A comprehensive cardiac motion estimation framework using both untagged and 3-D tagged MR images based on nonrigid registration

In this paper, we present a novel technique based on nonrigid image registration for myocardial motion estimation using both untagged and 3-D tagged MR images. The novel aspect of our technique is its simultaneous usage of complementary information from both untagged and 3-D tagged MR images. To estimate the motion within the myocardium, we register a sequence of tagged and untagged MR images during the cardiac cycle to a set of reference tagged and untagged MR images at end-diastole. The similarity measure is spatially weighted to maximize the utility of information from both images. In addition, the proposed approach integrates a valve plane tracker and adaptive incompressibility into the framework. We have evaluated the proposed approach on 12 subjects. Our results show a clear improvement in terms of accuracy compared to approaches that use either 3-D tagged or untagged MR image information alone. The relative error compared to manually tracked landmarks is less than 15% throughout the cardiac cycle. Finally, we demonstrate the automatic analysis of cardiac function from the myocardial deformation fields.     

Fast tracking of cardiac motion using 3D-HARP

Magnetic resonance (MR) tagging is capable of accurate, noninvasive quantification of regional myocardial function. Routine clinical use, however, is hindered by cumbersome and time-consuming postprocessing procedures. We propose a fast, semiautomatic method for tracking three-dimensional (3-D) cardiac motion from a temporal sequence of short- and long-axis tagged MR images. The new method, called 3-D-HARmonic Phase (3D-HARP), extends the HARP approach, previously described for two-dimensional (2-D) tag analysis, to 3-D. A 3-D material mesh model is built to represent a collection of material points inside the left ventricle (LV) wall at a reference time. Harmonic phase, a material property that is time-invariant, is used to track the motion of the mesh through a cardiac cycle. Various motion-related functional properties of the myocardium, such as circumferential strain and left ventricular twist, are computed from the tracked mesh. The correlation analysis of 3D-HARP and FINDTAGS + Tag Strain(E) Analysis (TEA), which are well-established tag analysis techniques, shows that the regression coefficients of circumferential strain (E(CC)) and twist angle are r2 = 0.8605 and r2 = 0.8645, respectively. The total time required for tracking 3-D cardiac motion is approximately 10 min in a 9 timeframe tagged MRI dataset and has the potential to be much faster.     

Registration of multiview real-time 3-D echocardiographic sequences

Real-time 3-D echocardiography opens up the possibility of interactive, fast 3-D analysis of cardiac anatomy and function. However, at the present time its quantitative power cannot be fully exploited due to the limited quality of the images. In this paper, we present an algorithm to register apical and parasternal echocardiographic datasets that uses a new similarity measure, based on local orientation and phase differences. By using phase and orientation to guide registration, the effect of artifacts intrinsic to ultrasound images is minimized. The presented method is fully automatic except for initialization. The accuracy of the method was validated qualitatively, resulting in 85% of the cardiac segments estimated having a registration error smaller than 2 mm, and no segments with an error larger than 5 mm. Robustness with respect to landmark initialization was validated quantitatively, with average errors smaller than 0.2 mm and 0.5 degrees for initialization landmarks rotations of up to 15 degrees and translations of up to 10 mm.     

Methodology for Jointly Assessing Myocardial Infarct Extent and Regional Contraction in 3-D CMRI

Automated extraction of quantitative parameters from cardiac magnetic resonance images is crucial for the management of patients with myocardial infarct. This paper proposes a postprocessing procedure to jointly analyze Cine and delayed-enhanced (DE) acquisitions, in order to provide an automatic quantification of myocardial contraction and enhancement parameters and a study of their relationship. For that purpose, the following processes are performed: 1) DE/Cine temporal synchronization and 3-D scan alignment, 2) 3-D DE/Cine rigid registration in a region about the heart, 3) myocardium segmentation on Cine-MRI and superimposition of the epicardial and endocardial contours on the DE images, 4) quantification of the myocardial infarct extent (MIE), 5) study of the regional contractile function using a new index, the amplitude to time ratio (ATR). The whole procedure was applied to ten patients with clinically proven myocardial infarction. The comparison between the MIE and the visually assessed regional function scores demonstrated that the MIE is highly related to the severity of the wall motion abnormality. In addition, it was shown that the newly developed regional myocardial contraction parameter (ATR) decreases significantly in delayed enhanced regions. This largely automated approach enables the combined study of regional MIE and left ventricular function.     

A Novel Surface Reconstruction and Display Method for Cardiac PET Imaging

Positron emission tomography (PET) allows the in vivo assessment of biochemical activity in humans. The newer PET cameras can create several imaging planes, or slices, through an organ inside the body. The interpretation of two-dimensional (2-D) slices of an organ is often difficult for the clinician since he or she has to form a three-dimensional (3-D) mental composite of the structure of interest. We have developed a set of algorithms to reconstruct a functional three-dimensional surface model of the cardiac left ventricle from a set of two-dimensional cross-sectional image slices generated by PET. The theoretical techniques for this reconstruction method are applicable to most organs provided that the appropriate models for the organs are considered. An automatic boundary detection algorithm outlines the surface of the left ventricle from the 2-D images and assigns intensity values to the surface points whose level is proportional to the local activity. A 3-D surface of the intensity levels, with pseudocolor enhancement, is then displayed with the long axis of the heart in a vertical position. Such a display allows the 3-D myocardial tracer uptake to be clearly visualized by the clinician for better diagnosis.     

A method for quantitative display of three-dimensional regional myocardial function

The DSR (dynamic spatial reconstructor), a multiple X-ray source scanner that generates stop action three-dimensional (3-D) images of a cylindrical volume, was used for quantitative imaging of left ventricular 3-D wall geometry and function in experimentally induced canine left ventricular myocardial infarction. Impaired regional myocardial function was induced by myocardial ischemia or infarction in four mongrel dogs by closed-chest occlusion of the proximal left anterior descending (LAD) coronary artery. At intervals of 6-14 weeks post occlusion, the dogs were scanned with the DSR during biatrial contrast injection. The 3-D shape, extent, and function of hypokinetic myocardium was measured from the DSR images utilizing measurement of the rate of local systolic wall thickening to detect regions of normal, ischemic, or scarred myocardium. The results were compared to scar size and anatomic distribution measured at postmortem examination. The anatomic extent and relationship of hypocontractile to normally contracting muscle was visualized by computer generated, pseudo 3-D shaded surface displays of the left ventricular chamber and by topographic projections of regional wall thickening rates onto a map of the left ventricular endocardial surface. The location of myocardial infarction and the surrounding zone of impaired function is clearly defined by this 3-D CT scanning procedure. The display method presented here provides both localization and quantification of the volume of ischemic and infarcted myocardium.     

Automatic cardiac LV boundary detection and tracking using hybrid fuzzy temporal and fuzzy multiscale edge detection

This paper describes a new fully automatic fuzzy multiresolution-based algorithm for cardiac left ventricular (LV) epicardial and endocardial boundary detection and tracking on a sequence of short axis (SA) echocardiographic images of a complete cardiac cycle. This is a necessary step for automatic quantification of cardiac function using echo images. The proposed method is a "center-based" approach in which epicardial and endocardial boundary edge points are searched for on radial lines emanating from the LV center point. The central point of the LV cavity is estimated using a fuzzy-based technique in which the "uncertain" spatial, morphological, and intensity information of the image are represented as fuzzy sets and then combined by fuzzy operators. Edge-detection stage uses multiscale spatial and temporal information in a fuzzy multiresolution framework to identify a single moving edge point for each one of the epicardial and endocardial boundaries over the M radii in the N frames of a complete cardiac cycle. The raw extracted edge points are then processed in the wavelet domain to reduce the effects of noise from the boundaries and papillary muscles from the endocardial boundary extraction process. Finally, a uniform cubic B-spline approximation method is used to define the closed LV boundaries. Experiments with simulated and real echocardiographic images are presented.     

Myocardial kinematics from tagged MRI based on a 4-D B-spline model

Current research investigating the modeling of left ventricular dynamics for accurate clinical assessment of cardiac function is extensive. Magnetic resonance (MR) tagging is a functional imaging method which allows for encoding of a grid of signal voids on cardiac MR images, providing a mechanism for noninvasive measurement of intramural tissue deformations, in vivo. We present a novel technique of employing a four-dimensional (4-D) B-spline model which permits concurrent determination of myocardial beads and myocardial strains. The method entails fitting the knot planes of the 4-D B-spline model for fixed times to a sequence of triplets of orthogonal sets of tag surfaces for all imaged volumetric frames within the constraints of the model's spatio-temporal internal energy. From a three-dimensional (3-D) displacement field, the corresponding long and short-axis Lagrangian normal, shear, and principal strain maps are produced. As an important byproduct, the points defined by the 3-D intersections of the triplets of orthogonal tag planes, which we refer to as myocardial beads, can easily be determined by our model. Displaying the beads as a movie loop allows for the visualization of the nonrigid movement of the left ventricle in 3-D.     

3-D active appearance models: segmentation of cardiac MR and ultrasound images

A model-based method for three-dimensional image segmentation was developed and its performance assessed in segmentation of volumetric cardiac magnetic resonance (MR) images and echocardiographic temporal image sequences. Comprehensive design of a three-dimensional (3-D) active appearance model (AAM) is reported for the first time as an involved extension of the AAM framework introduced by Cootes et al. The model's behavior is learned from manually traced segmentation examples during an automated training stage. Information about shape and image appearance of the cardiac structures is contained in a single model. This ensures a spatially and/or temporally consistent segmentation of three-dimensional cardiac images. The clinical potential of the 3-D AAM is demonstrated in short-axis cardiac MR images and four-chamber echocardiographic sequences. The method's performance was assessed by comparison with manually identified independent standards in 56 clinical MR and 64 clinical echo image sequences. The AAM method showed good agreement with the independent standard using quantitative indexes of border positioning errors, endo- and epicardial volumes, and left ventricular mass. In MR, the endocardial volumes, epicardial volumes, and left ventricular wall mass correlation coefficients between manual and AAM were R2 = 0.94, 0.97, 0.82, respectively. For echocardiographic analysis, the area correlation was R2 = 0.79. The AAM method shows high promise for successful application to MR and echocardiographic image analysis in a clinical setting.     

Method for three-dimensional data registration from disparate imaging modalities in the NOGA Myocardial Viability Trial

Region-by-region comparison of data concerning left ventricular (LV) status is difficult to perform quantitatively if the data was acquired from disparate imaging modalities. We validated a method for comparing measurements obtained by electromechanical mapping (EMM) catheter with dobutamine stress echocardiography (DSE) via biplane contrast ventriculography, with the assistance of three-dimensional (3-D) echocardiographic data. The ventriculograms were traced and the borders were used to reconstruct the LV in 3-D with the aid of a database of 3-D echocardiographic studies. The 3-D LV was oriented to the EMM data based on the body coordinates and then manually scaled and translated to fit. The EMM data were mapped to the 3-D surface. The 3-D surface was divided into the 16 regions defined for echocardiographic assessment. The mean EMM value for local linear shortening, a parameter of function, was computed in each segment. The EMM and semiquantitative echocardiographic assessments of regional myocardial function were compared by segment, and the volume of the 3-D LV was compared with the volume computed from the ventriculogram. The volume of the 3-D surface correlated closely with that of the ventriculogram (r = 0.97, SEE = 27.4 ml) but with a significant overestimation of 63 +/- 35 ml. There was a highly significant (p < 0.0001) agreement in regional function between EMM and echo. Local linear shortening correlated significantly (p < 0.0001) with echocardiographic severity of wall motion, averaging 9.5 +/- 6.5, 8.1 +/- 5.4, 5.9 +/- 4.8, and 6.2 +/- 3.3 in segments read as normal, hypokinetic, akinetic, and dyskinetic, respectively. The method presented is valid for comparing cardiac parameters derived from disparate image data on a region-by-region basis by employing anatomic landmarks on 3-D reconstructions of the LV endocardial surface.     

Automatic detection of myocardial contours in cine-computed tomographic images

Quantitative evaluation of cardiac function from cardiac images requires the identification of the myocardial walls. This generally requires the clinician to view the image and interactively trace the contours. This method is susceptible to great variability that depends on the experience and knowledge of the particular operator tracing the contours. The particular imaging modality that is used may also add tracing difficulties. Cine-computed tomography (cine-CT) is an imaging modality capable of providing high quality cross-sectional images of the heart. CT images, however, are cluttered, i.e., objects that are not of interest, such as the chest wall, liver, stomach, are also visible in the image. To decrease this variability, investigators have developed computer-assisted or near-automatic techniques for tracing these contours. All of these techniques, however, require some operator intervention to confidently identify myocardial borders. The authors present a new algorithm that automatically finds the heart within the chest, and then proceeds to outline (detect) the myocardial contours. Information at each tomographic slice is used to estimate the contours at the next tomographic slice, thus allowing the algorithm to work in near-apical cross-sectional images where the myocardial borders are often difficult to identify. The algorithm does not require operator input and can be used in a batch mode to process large quantities of data. An evaluation and correction phase is included to allow an operator to view the results and selectively correct portions of contours. The authors tested the algorithm by automatically identifying the myocardial borders of 27 cardiac images obtained from three human subjects and quantitatively comparing these automatically determined borders with those traced by an experienced cardiologist.     

Clinical evaluation of respiratory motion compensation for anatomical roadmap guided cardiac electrophysiology procedures

X-ray fluoroscopically guided cardiac electrophysiological procedures are routinely carried out for diagnosis and treatment of cardiac arrhythmias. X-ray images have poor soft tissue contrast and, for this reason, overlay of static 3-D roadmaps derived from preprocedural volumetric data can be used to add anatomical information. However, the registration between the 3-D roadmap and the 2-D X-ray image can be compromised by patient respiratory motion. Three methods were designed and evaluated to correct for respiratory motion using features in the 2-D X-ray images. The first method is based on tracking either the diaphragm or the heart border using the image intensity in a region of interest. The second method detects the tracheal bifurcation using the generalized Hough transform and a 3-D model derived from 3-D preoperative volumetric data. The third method is based on tracking the coronary sinus (CS) catheter. This method uses blob detection to find all possible catheter electrodes in the X-ray image. A cost function is applied to select one CS catheter from all catheter-like objects. All three methods were applied to X-ray images from 18 patients undergoing radiofrequency ablation for the treatment of atrial fibrillation. The 2-D target registration errors (TRE) at the pulmonary veins were calculated to validate the methods. A TRE of 1.6 mm ± 0.8 mm was achieved for the diaphragm tracking; 1.7 mm ± 0.9 mm for heart border tracking, 1.9 mm ± 1.0 mm for trachea tracking, and 1.8 mm ± 0.9 mm for CS catheter tracking. We present a comprehensive comparison between the techniques in terms of robustness, as computed by tracking errors, and accuracy, as computed by TRE using two independent approaches.     

Segmentation of the left ventricle of the heart in 3-D+t MRI data using an optimized nonrigid temporal model

Modern medical imaging modalities provide large amounts of information in both the spatial and temporal domains and the incorporation of this information in a coherent algorithmic framework is a significant challenge. In this paper, we present a novel and intuitive approach to combine 3-D spatial and temporal (3-D + time) magnetic resonance imaging (MRI) data in an integrated segmentation algorithm to extract the myocardium of the left ventricle. A novel level-set segmentation process is developed that simultaneously delineates and tracks the boundaries of the left ventricle muscle. By encoding prior knowledge about cardiac temporal evolution in a parametric framework, an expectation-maximization algorithm optimally tracks the myocardial deformation over the cardiac cycle. The expectation step deforms the level-set function while the maximization step updates the prior temporal model parameters to perform the segmentation in a nonrigid sense.     

Tracking myocardial motion from cine DENSE images using spatiotemporal phase unwrapping and temporal fitting

Displacement encoding with stimulated echoes (DENSE) encodes myocardial tissue displacement into the phase of the MR image. Cine DENSE allows for rapid quantification of myocardial displacement at multiple cardiac phases through the majority of the cardiac cycle. For practical sensitivities to motion, relatively high displacement encoding frequencies are used and phase wrapping typically occurs. In order to obtain absolute measures of displacement, a two-dimensional (2-D) quality-guided phase unwrapping algorithm was adapted to unwrap both spatially and temporally. Both a fully automated algorithm and a faster semi-automated algorithm are proposed. A method for computing the 2-D trajectories of discrete points in the myocardium as they move through the cardiac cycle is introduced. The error in individual displacement measurements is reduced by fitting a time series to sequential displacement measurements along each trajectory. This improvement is in turn reflected in strain maps, which are derived directly from the trajectories. These methods were validated both in vivo and on a rotating phantom. Further measurements were made to optimize the displacement encoding frequency and to estimate the baseline strain noise both on the phantom and in vivo. The fully automated phase unwrapping algorithm was successful for 767 out of 800 images (95.9%), and the semi-automated algorithm was successful for 786 out of 800 images (98.3%). The accuracy of the tracking algorithm for typical cardiac displacements on a rotating phantom is 0.24 +/- 0.15 mm. The optimal displacement encoding frequency is in the region of 0.1 cycles/mm, and, for 2 scans of 17-s duration, the strain noise after temporal fitting was estimated to be 2.5 +/- 3.0% at end-diastole, 3.1 +/- 3.1% at end-systole, and 5.3 +/- 5.0% in mid-diastole. The improvement in intra-myocardial strain measurements due to temporal fitting is apparent in strain histograms, and also in identifying regions of dysfunctional myocardium in studies of patients with infarcts.     

Three-dimensional motion tracking of coronary arteries in biplane cineangiograms

A three-dimensional (3-D) method for tracking the coronary arteries through a temporal sequence of biplane X-ray angiography images is presented. A 3-D centerline model of the coronary vasculature is reconstructed from a biplane image pair at one time frame, and its motion is tracked using a coarse-to-fine hierarchy of motion models. Three-dimensional constraints on the length of the arteries and on the spatial regularity of the motion field are used to overcome limitations of classical two-dimensional vessel tracking methods, such as tracking vessels through projective occlusions. This algorithm was clinically validated in five patients by tracking the motion of the left coronary tree over one cardiac cycle. The root mean square reprojection errors were found to be submillimeter in 93% (54/58) of the image pairs. The performance of the tracking algorithm was quantified in three dimensions using a deforming vascular phantom. RMS 3-D distance errors were computed between centerline models tracked in the X-ray images and gold-standard centerline models of the phantom generated from a gated 3-D magnetic resonance image acquisition. The mean error was 0.69 (+/- 0.06) mm over eight temporal phases and four different biplane orientations.     

US-fluoroscopy registration for transcatheter aortic valve implantation

Transcatheter aortic valve implantation is a minimally invasive alternative to open-heart surgery for aortic stenosis in which a stent-based bioprosthetic valve is delivered into the heart on a catheter. Limited visualization during this procedure can lead to severe complications. Improved visualization can be provided by live registration of transesophageal echo (TEE) and fluoroscopy images intraoperatively. Since the TEE probe is always visible in the fluoroscopy image, it is possible to track it using fiducial-based single-perspective pose estimation. In this study, inherent probe tracking performance was assessed, and TEE to fluoroscopy registration accuracy and robustness were evaluated. Results demonstrated probe tracking errors of below 0.6 mm and 0.2°, a 2-D RMS registration error of 1.5 mm, and a tracking failure rate of below 1%. In addition to providing live registration and better accuracy and robustness compared to existing TEE probe tracking methods, this system is designed to be suitable for clinical use. It is fully automatic, requires no additional operating room hardware, does not require intraoperative calibration, maintains existing procedure and imaging workflow without modification, and can be implemented in all cardiac centers at extremely low cost.     

Rapid Dynamic Image Registration of the Beating Heart for Diagnosis and Surgical Navigation

Dynamic cardiac magnetic resonance imaging (MR) and computed tomography (CT) provide cardiologists and cardiac surgeons with high-quality 4-D images for diagnosis and therapy, yet the effective use of these high-quality anatomical models remains a challenge. Ultrasound (US) is a flexible imaging tool, but the US images produced are often difficult to interpret unless they are placed within their proper 3-D anatomical context. The ability to correlate real-time 3-D US volumes (RT3D US) with dynamic MR/CT images would offer a significant contribution to improve the quality of cardiac procedures. In this paper, we present a rapid two-step method for registering RT3D US to high-quality dynamic 3-D MR/CT images of the beating heart. This technique overcomes some major limitations of image registration (such as the correct registration result not necessarily occurring at the maximum of the mutual information (MI) metric) using the MI metric. We demonstrate the effectiveness of our method in a dynamic heart phantom (DHP) study and a human subject study. The achieved mean target registration error of CT+US images in the phantom study is 2.59 mm. Validation using human MR/US volumes shows a target registration error of 1.76 mm. We anticipate that this technique will substantially improve the quality of cardiac diagnosis and therapies.      

Automatic contour definition on left ventriculograms by image evidence and a multiple template-based model

An algorithm which utilizes digital image processing and pattern recognition methods for automated definition of left ventricular (LV) contours is presented. Digital image processing and pattern recognition techniques are applied to digitally acquired radiographic images of the heart to extract the LV contours required for quantitative analysis of cardiac function. Knowledge of the image domain is invoked at each step of the algorithm to orient the data search and thereby the complexity of the solution. A knowledge-based image transformation, directional gradient search, expectations of object versus background location, least-cost path searches by dynamic programming, and a digital representation of possible versus impossible ventricular shape are exploited. The digital representation, composed of a set of characteristic templates, was created using contours obtained by manual tracing. The algorithm was tested by application of three sets of 25 images each. Test set one and two were used as training sets for creation of the model for contour correction. Model-based correction proved to be an effective technique, producing significant reduction of error in the final contours.     

A shape-space-based approach to tracking myocardial borders and quantifying regional left-ventricular function applied in echocardiography

This paper presents a new semi-automatic method for quantifying regional heart function from two-dimensional echocardiography. In the approach, we first track the endocardial and epicardial boundaries using a new variant of the dynamic snake approach. The tracked borders are then decomposed into clinically meaningful regional parameters, using a novel interpretational shape-space motivated by the 16-segment model used in clinical practice for qualitative assessment of heart function. We show how a quantitative and automatic scoring scheme for the endocardial excursion and myocardial thickening can be derived from this. Results illustrating our approach on apical long-axis two-chamber-view data from a patient with a myocardial infarct in the apical anterior/inferior region of the heart are presented. In a case study (five patients, nine data sets) the performance of the tracking and interpretation techniques are compared with manual delineations of borders using a number of quantitative measures of regional comparison.     

Registration and tracking to integrate X-ray and MR images in an XMR facility

We describe a registration and tracking technique to integrate cardiac X-ray images and cardiac magnetic resonance (MR) images acquired from a combined X-ray and MR interventional suite (XMR). Optical tracking is used to determine the transformation matrices relating MR image coordinates and X-ray image coordinates. Calibration of X-ray projection geometry and tracking of the X-ray C-arm and table enable three-dimensional (3-D) reconstruction of vessel centerlines and catheters from bi-plane X-ray views. We can, therefore, combine single X-ray projection images with registered projection MR images from a volume acquisition, and we can also display 3-D reconstructions of catheters within a 3-D or multi-slice MR volume. Registration errors were assessed using phantom experiments. Errors in the combined projection images (two-dimensional target registration error--TRE) were found to be 2.4 to 4.2 mm, and the errors in the integrated volume representation (3-D TRE) were found to be 4.6 to 5.1 mm. These errors are clinically acceptable for alignment of images of the great vessels and the chambers of the heart. Results are shown for two patients. The first involves overlay of a catheter used for invasive pressure measurements on an MR volume that provides anatomical context. The second involves overlay of invasive electrode catheters (including a basket catheter) on a tagged MR volume in order to relate electrophysiology to myocardial motion in a patient with an arrhythmia. Visual assessment of these results suggests the errors were of a similar magnitude to those obtained in the phantom measurements.