Iterative principal axes registration method for analysis of MR-PETbrain images

Computerized automatic registration of MR-PET images of the brain is of significant interest for multimodality brain image analysis. Here, the authors discuss the principal axes transformation for registration of three-dimensional MR and PET images. A new brain phantom designed to test MR-PET registration accuracy determines that the principal axes registration (PAR) method is accurate to within an average of 1.37 mm with a standard deviation of 0.78 mm. Often the PET scans are not complete in the sense that the PET volume does not match the respective MR volume. The authors have developed an iterative PAR (IPAR) algorithm for such cases. Partial volumes of PET can be accurately registered to the complete MR volume using the new iterative algorithm. The quantitative and qualitative analyses of MR-PET image registration are presented and discussed. Results show that the new PAR algorithm is accurate and practical in MR-PET correlation studies     

Volume registration using needle paths and point landmarks for evaluation of interventional MRI treatments

We created a method for three-dimensional (3-D) registration of medical images (e.g., magnetic resonance imaging (MRI) or computed tomography) to images of physical tissue sections or to other medical images and evaluated its accuracy. Our method proved valuable for evaluation of animal model experiments on interventional-MRI guided thermal ablation and on a new localized drug delivery system. The method computes an optimum set of rigid body registration parameters by minimization of the Euclidean distances between automatically chosen correspondence points, along manually selected fiducial needle paths, and optional point landmarks, using the iterative closest point algorithm. For numerically simulated experiments, using two needle paths over a range of needle orientations, mean voxel displacement errors depended mostly on needle localization error when the angle between needles was at least 20 degrees. For parameters typical of our in vivo experiments, the mean voxel displacement error was < 0.35 mm. In addition, we determined that the distance objective function was a useful diagnostic for predicting registration quality. To evaluate the registration quality of physical specimens, we computed the misregistration for a needle not considered during the optimization procedure. We registered an ex vivo sheep brain MR volume with another MR volume and tissue section photographs, using various combinations of needle and point landmarks. Mean registration error was always < or = 0.54 mm for MR-to-MR registrations and < or = 0.52 mm for MR to tissue section registrations. We also applied the method to correlate MR volumes of radio-frequency induced thermal ablation lesions with actual tissue destruction. In this case, in vivo rabbit thigh volumes were registered to photographs of ex vivo tissue sections using two needle paths. Mean registration errors were between 0.7 and 1.36 mm over all rabbits, the largest error less than two MR voxel widths. We conclude that our method provides sufficient spatial correspondence to facilitate comparison of 3-D image data with data from gross pathology tissue sections and histology.     

Registration of 3-D intraoperative MR images of the brain using a finite-element biomechanical model

We present a new algorithm for the nonrigid registration of three-dimensional magnetic resonance (MR) intraoperative image sequences showing brain shift. The algorithm tracks key surfaces of objects (cortical surface and the lateral ventricles) in the image sequence using a deformable surface matching algorithm. The volumetric deformation field of the objects is then inferred from the displacements at the boundary surfaces using a linear elastic biomechanical finite-element model. Two experiments on synthetic image sequences are presented, as well as an initial experiment on intraoperative MR images showing brain shift. The results of the registration algorithm show a good correlation of the internal brain structures after deformation, and a good capability of measuring surface as well as subsurface shift. We measured distances between landmarks in the deformed initial image and the corresponding landmarks in the target scan. Cortical surface shifts of up to 10 mm and subsurface shifts of up to 6 mm were recovered with an accuracy of 1 mm or less and 3 mm or less respectively.     

Model evaluation and calibration for prospective respiratory motion correction in coronary MR angiography based on 3-D image registration

Image processing was used as a fundamental tool to derive motion information from magnetic resonance (MR) images, which was fed back into prospective respiratory motion correction during subsequent data acquisition to improve image quality in coronary MR angiography (CMRA) scans. This reduces motion artifacts in the images and, in addition, enables the usage of a broader gating window than commonly used today to increase the scan efficiency. The aim of the study reported in this paper was to find a suitable motion model to be used for respiratory motion correction in cardiac imaging and to develop a calibration procedure to adapt the motion model to the individual patient. At first, the performance of three motion models [one-dimensional translation in feet-head (FH) direction, three-dimensional (3-D) translation, and 3-D affine transformation] was tested in a small volunteer study. An elastic image registration algorithm was applied to 3-D MR images of the coronary vessels obtained at different respiratory levels. A strong intersubject variability was observed. The 3-D translation and affine transformation model were found to be superior over the conventional FH translation model used today. Furthermore, a new approach is presented, which utilizes a fast model-based image registration to extract motion information from time series of low-resolution 3-D MR images, which reflects the respiratory motion of the heart. The registration is based on a selectable global 3-D motion model (translation, rigid, or affine transformation). All 3-D MR images were registered with respect to end expiration. The resulting time series of model parameters were analyzed in combination with additionally acquired motion information from a diaphragmatic MR pencil-beam navigator to calibrate the respiratory motion model. To demonstrate the potential of a calibrated motion model for prospective motion correction in coronary imaging, the approach was tested in CMRA examinations in five volunteers.     

MRI of moving subjects using multislice snapshot images with volume reconstruction (SVR): application to fetal, neonatal, and adult brain studies

Motion degrades magnetic resonance (MR) images and prevents acquisition of self-consistent and high-quality volume images. A novel methodology, Snapshot magnetic resonance imaging (MRI) with Volume Reconstruction (SVR) has been developed for imaging moving subjects at high resolution and high signal-to-noise ratio (SNR). The method combines registered 2-D slices from sequential dynamic single-shot scans. The SVR approach requires that the anatomy in question is not changing shape or size and is moving at a rate that allows snapshot images to be acquired. After imaging the target volume repeatedly to guarantee sufficient sampling every where, a robust slice-to-volume registration method has been implemented that achieves alignment of each slice within 0.3 mm in the examples tested. Multilevel scattered interpolation has been used to obtain high-fidelity reconstruction with root-mean-square (rms) error that is less than the noise level in the images. The SVR method has been performed successfully for brain studies on subjects that cannot stay still, and in some cases were moving substantially during scanning. For example, awake neonates, deliberately moved adults and, especially, on fetuses, for which no conventional high-resolution 3-D method is currently available. Fine structure of the in-utero fetal brain is clearly revealed for the first time and substantial SNR improvement is realized by having many individually acquired slices contribute to each voxel in the reconstructed image.     

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.     

Modelling prostate motion for data fusion during image-guided interventions

There is growing clinical demand for image registration techniques that allow multimodal data fusion for accurate targeting of needle biopsy and ablative prostate cancer treatments. However, during procedures where transrectal ultrasound (TRUS) guidance is used, substantial gland deformation can occur due to TRUS probe pressure. In this paper, the ability of a statistical shape/motion model, trained using finite element simulations, to predict and compensate for this source of motion is investigated. Three-dimensional ultrasound images acquired on five patient prostates, before and after TRUS-probe-induced deformation, were registered using a nonrigid, surface-based method, and the accuracy of different deformation models compared. Registration using a statistical motion model was found to outperform alternative elastic deformation methods in terms of accuracy and robustness, and required substantially fewer target surface points to achieve a successful registration. The mean final target registration error (based on anatomical landmarks) using this method was 1.8 mm. We conclude that a statistical model of prostate deformation provides an accurate, rapid and robust means of predicting prostate deformation from sparse surface data, and is therefore well-suited to a number of interventional applications where there is a need for deformation compensation.     

3-D/2-D registration of CT and MR to X-ray images

A crucial part of image-guided therapy is registration of preoperative and intraoperative images, by which the precise position and orientation of the patient's anatomy is determined in three dimensions. This paper presents a novel approach to register three-dimensional (3-D) computed tomography (CT) or magnetic resonance (MR) images to one or more two-dimensional (2-D) X-ray images. The registration is based solely on the information present in 2-D and 3-D images. It does not require fiducial markers, intraoperative X-ray image segmentation, or timely construction of digitally reconstructed radiographs. The originality of the approach is in using normals to bone surfaces, preoperatively defined in 3-D MR or CT data, and gradients of intraoperative X-ray images at locations defined by the X-ray source and 3-D surface points. The registration is concerned with finding the rigid transformation of a CT or MR volume, which provides the best match between surface normals and back projected gradients, considering their amplitudes and orientations. We have thoroughly validated our registration method by using MR, CT, and X-ray images of a cadaveric lumbar spine phantom for which "gold standard" registration was established by means of fiducial markers, and its accuracy assessed by target registration error. Volumes of interest, containing single vertebrae L1-L5, were registered to different pairs of X-ray images from different starting positions, chosen randomly and uniformly around the "gold standard" position. CT/X-ray (MR/ X-ray) registration, which is fast, was successful in more than 91% (82% except for L1) of trials if started from the "gold standard" translated or rotated for less than 6 mm or 17 degrees (3 mm or 8.6 degrees), respectively. Root-mean-square target registration errors were below 0.5 mm for the CT to X-ray registration and below 1.4 mm for MR to X-ray registration.     

RERBEE: robust efficient registration via bifurcations and elongated elements applied to retinal fluorescein angiogram sequences

We present RERBEE (robust efficient registration via bifurcations and elongated elements), a novel feature-based registration algorithm able to correct local deformations in high-resolution ultra-wide field-of-view (UWFV) fluorescein angiogram (FA) sequences of the retina. The algorithm is able to cope with peripheral blurring, severe occlusions, presence of retinal pathologies and the change of image content due to the perfusion of the fluorescein dye in time. We have used the computational power of a graphics processor to increase the performance of the most computationally expensive parts of the algorithm by a factor of over × 1300, enabling the algorithm to register a pair of 3900 × 3072 UWFV FA images in 5-10 min instead of the 5-7 h required using only the CPU. We demonstrate accurate results on real data with 267 image pairs from a total of 277 (96.4%) graded as correctly registered by a clinician and 10 (3.6%) graded as correctly registered with minor errors but usable for clinical purposes. Quantitative comparison with state-of-the-art intensity-based and feature-based registration methods using synthetic data is also reported. We also show some potential usage of a correctly aligned sequence for vein/artery discrimination and automatic lesion detection.     

Partial volume tissue classification of multichannel magnetic resonance images-a mixel model

A single volume element (voxel) in a medical image may be composed of a mixture of multiple tissue types. The authors call voxels which contain multiple tissue classes mixels. A statistical mixel image model based on Markov random field (MRF) theory and an algorithm for the classification of mixels are presented. The authors concentrate on the classification of multichannel magnetic resonance (MR) images of the brain although the algorithm has other applications. The authors also present a method for compensating for the gray-level variation of MR images between different slices, which is primarily caused by the inhomogeneity of the RF field produced by the imaging coil.     

Registration of 3-D images using weighted geometrical features

The authors present a weighted geometrical feature (WGF) registration algorithm. Its efficacy is demonstrated by combining points and a surface. The technique is an extension of Besl and McKay's (1992) iterative closest point (ICP) algorithm. The authors use the WGF algorithm to register X-ray computed tomography (CT) and T2-weighted magnetic resonance (MR) volume head images acquired from eleven patients that underwent craniotomies in a neurosurgical clinical trial. Each patient had five external markers attached to transcutaneous posts screwed into the outer table of the skull. The authors define registration error as the distance between positions of corresponding markers that are not used for registration. The CT and MR images are registered using fiducial paints (marker positions) only, a surface only, and various weighted combinations of points and a surface. The CT surface is derived from contours corresponding to the inner surface of the skull. The MR surface is derived from contours corresponding to the cerebrospinal fluid (CSF)-dura interface. Registration using points and a surface is found to be significantly more accurate then registration using only points or a surface     

Automated detection of prostatic adenocarcinoma from high-resolution ex vivo MRI

Prostatic adenocarcinoma is the most commonly occurring cancer among men in the United States, second only to skin cancer. Currently, the only definitive method to ascertain the presence of prostatic cancer is by trans-rectal ultrasound (TRUS) directed biopsy. Owing to the poor image quality of ultrasound, the accuracy of TRUS is only 20%-25%. High-resolution magnetic resonance imaging (MRI) has been shown to have a higher accuracy of prostate cancer detection compared to ultrasound. Consequently, several researchers have been exploring the use of high resolution MRI in performing prostate biopsies. Visual detection of prostate cancer, however, continues to be difficult owing to its apparent lack of shape, and the fact that several malignant and benign structures have overlapping intensity and texture characteristics. In this paper, we present a fully automated computer-aided detection (CAD) system for detecting prostatic adenocarcinoma from 4 Tesla ex vivo magnetic resonance (MR) imagery of the prostate. After the acquired MR images have been corrected for background inhomogeneity and nonstandardness, novel three-dimensional (3-D) texture features are extracted from the 3-D MRI scene. A Bayesian classifier then assigns each image voxel a "likelihood" of malignancy for each feature independently. The "likelihood" images generated in this fashion are then combined using an optimally weighted feature combination scheme. Quantitative evaluation was performed by comparing the CAD results with the manually ascertained ground truth for the tumor on the MRI. The tumor labels on the MR slices were determined manually by an expert by visually registering the MR slices with the corresponding regions on the histology slices. We evaluated our CAD system on a total of 33 two-dimensional (2-D) MR slices from five different 3-D MR prostate studies. Five slices from two different glands were used for training. Our feature combination scheme was found to outperform the individual texture features, and also other popularly used feature combination methods, including AdaBoost, ensemble averaging, and majority voting. Further, in several instances our CAD system performed better than the experts in terms of accuracy, the expert segmentations being determined solely from visual inspection of the MRI data. In addition, the intrasystem variability (changes in CAD accuracy with changes in values of system parameters) was significantly lower than the corresponding intraobserver and interobserver variability. CAD performance was found to be very similar for different training sets. Future work will focus on extending the methodology to guide high-resolution MRI-assisted in vivo prostate biopsies.     

一种图像快速配准算法的研究

在基于小波分解和互信息测度的图像配准方法的基础上,提出一种改进的快速图像配准算法。首先,对图像进行小波分解,以分解后的图像的近似分量进行配准,利用互信息最大化作为相似性测度,并结合粒子群优化算法和鲍威尔算法为优化策略搜索最优配准参数。实验结果显示,此方法在得到较高的配准精度和鲁棒性的情况下,还大大减少了运算量,提高了配准的速度。     

一种改进的基于互信息的自动图像配准算法

提出了改进图像配准的基于互信息的算法,首先将参考图像和待配准图像分解到小波域并二值化,以归一化互信息作为相似性测度进行配准.配准参数搜索作用SPSA算法和鲍威尔算法相结合的优化策略.实验证明本算法可以快速、精确且不需要人工干预地实现两幅图像的配准.     

Automatic nonrigid calibration of image registration for real time MR-guided HIFU ablations of mobile organs

Real time magnetic resonance imaging (MRI) is rapidly gaining importance in interventional therapies. An accurate motion estimation is required for mobile targets and can be conveniently addressed using an image registration algorithm. Since the adaptation of the control parameters of the algorithm depends on the application (targeted organ, location of the tumor, slice orientation, etc.), typically an individual calibration is required. However, the assessment of the estimated motion accuracy is difficult since the real target motion is unknown. In this paper, existing criteria based only on anatomical image similarity are demonstrated to be inadequate. A new criterion is introduced, which is based on the local magnetic field distribution. The proposed criterion was used to assess, during a preparative calibration step, the optimal configuration of an image registration algorithm derived from the Horn and Schunck method. The accuracy of the proposed method was evaluated in a moving phantom experiment, which allows the comparison with the known motion pattern and to an established criterion based on anatomical images. The usefulness of the method for the calibration of optical-flow based algorithms was also demonstrated in vivo under conditions similar to thermo-ablation for the abdomen of twelve volunteers. In average over all volunteers, a resulting displacement error of 1.5 mm was obtained (largest observed error equal to 4-5 mm) using a criterion based on anatomical image similarity. A better average accuracy of 1 mm was achieved using the proposed criterion (largest observed error equal to 2 mm). In both kidney and liver, the proposed criterion was shown to provide motion field accuracy in the range of the best achievable.     

基于级联变换的光学和SAR图像配准算法

针对光学和SAR(Synthetic Aperture Radar)图像配准中存在明显辐射和几何差异的问题,提出了一种基于级联变换的多源遥感图像配准方法.首先,利用灰度变换提取光学和SAR图像间的稳定结构特征,去除辐射差异性;然后,提出一种新的加权对数极坐标变换算法,解决图像间全局几何差异性,保证算法的尺度和旋转不变性,并初步得到整体的平移量;最后,通过局部几何变换,得到一系列的匹配点对,构建薄板样条模型,实现图像的精确配准.实验验证了算法去除辐射差异性和获得全局几何变换参数的能力,与传统的多源图像配准算法相比,基于级联变换的配准算法鲁棒性好,配准精度高.     

Object-based Super Resolution for intelligent visual surveillance video

Construction of high resolution images from low resolution sequences is often important in surveillance applications. In this letter, an affine based multi-scale block-matching image registration algorithm is first proposed. The images to be registered are divided into overlapped blocks of different size according to its motions. The Least Square （LS） image registration algorithm is extended to match the blocks. Then an object based Super Resolution （SR） scheme is designed, the Maximum A Priori （MAP） super resolution algorithm is extended to enhance the resolution of the interest objects. Experimental results show that the proposed multi-scale registration method provides more accurate registration between frames. Further more, the object based super resolution scheme shows an enhanced performance compared with the traditional MAP method.     

Image Registration Using Adaptive Polar Transform

Image registration is an essential step in many image processing applications that need visual information from multiple images for comparison, integration, or analysis. Recently, researchers have introduced image registration techniques using the log-polar transform (LPT) for its rotation and scale invariant properties. However, it suffers from nonuniform sampling which makes it not suitable for applications in which the registered images are altered or occluded. Inspired by LPT, this paper presents a new registration algorithm that addresses the problems of the conventional LPT while maintaining the robustness to scale and rotation. We introduce a novel adaptive polar transform (APT) technique that evenly and effectively samples the image in the Cartesian coordinates. Combining APT with an innovative projection transform along with a matching mechanism, the proposed method yields less computational load and more accurate registration than that of the conventional LPT. Translation between the registered images is recovered with the new search scheme using Gabor feature extraction to accelerate the localization procedure. Moreover an image comparison scheme is proposed for locating the area where the image pairs differ. Experiments on real images demonstrate the effectiveness and robustness of the proposed approach for registering images that are subjected to occlusion and alteration in addition to scale, rotation, and translation.     

Design and evaluation of an automatic procedure for detection of large misregistration of medical images

In many cases the combined assessment of three-dimensional anatomical and functional images [single photon emission computed tomography (SPECT), positron emission tomography (PET), magnetic resonance imaging (MRI), and computed tomography (CT)] is necessary to determine the precise nature and extent of lesions. It is important, prior to performing the addition, subtraction, or any other combination of the images, that they be adequately aligned and registered either by experienced radiologists via visual inspection, mental reorientation and overlap of slices, or by an automated registration algorithm. To be useful clinically, the latter case requires validation. The human capacity to evaluate registration results visually is limited and time consuming. This paper describes an algorithmic procedure to provide proxy measures for human assessment that discriminate between badly misregistered pairs of brain images and those likely to be clinically useful. The new algorithm consists of four major steps: segmentation of brain and skin/air boundaries, contour extraction, computation of the principal axes, and computation of the registration quality measures from the contour volumes. The test data were MR and CT brain images. The results of the present study indicate that the use of a measure based on the combination of brain and skin contours and a principal axis function is a good first step to reduce the number of badly registered images reaching the clinician.     

Interactive 3D registration of ultrasound and magnetic resonanceimages based on a magnetic position sensor

The use of stereotactic systems has been one of the main approaches for image-based guidance of the surgical tool within the brain. The main limitation of stereotactic systems is that they are based on preoperative images that might become outdated and invalid during the course of surgery. Ultrasound (US) is considered the most practical and cost-effective intraoperative imaging modality, but US images inherently have a low signal-to-noise ratio. Integrating intraoperative US with stereotactic systems has recently been attempted. In this paper, we present a new system for interactively registering two-dimensional US and three-dimensional magnetic resonance (MR) images. This registration is based on tracking the US probe with a DC magnetic position sensor. We have performed an extensive analysis of the errors of our system by using a custom-built phantom. The registration error between the MR and the position sensor space was found to have a mean value of 1.78 mm and a standard deviation of 0.18 mm. The registration error between US and MR space was dependent on the distance of the target point from the US probe face. For a 3.5-MHz phased one-dimensional array transducer and a depth of 6 cm, the mean value of the registration error was 2.00 mm and the standard deviation was 0.75 mm. The registered MR images were reconstructed using either zeroth-order or first-order interpolation