the selection of lung nodules in computer tomography (CT) images is presented. The system is based on region growing (RG) algorithms and a new active contour model (ACM), implementing a local convex hull, able to draw the correct contour of the lung parenchyma and to include the pleural nodules. The CAD consists of three steps: (1) the lung parenchymal volume is segmented by means of a RG algorithm; the pleural nodules are included through the new ACM technique; (2) a RG algorithm is iteratively applied to the previously segmented volume in order to detect the candidate nodules; (3) a double-threshold cut and a neural network are applied to reduce the false positives (FPs). After having set the parameters on a clinical CT, the system works on whole scans, without the need for any manual selection. The CT database was recorded at the Pisa center of the ITALUNG-CT trial, the first Italian randomized controlled trial for the screening of the lung cancer. The detection rate of the system is 88.5% with 6.6 FPs/CT on 15 CT scans (about 4700 sectional images) with 26 nodules: 15 internal and 11 pleural. A reduction to 2.47 FPs/CT is achieved at 80% efficiency.     

基于CT影像分析的肺结节计算机辅助检测与诊断技术进展

肺结节是肺部最常见的病变之一,肺结节的早期检测和诊断对于肺癌的早期诊治十分重要.近年来,随着多层螺旋CT(MSCT)、高分辨CT(HRCT)及低剂量胸部CT(LDCT)的应用,计算机辅助诊断(CAD)系统的必要性和重要性也日益显现.由于CAD系统可以明显提高诊断医生的工作效率,为更多的患者服务,因此成为国内外相关领域专家的研究热点,近几年来也取得了一定的成果.就肺结节的CT计算机辅助检测和诊断的基本方法和应用作一综述. Abstract： Lung nodules are one of the most common pathological changes, thus early detection of lung nodule is very important for the diagnosis medical treatment of lung eancer. In recent years, as the application of multi-slice spiral CT(MSCT), high-resolution CT(HRCT) and low-dose chest CTCLDCT), computer-aided diagnosis (CAD) system will be more essential and more important. Since CAD system can improve the working efficiency of doctors and provide service to more patients, has become the research hotspot and achievement has been made in relevant area internationally recently. This review summarizes the basic methods and applieations of computer-aided detection and diagnosis of lung nodule based on CT image.     

Computer-aided diagnostic scheme for the detection of lung nodules on chest radiographs: localized search method based on anatomical classification

We developed an advanced computer-aided diagnostic (CAD) scheme for the detection of various types of lung nodules on chest radiographs intended for implementation in clinical situations. We used 924 digitized chest images (992 noncalcified nodules) which had a 500 x 500 matrix size with a 1024 gray scale. The images were divided randomly into two sets which were used for training and testing of the computerized scheme. In this scheme, the lung field was first segmented by use of a ribcage detection technique, and then a large search area (448 x 448 matrix size) within the chest image was automatically determined by taking into account the locations of a midline and a top edge of the segmented ribcage. In order to detect lung nodule candidates based on a localized search method, we divided the entire search area into 7 x 7 regions of interest (ROIs: 64 x 64 matrix size). In the next step, each ROI was classified anatomically into apical, peripheral, hilar, and diaphragm/heart regions by use of its image features. Identification of lung nodule candidates and extraction of image features were applied for each localized region (128 x 128 matrix size), each having its central part (64 x 64 matrix size) located at a position corresponding to a ROI that was classified anatomically in the previous step. Initial candidates were identified by use of the nodule-enhanced image obtained with the average radial-gradient filtering technique, in which the filter size was varied adaptively depending on the location and the anatomical classification of the ROI. We extracted 57 image features from the original and nodule-enhanced images based on geometric, gray-level, background structure, and edge-gradient features. In addition, 14 image features were obtained from the corresponding locations in the contralateral subtraction image. A total of 71 image features were employed for three sequential artificial neural networks (ANNs) in order to reduce the number of false-positive candidates. All parameters for ANNs, i.e., the number of iterations, slope of sigmoid functions, learning rate, and threshold values for removing the false positives, were determined automatically by use of a bootstrap technique with training cases. We employed four different combinations of training and test image data sets which was selected randomly from the 924 cases. By use of our localized search method based on anatomical classification, the average sensitivity was increased to 92.5% with 59.3 false positives per image at the level of initial detection for four different sets of test cases, whereas our previous technique achieved an 82.8% of sensitivity with 56.8 false positives per image. The computer performance in the final step obtained from four different data sets indicated that the average sensitivity in detecting lung nodules was 70.1% with 5.0 false positives per image for testing cases and 70.4% sensitivity with 4.2 false positives per image for training cases. The advanced CAD scheme involving the localized search method with anatomical classification provided improved detection of pulmonary nodules on chest radiographs for 924 lung nodule cases.     

Computer aided detection of clusters of microcalcifications on full field digital mammograms

We are developing a computer-aided detection (CAD) system to identify microcalcification clusters (MCCs) automatically on full field digital mammograms (FFDMs). The CAD system includes six stages: preprocessing; image enhancement; segmentation of microcalcification candidates; false positive (FP) reduction for individual microcalcifications; regional clustering; and FP reduction for clustered microcalcifications. At the stage of FP reduction for individual microcalcifications, a truncated sum-of-squares error function was used to improve the efficiency and robustness of the training of an artificial neural network in our CAD system for FFDMs. At the stage of FP reduction for clustered microcalcifications, morphological features and features derived from the artificial neural network outputs were extracted from each cluster. Stepwise linear discriminant analysis (LDA) was used to select the features. An LDA classifier was then used to differentiate clustered microcalcifications from FPs. A data set of 96 cases with 192 images was collected at the University of Michigan. This data set contained 96 MCCs, of which 28 clusters were proven by biopsy to be malignant and 68 were proven to be benign. The data set was separated into two independent data sets for training and testing of the CAD system in a cross-validation scheme. When one data set was used to train and validate the convolution neural network (CNN) in our CAD system, the other data set was used to evaluate the detection performance. With the use of a truncated error metric, the training of CNN could be accelerated and the classification performance was improved. The CNN in combination with an LDA classifier could substantially reduce FPs with a small tradeoff in sensitivity. By using the free-response receiver operating characteristic methodology, it was found that our CAD system can achieve a cluster-based sensitivity of 70, 80, and 90 % at 0.21, 0.61, and 1.49 FPs/image, respectively. For case-based performance evaluation, a sensitivity of 70, 80, and 90 % can be achieved at 0.07, 0.17, and 0.65 FPs/image, respectively. We also used a data set of 216 mammograms negative for clustered microcalcifications to further estimate the FP rate of our CAD system. The corresponding FP rates were 0.15, 0.31, and 0.86 FPs/image for cluster-based detection when negative mammograms were used for estimation of FP rates.     

An automated CT based lung nodule detection scheme using geometric analysis of signed distance field

The authors present a new computerized scheme to automatically detect lung nodules depicted on computed tomography (CT) images. The procedure is performed in the signed distance field of the CT images. To obtain an accurate signed distance field, CT images are first interpolated linearly along the axial direction to form an isotropic data set. Then a lung segmentation strategy is applied to smooth the lung border aiming to include as many juxtapleural nodules as possible while minimizing over segmentations of the lung regions. Potential nodule regions are then detected by locating local maximas of signed distances in each subvolume with values and the sizes larger than the smallest nodule of interest in the three-dimensional space. Finally, all detected candidates are scored by computing the similarity distance of their medial axis-like shapes obtained through a progressive clustering strategy combined with a marching cube algorithm from a sphere based shape. A free-response receiver operating characteristics curve is computed to assess the scheme performance. A performance test on 52 low-dose CT screening examinations that depict 184 verified lung nodules showed that during the initial stage the scheme achieved an asymptotic maximum sensitivity of 95.1% (175/184) with an average of 1200 suspicious voxels per CT examination. The nine missed nodules included two small solid nodules (with a diameter < or =3.1 mm) and seven nonsolid nodules. The final performance level after the similarity scoring stage was an absolute sensitivity level, namely, including the nine missed during the initial stage, of 81.5% (150/184) with 6.5 false-positive identifications per CT examination. This preliminary study demonstrates the feasibility of applying a simple and robust geometric model using the signed distance field to identify suspicious lung nodules. In the authors' data set the sensitivity of this scheme is not affected by nodule size. In addition to potentially being a stand alone approach, the signed distance field based method can be easily implemented as an initial filtering step in other computer-aided detection schemes.     

Reduction of false positives in computerized detection of lung nodules in chest radiographs using artificial neural networks,discriminant analysis,and a rule-based scheme

A computer-aided diagnosis (CAD) scheme is being developed to identify image regions considered suspicious for lung nodules in chest radiographs to assist radiologists in making correct diagnoses. Automated classifiers—an artificial neural network, discriminant analysis, and a rule-based scheme—are used to reduce the number of false-positive detections of the CAD scheme. The CAD scheme first detects nodule candidates from chest radiographs based on a difference image technique. Nine image features characterizing nodules are extracted automatically for each of the nodule candidates. The extracted image features are then used as input data to the classifiers for distinguishing actual nodules from the false-positive detections. The performances of the classifiers are evaluated by receiver-operating characteristic analysis. On the basis of the database of 30 normal and 30 abnormal chest images, the neural network achieves an A_Z value (area under the receiver-operating-characteristic curve) of 0.79 in detecting lung nodules, as tested by the round-robin method. The neural network, after being trained with a training database, is able to eliminate more than 83% of the false-positive detections reported by the CAD scheme. Moreover, the combination of the trained neural network and a rule-based scheme eliminates 96% of the false-positive detections of the CAD scheme.     

Computer-aided detection of breast masses on full field digital mammograms

We are developing a computer-aided detection (CAD) system for breast masses on full field digital mammographic (FFDM) images. To develop a CAD system that is independent of the FFDM manufacturer's proprietary preprocessing methods, we used the raw FFDM image as input and developed a multiresolution preprocessing scheme for image enhancement. A two-stage prescreening method that combines gradient field analysis with gray level information was developed to identify mass candidates on the processed images. The suspicious structure in each identified region was extracted by clustering-based region growing. Morphological and spatial gray-level dependence texture features were extracted for each suspicious object. Stepwise linear discriminant analysis (LDA) with simplex optimization was used to select the most useful features. Finally, rule-based and LDA classifiers were designed to differentiate masses from normal tissues. Two data sets were collected: a mass data set containing 110 cases of two-view mammograms with a total of 220 images, and a no-mass data set containing 90 cases of two-view mammograms with a total of 180 images. All cases were acquired with a GE Senographe 2000D FFDM system. The true locations of the masses were identified by an experienced radiologist. Free-response receiver operating characteristic analysis was used to evaluate the performance of the CAD system. It was found that our CAD system achieved a case-based sensitivity of 70%, 80%, and 90% at 0.72, 1.08, and 1.82 false positive (FP) marks/image on the mass data set. The FP rates on the no-mass data set were 0.85, 1.31, and 2.14 FP marks/image, respectively, at the corresponding sensitivities. This study demonstrated the usefulness of our CAD techniques for automated detection of masses on FFDM images.