Robust and fast shell registration in PET and MR/CT brain images

A robust and fast hybrid method using a shell volume that consists of high contrast voxels with their neighbors is proposed for registering PET and MR/CT brain images. Whereas conventional hybrid methods find the best matched pairs from several manually selected or automatically extracted local regions, our method automatically selects a shell volume in the PET image, and finds the best matched corresponding volume using normalized mutual information (NMI) in overlapping volumes while transforming the shell volume into an MR or CT image. A shell volume not only can reduce irrelevant corresponding voxels between two images during optimization of transformation parameters, but also brings a more robust registration with less computational cost. Experimental results on clinical data sets showed that our method successfully aligned all PET and MR/CT image pairs without losing any diagnostic information, while the conventional registration methods failed in some cases.     

基于自由变形法的多模态医学图像的配准与融合

本研究提出了一种自动识别颈部PET-CT图像特征点的算法，它应用自由变形（FFD）方法以CT图像的特征点为参考使PET图像产生变形，再结合最大互信息法对颈部PET与CT图像进行非刚体配准，最后用改进的小波图像融合法把两者进行融合得出视觉效果比较理想的融合图像。经实际计算得出的变形PET图像与对应CT图像的互信息量大于原始PET图像，并且最后用改进的小波图像融合法得出的融合图像的信息量比一般小波融合大，由此证明本研究所用方法是有效的。     

Automatic lung nodule matching on sequential CT images

We propose an automatic segmentation and registration method that provides more efficient and robust matching of lung nodules in sequential chest computed tomography (CT) images. Our method consists of four steps. First, the lungs are extracted from chest CT images by the automatic segmentation method. Second, gross translational mismatch is corrected by optimal cube registration. This initial alignment does not require extracting any anatomical landmarks. Third, the initial alignment is step-by-step refined by hierarchical surface registration. To evaluate the distance measures between lung boundary points, a three-dimensional distance map is generated by narrow-band distance propagation, which drives fast and robust convergence to the optimal value. Finally, correspondences of manually detected nodules are established from the pairs with the smallest Euclidean distances. Experimental results show that our segmentation method accurately extracts lung boundaries and the registration method effectively finds the nodule correspondences.     

Phantom validation of coregistration of PET and CT for image-guided radiotherapy

Radiotherapy treatment planning integrating positron emission tomography (PET) and computerized tomography (CT) is rapidly gaining acceptance in the clinical setting. Although hybrid systems are available, often the planning CT is acquired on a dedicated system separate from the PET scanner. A limiting factor to using PET data becomes the accuracy of the CT/PET registration. In this work, we use phantom and patient validation to demonstrate a general method for assessing the accuracy of CT/PET image registration and apply it to two multi-modality image registration programs. An IAEA (International Atomic Energy Association) brain phantom and an anthropomorphic head phantom were used. Internal volumes and externally mounted fiducial markers were filled with CT contrast and 18F-fluorodeoxyglucose (FDG). CT, PET emission, and PET transmission images were acquired and registered using two different image registration algorithms. CT/PET Fusion (GE Medical Systems, Milwaukee, WI) is commercially available and uses a semi-automated initial step followed by manual adjustment. Automatic Mutual Information-based Registration (AMIR), developed at our institution, is fully automated and exhibits no variation between repeated registrations. Registration was performed using distinct phantom structures; assessment of accuracy was determined from registration of the calculated centroids of a set of fiducial markers. By comparing structure-based registration with fiducial-based registration, target registration error (TRE) was computed at each point in a three-dimensional (3D) grid that spans the image volume. Identical methods were also applied to patient data to assess CT/PET registration accuracy. Accuracy was calculated as the mean with standard deviation of the TRE for every point in the 3D grid. Overall TRE values for the IAEA brain phantom are: CT/PET Fusion = 1.71 +/- 0.62 mm, AMIR = 1.13 +/- 0.53 mm; overall TRE values for the anthropomorphic head phantom are: CT/PET Fusion = 1.66 +/- 0.53 mm, AMIR = 1.15 +/- 0.48 mm. Precision (repeatability by a single user) measured for CT/PET Fusion: IAEA phantom = 1.59 +/- 0.67 mm and anthropomorphic head phantom = 1.63 +/- 0.52 mm. (AMIR has exact precision and so no measurements are necessary.) One sample patient demonstrated the following accuracy results: CT/PET Fusion = 3.89 +/- 1.61 mm, AMIR = 2.86 +/- 0.60 mm. Semi-automatic and automatic image registration methods may be used to facilitate incorporation of PET data into radiotherapy treatment planning in relatively rigid anatomic sites, such as head and neck. The overall accuracies in phantom and patient images are < 2 mm and < 4 mm, respectively, using either registration algorithm. Registration accuracy may decrease, however, as distance from the initial registration points (CT/PET fusion) or center of the image (AMIR) increases. Additional information provided by PET may improve dose coverage to active tumor subregions and hence tumor control. This study shows that the accuracy obtained by image registration with these two methods is well suited for image-guided radiotherapy.     

基于薄板样条的医学图像弹性配准

非刚体配准是神经外科和放疗计划设汁中的一个关键问题。使用薄板样条方法，利用两个对应标志点集对眼底、脑等多种医学图像进行弹性配准。其中，弹性插值法是将两个点集绝对对齐，常会出现严重的局部畸变；而弹性近似法充分考虑了整体平滑性的要求，对定位有误差的标志点约束的图像配准更为优越。实验结果表明，使用上述两种方法获得了很好的配准效果?     

Multi-Modal Medical Image Integration to Optimize Radiotherapy Planning in Lung Cancer Treatment

This work presents a method for CT and PET image registration, and multi-modal analysis, to optimize radiotherapy planning in lung cancer treatment. The method relies on an image registration technique based on fiducial external markers to realign, spatially, PET images with the CT spatial reference system. The method was set up for clinical use in radiotherapy, allowing minimal modifications to be introduced in the management of patients undergoing radiation treatment. The accuracy of the registration technique was evaluated on patient studies in terms of Target Registration Error and was found to be less than 6.40 mm. The method was applied in the treatment planning of five patients affected by non-small-cell lung cancer, revealing the usefulness of PET/CT integration in delineating the extension of both the tumor mass and the tissues involved in the neoplastic process. Moreover, the functional information provided by PET often led to alterations in the treatment planning, changing the size and/or direction of radiation portals. The proposed method for PET/CT integration has been confirmed as being useful for optimizing radiotherapy planning in lung cancer treatment.     

Validation of a semi‐automatic co‐registration of MRI scans in patients with brain tumors during treatment follow‐up

There is an expanding research interest in high‐grade gliomas because of their significant population burden and poor survival despite the extensive standard multimodal treatment. One of the obstacles is the lack of individualized monitoring of tumor characteristics and treatment response before, during and after treatment. We have developed a two‐stage semi‐automatic method to co‐register MRI scans at different time points before and after surgical and adjuvant treatment of high‐grade gliomas. This two‐stage co‐registration includes a linear co‐registration of the semi‐automatically derived mask of the preoperative contrast‐enhancing area or postoperative resection cavity, brain contour and ventricles between different time points. The resulting transformation matrix was then applied in a non‐linear manner to co‐register conventional contrast‐enhanced T₁‐weighted images. Targeted registration errors were calculated and compared with linear and non‐linear co‐registered images. Targeted registration errors were smaller for the semi‐automatic non‐linear co‐registration compared with both the non‐linear and linear co‐registered images. This was further visualized using a three‐dimensional structural similarity method. The semi‐automatic non‐linear co‐registration allowed for optimal correction of the variable brain shift at different time points as evaluated by the minimal targeted registration error. This proposed method allows for the accurate evaluation of the treatment response, essential for the growing research area of brain tumor imaging and treatment response evaluation in large sets of patients. Copyright © 2016 John Wiley & Sons, Ltd.     

Computerized method for nonrigid MR-to-PET breast-image registration

We have developed and tested a new simple computerized finite element method (FEM) approach to MR-to-PET nonrigid breast-image registration. The method requires five-nine fiducial skin markers (FSMs) visible in MRI and PET that need to be located in the same spots on the breast and two on the flanks during both scans. Patients need to be similarly positioned prone during MRI and PET scans. This is accomplished by means of a low gamma-ray attenuation breast coil replica used as the breast support during the PET scan. We demonstrate that, under such conditions, the observed FSM displacement vectors between MR and PET images, distributed piecewise linearly over the breast volume, produce a deformed FEM mesh that reasonably approximates nonrigid deformation of the breast tissue between the MRI and PET scans. This method, which does not require a biomechanical breast tissue model, is robust and fast. Contrary to other approaches utilizing voxel intensity-based similarity measures or surface matching, our method works for matching MR with pure molecular images (i.e. PET or SPECT only). Our method does not require a good initialization and would not be trapped by local minima during registration process. All processing including FSMs detection and matching, and mesh generation can be fully automated. We tested our method on MR and PET breast images acquired for 15 subjects. The procedure yielded good quality images with an average target registration error below 4 mm (i.e. well below PET spatial resolution of 6-7 mm). Based on the results obtained for 15 subjects studied to date, we conclude that this is a very fast and a well-performing method for MR-to-PET breast-image nonrigid registration. Therefore, it is a promising approach in clinical practice. This method can be easily applied to nonrigid registration of MRI or CT of any type of soft-tissue images to their molecular counterparts such as obtained using PET and SPECT.     

Automatic 3D-to-2D registration for CT and dual-energy digital radiography for calcification detection

We are investigating three-dimensional (3D) to two-dimensional (2D) registration methods for computed tomography (CT) and dual-energy digital radiography (DEDR). CT is an established tool for the detection of cardiac calcification. DEDR could be a cost-effective alternative screening tool. In order to utilize CT as the "gold standard" to evaluate the capability of DEDR images for the detection and localization of calcium, we developed an automatic, intensity-based 3D-to-2D registration method for 3D CT volumes and 2D DEDR images. To generate digitally reconstructed radiography (DRR) from the CT volumes, we developed several projection algorithms using the fast shear-warp method. In particular, we created a Gaussian-weighted projection for this application. We used normalized mutual information (NMI) as the similarity measurement. Simulated projection images from CT values were fused with the corresponding DEDR images to evaluate the localization of cardiac calcification. The registration method was evaluated by digital phantoms, physical phantoms, and clinical data sets. The results from the digital phantoms show that the success rate is 100% with a translation difference of less than 0.8 mm and a rotation difference of less than 0.2 degrees. For physical phantom images, the registration accuracy is 0.43 +/- 0.24 mm. Color overlay and 3D visualization of clinical images show that the two images registered well. The NMI values between the DRR and DEDR images improved from 0.21 +/- 0.03 before registration to 0.25 +/- 0.03 after registration. Registration errors measured from anatomic markers decreased from 27.6 +/- 13.6 mm before registration to 2.5 +/- 0.5 mm after registration. Our results show that the automatic 3D-to-2D registration is accurate and robust. This technique can provide a useful tool for correlating DEDR with CT images for screening coronary artery calcification.     

Incorporation of Preprocedural PET into CT-Guided Radiofrequency Ablation of Hepatic Metastases: a Nonrigid Image Registration Validation Study

This study evaluates the accuracy of augmenting initial intraprocedural computed tomography (CT) during radiofrequency ablation (RFA) of hepatic metastases with preprocedural positron emission tomography (PET) through a hardware-accelerated implementation of an automatic nonrigid PET–CT registration algorithm. The feasibility of augmenting intraprocedural CT with preprocedural PET to improve localization of CT-invisible but PET-positive tumors with images from actual RFA was explored. Preprocedural PET and intraprocedural CT images from 18 cases of hepatic RFA were included. All PET images in the study originated from a hybrid PET/CT scanner, and PET–CT registration was performed in two ways: (1) direct registration of preprocedural PET with intraprocedural CT and (2) indirect registration of preprocedural CT (i.e., the CT of hybrid PET/CT scan) with intraprocedural CT. A hardware-accelerated registration took approximately 2 min. Calculated registration errors were 7.0 and 8.4 mm for the direct and indirect methods, respectively. Overall, the direct registration was found to be statistically not distinct from that performed by a group of clinical experts. The accuracy, execution speed, and compactness of our implementation of nonrigid image registration suggest that existing PET can be overlaid on intraprocedural CT, promising a novel, technically feasible, and clinically viable approach for PET augmentation of CT guidance of RFA.     

基于特征提取的脑部医学图像配准研究

目的 基于特征的配准算法具有鲁棒性强、针对性好等显著优势,在图像配准领域被广泛应用,但是该类方法的精度受图像间特征构建和环境噪声影响大,该研究旨在对其缺点进行改进。方法 该研究基于SURF和ORB两种算法,提出了SURF-ORB算法,将参考图像与待配准图像分成上下两部分分别配准。在配准过程中,首先对SURF提取的图像特征点的Harris响应值进行优化,并使用灰度质心法确定特征点主方向。然后计算rBRIEF（旋转BRIEF）描述子,并使用汉明距离进行特征点匹配。最后加入RANSAC精匹配算法,剔除误匹配点。结果和结论 该研究通过对比分析SURF、ORB、SURF-ORB这3种算法的配准结果、抗噪声能力及多模态配准能力,验证了SURF-ORB算法具有较高的配准精度、配准速度和抗噪声能力。文章的创新之处该研究首次将SURF和ORB两种算法进行结合并应用于脑部横断面图像。     

基于互信息的人脑图像配准研究

近来利用互信息进行多模医学图像配准已成为医学图像处理领域的热点,人脑多模医学图像配准对研究神经组织的结构功能关系和引导神经外科手术有着重要的指导意义,本文描述了一种基于互信息的人脑图像配准方法,我们将这种方法应用于图像的几何对准并给出了初步的评估结果,同时,我们还就归一化互信息、多分辨率策略,多种插值和优化算法对配准速度和精度的影响作了讨论,由于不需要对不同成像模式下的图像灰度间的关系作任何假设,互信息法是一种稳健性强、可广泛应用于基于体素的多模医学图像的配准方法。     

基于改进离散曲线演化模型的牙齿三维特征点提取方法研究

在牙种植技术中,牙齿特征点的有效提取对后续的三维配准和重建具有重要的意义,现有方法的计算效率比较低;论文改进了离散曲线演化算法,采用曲线特征因子量描述牙齿CT各断层图像边缘曲线的复杂性,并根据曲线特征因子量自适应确定不同层间图像边缘曲线特征点提取的数目,以降低数据存储的冗余量,提高特征点的提取效率;用改进的离散曲线演化算法对牙齿不同层的临床CT图像提取特征点,并将实验结果与现有离散曲线演化算法的结果进行比较。结果表明,改进方法在提取每层CT图像特征点所需时间约为原算法的50%,同时提取的特征点数约为原算法的80%。将改进方法提取的特征点按不同比率进行三次样条曲线插值并进行后期重建,其重建效果能很好地反映牙齿的真实结构。因此,改进方法的计算效率远高于离散曲线演化算法,在牙齿种植领域中具有临床应用前景。     

Multiscale registration of medical images based on edge preserving scale space with application in image-guided radiation therapy

Mutual information (MI) is a well-accepted similarity measure for image registration in medical systems. However, MI-based registration faces the challenges of high computational complexity and a high likelihood of being trapped into local optima due to an absence of spatial information. In order to solve these problems, multi-scale frameworks can be used to accelerate registration and improve robustness. Traditional Gaussian pyramid representation is one such technique but it suffers from contour diffusion at coarse levels which may lead to unsatisfactory registration results. In this work, a new multi-scale registration framework called edge preserving multiscale registration (EPMR) was proposed based upon an edge preserving total variation L1 norm (TV-L1) scale space representation. TV-L1 scale space is constructed by selecting edges and contours of images according to their size rather than the intensity values of the image features. This ensures more meaningful spatial information with an EPMR framework for MI-based registration. Furthermore, we design an optimal estimation of the TV-L1 parameter in the EPMR framework by training and minimizing the transformation offset between the registered pairs for automated registration in medical systems. We validated our EPMR method on both simulated mono- and multi-modal medical datasets with ground truth and clinical studies from a combined positron emission tomography/computed tomography (PET/CT) scanner. We compared our registration framework with other traditional registration approaches. Our experimental results demonstrated that our method outperformed other methods in terms of the accuracy and robustness for medical images. EPMR can always achieve a small offset value, which is closer to the ground truth both for mono-modality and multi-modality, and the speed can be increased 5-8% for mono-modality and 10-14% for multi-modality registration under the same condition. Furthermore, clinical application by adaptive gross tumor volume re-contouring for clinical PET/CT image-guided radiation therapy throughout the course of radiotherapy is also studied, and the overlap between the automatically generated contours for the CT image and the contours delineated by the oncologist used for the planning system are on average 90%.     

融合图像放疗靶区定位精度的检验和初步临床结果

目的：探讨以图像融合技术为基础的肿瘤三维适形放疗靶区定位精度的检验及依据融合图像放疗靶区的确定与单纯CT影像放疗靶区确定的初步临床结果。方法：利用定制的模体分别行CT、MRI和PET成像，进行CT与MRI，CT与PET融合。检验融合后定制标记点的定位精度。对3例特殊病例分别以单纯CT图像为基础和融合图像为基础，进行三维适形放疗靶区认定，对不同医生之间和同一医生在不同时间，放疗靶区定义情况进行对照分析。结果：MRI／CT融合图像总定位精度小于2mm，PET／CT图像融合图像融合精度情况（包括同机融合和异机融合），采用不同的融合算法。定位精度有显著差异（P〈0．01，t=5．385）。单纯利用CT图像进行靶区的定义，不同医生之间，在不同的时间存在差异（P〈0．05），而采用融合技术可减少他们的争议和差异。结论：利用多模式图像融合可以提高靶区定义的准确性．有利于三维适形精确放射治疗。     

基于MRI和CT图像配准的颅内电极定位方法

目的应用多模医学图像配准,在颅内电极埋置术后对颅内电极进行精确定位。方法通过对颅内电极埋置前的头颅MRI图像和埋置后头颅CT图像进行配准,利用医学影像配准与分割工具包(ITK),将颅内电极位置准确地定位在MRI图像上,以建立电极位置与大脑解剖结构的联系。结果经过对10组断层图像进行配准定位,差值图像显示匹配程度较好,专家目测融合效果较为精确。在普通PC机上,以笔者所采用的数据为例,设定优化器初始步长为1,松弛因子为0.6,最小步长为0.000 2,最大迭代次数为100,整个电极定位的操作过程时间不超过1 min。结论多模医学图像配准对颅内电极定位较为准确,为医生提供了更加直观和完善的信息。     

Construction and evaluation of an average CT brain image for inter-subject registration

An average CT brain image is constructed to serve as reference frame for inter-subject registration. A set of 96 clinical CT images is used. Registration includes translation, rotation, and anisotropic scaling. A temporary average based on a subset of 32 images is constructed. This image is used as reference for the iterative construction of the average CT image. This approach is computationally efficient and results in a consistent registration of the 96 images. Registration of new images to the average CT is more consistent than registration to a single CT image. The use of the average CT image is illustrated.     

Robust image registration for functional magnetic resonance imaging of the brain

Motion-related artifacts are still a major problem in data analysis of functional magnetic resonance imaging (FMRI) studies of brain activation. However, the traditional image registration algorithm is prone to inaccuracy when there are residual variations owing to counting statistics, partial volume effects or biological variation. In particular, susceptibility artifacts usually result in remarkable signal intensity variance, and they can mislead the estimation of motion parameters. In this study, Two robust estimation algorithms for the registration of FMRI images are described. The first estimation algorithm was based on the Newton method and used Tukey's biweight objective function. The second estimation algorithm was based on the Levenberg-Marquardt technique and used a skipped mean objective function. The robust M-estimators can suppress the effects of the outliers by scaling down their error magnitudes or completely rejecting outliers using a weighting function. The proposed registration methods consisted of the following steps: fast segmentation of the brain region from noisy background as a preprocessing step; pre-registration of the volume centroids to provide a good initial estimation; and two robust estimation algorithms and a voxel sampling technique to find the affine transformation parameters. The accuracy of the algorithms was within 0.5 mm in translation and within 0.5° in rotation. For the FMRI data sets, the performance of the algorithms was visually compared with the AIR 2.0 software, which is a software for image registration, using colour-coded statistical mapping by the Kolmogorov-Smirov method. Experimental results showed, that the algorithms provided significant improvement in correcting motion-related artifacts and can enhance the detection of real brain activation.     

Image registration with auto-mapped control volumes

Many image registration algorithms rely on the use of homologous control points on the two input image sets to be registered. In reality, the interactive identification of the control points on both images is tedious, difficult, and often a source of error. We propose a two-step algorithm to automatically identify homologous regions that are used as a priori information during the image registration procedure. First, a number of small control volumes having distinct anatomical features are identified on the model image in a somewhat arbitrary fashion. Instead of attempting to find their correspondences in the reference image through user interaction, in the proposed method, each of the control regions is mapped to the corresponding part of the reference image by using an automated image registration algorithm. A normalized cross-correlation (NCC) function or mutual information was used as the auto-mapping metric and a limited memory Broyden-Fletcher-Goldfarb-Shanno algorithm (L-BFGS) was employed to optimize the function to find the optimal mapping. For rigid registration, the transformation parameters of the system are obtained by averaging that derived from the individual control volumes. In our deformable calculation, the mapped control volumes are treated as the nodes or control points with known positions on the two images. If the number of control volumes is not enough to cover the whole image to be registered, additional nodes are placed on the model image and then located on the reference image in a manner similar to the conventional BSpline deformable calculation. For deformable registration, the established correspondence by the auto-mapped control volumes provides valuable guidance for the registration calculation and greatly reduces the dimensionality of the problem. The performance of the two-step registrations was applied to three rigid registration cases (two PET-CT registrations and a brain MRI-CT registration) and one deformable registration of inhale and exhale phases of a lung 4D CT. Algorithm convergence was confirmed by starting the registration calculations from a large number of initial transformation parameters. An accuracy of approximately 2 mm was achieved for both deformable and rigid registration. The proposed image registration method greatly reduces the complexity involved in the determination of homologous control points and allows us to minimize the subjectivity and uncertainty associated with the current manual interactive approach. Patient studies have indicated that the two-step registration technique is fast, reliable, and provides a valuable tool to facilitate both rigid and nonrigid image registrations.     

A novel method for incorporating respiratory-matched attenuation correction in the motion correction of cardiac PET-CT studies

Mismatches between PET and CT datasets due to respiratory effects can lead to artefactual perfusion defects. To overcome this, we have proposed a method of aligning a single CT with each frame of a gated PET study in a semi-automatic manner, incorporating a statistical shape model of the diaphragm and a rigid registration of the heart. This ensures that the structures that could influence the appearance of the reconstructed cardiac activity are correctly matched between emission and transmission datasets. When tested on two patient studies, it was found in both cases that attenuation correction using the proposed technique resulted in PET images that were closer to the gold standard of attenuation correction with a gated CT, compared with scenarios where only heart matching was considered (and not the diaphragm) or where no transformation was performed (i.e. where a single CT frame was used to attenuation-correct all PET frames). These preliminary results suggest that diaphragm matching between PET and CT improves the quantitative accuracy of reconstructed PET images and that the proposed method of using a statistical shape model to describe the diaphragm shape and motion, in combination with a rigid registration to determine respiratory-induced heart motion, is a feasible method of achieving this.