Segmentation of intrathoracic airway trees: a fuzzy logic approach

Three-dimensional (3-D) analysis of airway trees extracted from computed tomography (CT) image data can provide objective information about lung structure and function. However, manual analysis of 3-D lung CT images is tedious, time consuming and, thus, impractical for routine clinical care. The authors have previously reported an automated rule-based method for extraction of airway trees from 3-D CT images using a priori knowledge about airway-tree anatomy. Although the method's sensitivity was quite good, its specificity suffered from a large number of falsely detected airways. The authors present a new approach to airway-tree detection based on fuzzy logic that increases the method's specificity without compromising its sensitivity. The method was validated in 32 CT image slices randomly selected from five volumetric canine electron-beam CT data sets. The fuzzy-logic method significantly outperformed the previously reported rule-based method (p<0.002)     

Segmentation and analysis of the human airway tree from three-dimensional X-ray CT images

The lungs exchange air with the external environment via the pulmonary airways. Computed tomography (CT) scanning can be used to obtain detailed images of the pulmonary anatomy, including the airways. These images have been used to measure airway geometry, study airway reactivity, and guide surgical interventions. Prior to these applications, airway segmentation can be used to identify the airway lumen in the CT images. Airway tree segmentation can be performed manually by an image analyst, but the complexity of the tree makes manual segmentation tedious and extremely time-consuming. We describe a fully automatic technique for segmenting the airway tree in three-dimensional (3-D) CT images of the thorax. We use grayscale morphological reconstruction to identify candidate airways on CT slices and then reconstruct a connected 3-D airway tree. After segmentation, we estimate airway branchpoints based on connectivity changes in the reconstructed tree. Compared to manual analysis on 3-mm-thick electron-beam CT images, the automatic approach has an overall airway branch detection sensitivity of approximately 73%.     

Intrathoracic airway trees: segmentation and airway morphology analysis from low-dose CT scans

The segmentation of the human airway tree from volumetric computed tomography (CT) images builds an important step for many clinical applications and for physiological studies. Previously proposed algorithms suffer from one or several problems: leaking into the surrounding lung parenchyma, the need for the user to manually adjust parameters, excessive runtime. Low-dose CT scans are increasingly utilized in lung screening studies, but segmenting them with traditional airway segmentation algorithms often yields less than satisfying results. In this paper, a new airway segmentation method based on fuzzy connectivity is presented. Small adaptive regions of interest are used that follow the airway branches as they are segmented. This has several advantages. It makes it possible to detect leaks early and avoid them, the segmentation algorithm can automatically adapt to changing image parameters, and the computing time is kept within moderate values. The new method is robust in the sense that it works on various types of scans (low-dose and regular dose, normal subjects and diseased subjects) without the need for the user to manually adjust any parameters. Comparison with a commonly used region-grow segmentation algorithm shows that the newly proposed method retrieves a significantly higher count of airway branches. A method that conducts accurate cross-sectional airway measurements on airways is presented as an additional processing step. Measurements are conducted in the original gray-level volume. Validation on a phantom shows that subvoxel accuracy is achieved for all airway sizes and airway orientations.     

Pulmonary airways: 3-D reconstruction from multislice CT and clinical investigation

In the framework of computer-aided diagnosis, this paper proposes a novel functionality for the computerized tomography (CT)-based investigation of the pulmonary airways. It relies on an energy-based three-dimensional (3-D) reconstruction of the bronchial tree from multislice CT acquisitions, up to the sixth- to seventh-order subdivisions. Global and local analysis of the reconstructed airways is possible by means of specific visualization modalities, respectively, the CT bronchography and the virtual bronchoscopy. The originality of the 3-D reconstruction approach consists in combining axial and radial propagation potentials to control the growth of a subset of low-order airways extracted from the CT volume by means of a robust mathematical morphology operator-the selective marking and depth constrained (SMDC) connection cost. The proposed approach proved to be robust with respect to a large spectrum of airway pathologies, including even severe stenosis (bronchial lumen obstruction/collapse). Validated by expert radiologists, examples of airway 3-D reconstructions are presented and discussed for both normal and pathological cases. They highlight the interest in considering CT bronchography and virtual bronchoscopy as complementary tools for clinical diagnosis and follow-up of airway diseases.     

Accurate measurement of intrathoracic airways

Airway geometry measurements can provide information regarding pulmonary physiology and pathophysiology. There has been considerable interest in measuring intrathoracic airways in two-dimensional (2-D) slices from volumetric X-ray computed tomography (CT). Such measurements can be used to evaluate and track the progression of diseases affecting the airways. A popular airway measurement method uses the “half-max” criteria, in which the gray level at the airway wall is estimated to be halfway between the minimum and maximum gray levels along a ray crossing the edge. However, because the scanning process introduces blurring, the half-max approach may not be applicable across all airway sizes. The authors propose a new measurement method based on a model of the scanning process. In their approach, they examine the gray-level profile of a ray crossing the airway wall and use a maximum-likelihood method to estimate the airway inner and outer radius. Using CT scans of a physical phantom, the authors present results showing that the new approach is more accurate than the half-max method at estimating wall location for thin-walled airways     

基于3D区域增长法和改进的凸包算法相结合的全肺分割方法

肺实质分割结果的准确性在实际临床应用中具有非常重要的意义。但由于肺结节的位置、大小、形状的不规则性,肺部病变的多样性,以及人体胸部解剖结构的明显差异等,使得各类分割方法不能统一地适用于所有的胸部CT图像,所以对于肺实质分割方法的研究仍具有很大的挑战。该文在国内外研究分析的基础上提出基于3D区域增长法与改进的凸包修补算法相结合的全肺分割方法。在3D区域增长法的粗分割基础上,对分割的结果进行细化工作,通过连通域标记法与形态学方法相结合去除气管和主支气管,得到初步的肺实质掩膜,最后应用改进的凸包算法对肺部轮廓进行修补平滑,最终得到肺部分割结果。通过与凸包算法及滚球法相对比,证明该文所提改进的凸包算法能够有效地修补肺部轮廓凹陷,修补后的结果分割精度较高。     

Automatic lung segmentation for accurate quantitation of volumetricX-ray CT images

Segmentation of pulmonary X-ray computed tomography (CT) images is a precursor to most pulmonary image analysis applications. This paper presents a fully automatic method for identifying the lungs in three-dimensional (3-D) pulmonary X-ray CT images. The method has three main steps. First, the lung region is extracted from the CT images by gray-level thresholding. Then, the left and right lungs are separated by identifying the anterior and posterior junctions by dynamic programming. Finally, a sequence of morphological operations is used to smooth the irregular boundary along the mediastinum in order to obtain results consistent with those obtained by manual analysis, in which only the most central pulmonary arteries are excluded from the lung region. The method has been tested by processing 3-D CT data sets from eight normal subjects, each imaged three times at biweekly intervals with lungs at 90% vital capacity. We present results by comparing our automatic method to manually traced borders from two image analysts. Averaged over all volumes, the root mean square difference between the computer and human analysis is 0.8 pixels (0.54 mm). The mean intrasubject change in tissue content over the three scans was 2.75% +/- 2.29% (mean +/- standard deviation).     

Automated segmentation of acetabulum and femoral head from 3-d CT images

This paper describes several new methods and software for automatic segmentation of the pelvis and the femur, based on clinically obtained multislice computed tomography (CT) data. The hip joint is composed of the acetabulum, cavity of the pelvic bone, and the femoral head. In vivo CT data sets of 60 actual patients were used in the study. The 120 (60 /spl times/ 2) hip joints in the data sets were divided into four groups according to several key features for segmentation. Conventional techniques for classification of bony tissues were first employed to distinguish the pelvis and the femur from other CT tissue images in the hip joint. Automatic techniques were developed to extract the boundary between the acetabulum and the femoral head. An automatic method was built up to manage the segmentation task according to image intensity of bone tissues, size, center, shape of the femoral heads, and other characters. The processing scheme consisted of the following five steps: 1) preprocessing, including resampling 3-D CT data by a modified Sine interpolation to create isotropic volume and to avoid Gibbs ringing, and smoothing the resulting images by a 3-D Gaussian filter; 2) detecting bone tissues from CT images by conventional techniques including histogram-based thresholding and binary morphological operations; 3) estimating initial boundary of the femoral head and the joint space between the acetabulum and the femoral head by a new approach utilizing the constraints of the greater trochanter and the shapes of the femoral head; 4) enhancing the joint space by a Hessian filter; and 5) refining the rough boundary obtained in step 3) by a moving disk technique and the filtered images obtained in step 4). The above method was implemented in a Microsoft Windows software package and the resulting software is freely available on the Internet. The feasibility of this method was tested on the data sets of 60 clinical cases (5000 CT images).     

About objective 3-d analysis of airway geometry in computerized tomography

The technology of multislice X-ray computed tomography (MSCT) provides volume data sets with approximately isotropic resolution, which permits a noninvasive 3-D measurement and quantification of airway geometry. In different diseases, like emphysema, chronic obstructive pulmonary disease (COPD), or cystic fribrosis, changes in lung parenchyma are associated with an increase in airway wall thickness. In this paper, we describe an objective measuring method of the airway geometry in the 3-D space. The limited spatial resolution of clinical CT scanners in comparison to thin structures like airway walls causes difficulties in the measurement of the density and the thickness of these structures. Initially, these difficulties will be addressed and then a new method is introduced to circumvent the problems. Therefore the wall thickness is approximated by an integral based closed-form solution, based on the volume conservation property of convolution. We evaluated the method with a phantom containing 10 silicone tubes and proved the repeatability in datasets of eight pigs scanned twice. Furthermore, a comparison of CT datasets of 16 smokers and 15 nonsmokers was done. Further medical studies are ongoing.     

Anatomy-Guided Lung Lobe Segmentation in X-Ray CT Images

The human lungs are divided into five distinct anatomic compartments called the lobes, which are separated by the pulmonary fissures. The accurate identification of the fissures is of increasing importance in the early detection of pathologies, and in the regional functional analysis of the lungs. We have developed an automatic method for the segmentation and analysis of the fissures, based on the information provided by the segmentation and analysis of the airway and vascular trees. This information is used to provide a close initial approximation to the fissures, using a watershed transform on a distance map of the vasculature. In a further refinement step, this estimate is used to construct a region of interest (ROI) encompassing the fissures. The ROI is enhanced using a ridgeness measure, which is followed by a 3-D graph search to find the optimal surface within the ROI. We have also developed an automatic method to detect incomplete fissures, using a fast-marching based segmentation of a projection of the optimal surface. The detected incomplete fissure is used to extrapolate and smoothly complete the fissure. We evaluate the method by testing on data sets from normal subjects and subjects with mild to moderate emphysema.      

Three-dimensional segmentation and growth-rate estimation of small pulmonary nodules in helical CT images

Small pulmonary nodules are a common radiographic finding that presents an important diagnostic challenge in contemporary medicine. While pulmonary nodules are the major radiographic indicator of lung cancer, they may also be signs of a variety of benign conditions. Measurement of nodule growth rate over time has been shown to be the most promising tool in distinguishing malignant from nonmalignant pulmonary nodules. In this paper, we describe three-dimensional (3-D) methods for the segmentation, analysis, and characterization of small pulmonary nodules imaged using computed tomography (CT). Methods for the isotropic resampling of anisotropic CT data are discussed. 3-D intensity and morphology-based segmentation algorithms are discussed for several classes of nodules. New models and methods for volumetric growth characterization based on longitudinal CT studies are developed. The results of segmentation and growth characterization methods based on in vivo studies are described. The methods presented are promising in their ability to distinguish malignant from nonmalignant pulmonary nodules and represent the first such system in clinical use.     

Medical image compression by using three-dimensional wavelet transformation

This paper proposes a three-dimensional (3-D) medical image compression method for computed tomography (CT) and magnetic resonance (MR) that uses a separable nonuniform 3-D wavelet transform. The separable wavelet transform employs one filter bank within two-dimensional (2-D) slices and then a second filter bank on the slice direction. CT and MR image sets normally have different resolutions within a slice and between slices. The pixel distances within a slice are normally less than 1 mm and the distance between slices can vary from 1 mm to 10 mm. To find the best filter bank in the slice direction, the authors use the various filter banks in the slice direction and compare the compression results. The results from the 12 selected MR and CT image sets at various slice thickness show that the Haar transform in the slice direction gives the optimum performance for most image sets, except for a CT image set which has 1 mm slice distance. Compared with 2-D wavelet compression, compression ratios of the 3-D method are about 70% higher for CT and 35% higher for MR image sets at a peak signal to noise ratio (PSNR) of 50 dB, In general, the smaller the slice distance, the better the 3-D compression performance.     

一种全自动的肺裂分割方法

CT（Computer Tomography）图像中自动分割肺裂是很困难的,肺裂往往存在不完整、形变、断裂和附裂等现象.本文提出一种融合肺部解剖结构特征来实现自动分割肺裂的方法.首先结合肺部气管和动脉血管信息定位肺裂感兴趣区域.然后利用肺裂方向信息增强肺裂,并利用多剖面滤波器滤除噪声从而对肺裂进行预分割.最后融合已定位的肺裂感兴趣区域和肺裂预分割结果来自动分割肺裂.与人工参考对比,提出的算法在人体左肺和右肺中分割的肺裂的F₁-score中值分别为0.881和0.878.     

Automated anatomical labeling of the bronchial branch and its application to the virtual bronchoscopy system

This paper describes a method for the automated anatomical labeling of the bronchial branch extracted from a three-dimensional (3-D) chest X-ray CT image and its application to a virtual bronchoscopy system (VBS). Automated anatomical labeling is necessary for implementing an advanced computer-aided diagnosis system of 3-D medical images. This method performs the anatomical labeling of the bronchial branch using the knowledge base of the bronchial branch name. The knowledge base holds information on the bronchial branch as a set of rules for its anatomical labeling. A bronchus region is automatically extracted from a given 3-D CT image. A tree structure representing the essential structure of the extracted bronchus is recognized from the bronchus region. Anatomical labeling is performed by comparing this tree structure of the bronchus with the knowledge base. As an application, we implemented the function to automatically present the anatomical names of the branches that are shown in the currently rendered image in real time on the VBS. The result showed that the method could segment about 57% of the branches from CT images and extracted a tree structure of about 91% in branches in the segmented bronchus. The anatomical labeling method could assign the correct branch name to about 93% of the branches in the extracted tree structure. Anatomical names were appropriately displayed in the endoscopic view.     

Optimal CT scanning plan for long-bone 3-D reconstruction

Digital computed tomographic (CT) data are widely used in three-dimensional (3-D) construction of bone geometry and density features for 3-D modelling purposes. During in vivo CT data acquisition the number of scans must be limited in order to protect patients from the risks related to X-ray absorption. The aim of this work is to automatically define, given a finite number of CT slices, the scanning plan which returns the optimal 3-D reconstruction of a bone segment from in vivo acquired CT images. An optimization algorithm based on a Discard-Insert-Exchange technique has been developed. In the proposed method the optimal scanning sequence is searched by minimizing the overall reconstruction error of a two-dimensional (2-D) prescanning image: an anterior-posterior (AP) X-ray projection of the bone segment. This approach has been validated in vitro on 3 different femurs. The 3-D reconstruction errors obtained through the optimization of the scanning plan on the 3-D prescanning images and on the corresponding 3-D data sets have been compared. 2-D and 3-D data sets have been reconstructed by linear interpolation along the longitudinal axis. Results show that direct 3-D optimization yields root mean square reconstruction errors which are only 4%-7% lower than the 2-D-optimized plan, thus proving that 2-D-optimization provides a good suboptimal scanning plan for 3-D reconstruction. Further on, 3-D reconstruction errors given by the optimized scanning plan and a standard radiological protocol for long bones have been compared. Results show that the optimized plan yields 20%-50% lower 3-D reconstruction errors     

Three-dimensional path planning for virtual bronchoscopy

Multidetector computed-tomography (MDCT) scanners provide large high-resolution three-dimensional (3-D) images of the chest. MDCT scanning, when used in tandem with bronchoscopy, provides a state-of-the-art approach for lung-cancer assessment. We have been building and validating a lung-cancer assessment system, which enables virtual-bronchoscopic 3-D MDCT image analysis and follow-on image-guided bronchoscopy. A suitable path planning method is needed, however, for using this system. We describe a rapid, robust method for computing a set of 3-D airway-tree paths from MDCT images. The method first defines the skeleton of a given segmented 3-D chest image and then performs a multistage refinement of the skeleton to arrive at a final tree structure. The tree consists of a series of paths and branch structural data, suitable for quantitative airway analysis and smooth virtual navigation. A comparison of the method to a previously devised path-planning approach, using a set of human MDCT images, illustrates the efficacy of the method. Results are also presented for human lung-cancer assessment and the guidance of bronchoscopy.     

Concurrent 3-D motion segmentation and 3-D interpretation of temporal sequences of monocular images.

The purpose of this study is to investigate a variational method for joint multiregion three-dimensional (3-D) motion segmentation and 3-D interpretation of temporal sequences of monocular images. Interpretation consists of dense recovery of 3-D structure and motion from the image sequence spatiotemporal variations due to short-range image motion. The method is direct insomuch as it does not require prior computation of image motion. It allows movement of both viewing system and multiple independently moving objects. The problem is formulated following a variational statement with a functional containing three terms. One term measures the conformity of the interpretation within each region of 3-D motion segmentation to the image sequence spatiotemporal variations. The second term is of regularization of depth. The assumption that environmental objects are rigid accounts automatically for the regularity of 3-D motion within each region of segmentation. The third and last term is for the regularity of segmentation boundaries. Minimization of the functional follows the corresponding Euler-Lagrange equations. This results in iterated concurrent computation of 3-D motion segmentation by curve evolution, depth by gradient descent, and 3-D motion by least squares within each region of segmentation. Curve evolution is implemented via level sets for topology independence and numerical stability. This algorithm and its implementation are verified on synthetic and real image sequences. Viewers presented with anaglyphs of stereoscopic images constructed from the algorithm's output reported a strong perception of depth.     

A Computational Geometry Approach to Automated Pulmonary Fissure Segmentation in CT Examinations

Identification of pulmonary fissures, which form the boundaries between the lobes in the lungs, may be useful during clinical interpretation of computed tomography (CT) examinations to assess the early presence and characterization of manifestation of several lung diseases. Motivated by the unique nature of the surface shape of pulmonary fissures in 3-D space, we developed a new automated scheme using computational geometry methods to detect and segment fissures depicted on CT images. After a geometric modeling of the lung volume using the marching cubes algorithm, Laplacian smoothing is applied iteratively to enhance pulmonary fissures by depressing nonfissure structures while smoothing the surfaces of lung fissures. Next, an extended Gaussian image based procedure is used to locate the fissures in a statistical manner that approximates the fissures using a set of plane ldquopatchesrdquo. This approach has several advantages such as independence of anatomic knowledge of the lung structure except the surface shape of fissures, limited sensitivity to other lung structures, and ease of implementation. The scheme performance was evaluated by two experienced thoracic radiologists using a set of 100 images (slices) randomly selected from 10 screening CT examinations. In this preliminary evaluation 98.7% and 94.9% of scheme segmented fissure voxels are within 2 mm of the fissures marked independently by two radiologists in the testing image dataset. Using the scheme detected fissures as reference, 89.4% and 90.1% of manually marked fissure points have distance les2 mm to the reference suggesting a possible under-segmentation of the scheme. The case-based root mean square (rms) distances (ldquoerrorsrdquo) between our scheme and the radiologist ranged from 1.48plusmn0.92 to 2.04plusmn3.88 mm. The discrepancy of fissure detection results between the automated scheme and either radiologist is smaller in this dataset than the interreader variability.     

Extraction of the hepatic vasculature in rats using 3-D micro-CT images

High-resolution micro-computed tomography (CT) scanners now exist for imaging small animals. In particular, such a scanner can generate very large three-dimensional (3-D) digital images of the rat's hepatic vasculature. These images provide data on the overall structure and function of such complex vascular trees. Unfortunately, human operators have extreme difficulty in extracting the extensive vasculature contained in the images. Also, no suitable tree representation exists that permits straight-forward structural analysis and information retrieval. This work proposes an automatic procedure for extracting and representing such a vascular tree. The procedure is both computation and memory efficient and runs on current PCs. As the results demonstrate, the procedure faithfully follows human-defined measurements and provides far more information than can be defined interactively.