Three-dimensional reconstruction: methods of improving image registration and interpretation

(i) Image registration. The use of serial images for computerised three-dimensional reconstruction necessitates the inclusion of three separate sources of information at the stage of data input. These are (i) artificial registration points or fiducials, (ii) a calibration scale and (iii) an outline of each slab of the section to be included in the reconstruction. Most traditional methods rely on the production of drawings of the contours of the structure under investigation which also include both registration points and a calibration scale. We report on a method which considerably reduces the time involved at this labour intensive stage of reconstruction and in addition allows subsequent reconstructions of different structures to be performed without new drawings. Use is made of computerised alignment of tissue sections and the production of composite photomicrographs of both the tissue under investigation and an accurately registered stage micrometer scale. (ii) Improving image interpretation. Images derived from computerised three-dimensional reconstruction can be affected by the number of coordinates used to form the contour of each slice of a structure and by the number of slices that are used to construct the final model. Too little or too much data can considerably reduce the ability of the observer to interpret accurately the image generated by the computer. We report on a feature-based method which enables the experimenter to assess objectively the amount of data required in the two-dimensional plane, i.e. the number of data points per slice, and the three-dimensional plane, i.e. number of slices per structure, so that optimal reconstructions are generated.     

A noninvasive, three-dimensional spinal motion analysis method

STUDY DESIGN: A three-dimensional, noninvasive motion analysis method was developed by monitoring the orientation of the principal axes of each vertebra. OBJECTIVES: To develop a method of performing three-dimensional, noninvasive motion analysis of the spine using computed tomography data. SUMMARY OF BACKGROUND DATA: The concept of using principal axes of the moment of inertia tensor to measure the orientation and position of a rigid body has been applied to the wrist and subtalar joints, but has not yet been applied to the spine. METHODS: Scans were taken of two isolated vertebrae in various known positions. Centroids, area, moments, and product of inertia of each scan were determined using a commercial program. Custom software combined data using the parallel axis theorem to give three-dimensional data for each vertebra. Changes in the centroid and principal axes were used to calculate translation and rotation, respectively. RESULTS: The system accuracy was within 1.0 degree in rotation and 1.0 mm in translation. Some errors occurred in minor motions when a smaller number of scans were used. System resolution was 0.43 mm. CONCLUSIONS: A system has been developed capable of calculating three-dimensional spinal motion based on measurements of a series of computed tomography images. The system has an accuracy similar to that of current motion analysis methods, but future studies will be necessary to apply this system in vivo.     

Registration of MR and SPECT without using external fiducial markers

The aim of our work is to present, test and validate an automated registration method used for matching brain SPECT scans with corresponding MR scans. The method was applied on a data set consisting of ten brain IDEX SPECT scans and ten T1- and T2-weighted MR scans of the same subjects. Of two subjects a CT scan was also made. (Semi-) automated algorithms were used to extract the brain from the MR, CT and SPECT images. Next, a surface registration technique called chamfer matching was used to match the segmented brains. A perturbation study was performed to determine the sensitivity of the matching results to the choice of the starting values. Furthermore, the SPECT segmentation threshold was varied to study its effect on the resulting parameters and a comparison between the use of MR T1- and T2-weighted images was made. Finally, the two sets of CT scans were used to estimate the accuracy by matching MR to CT and comparing the MR-SPECT match to the SPECT-CT match. The perturbation study showed that for initial perturbations up to 6 cm the algorithm fails in less than 4% of the cases. A variation of the SPECT segmentation threshold over a realistic range (25%) caused an average variation in the optimal match of 0.28 cm vector length. When T2 is used instead of T1 the stability of the algorithm is comparable but the results are less realistic due the large deformations. Finally, a comparison of the direct SPECT-MR match and the indirect match with CT as intermediate yields a discrepancy of 0.4 cm vector length. We conclude that the accuracy of our automatic matching algorithm for SPECT and MR, in which no external markers were used, is comparable to the accuracies reported in the literature for non-automatic methods or methods based on external markers. The proposed method is efficient and insensitive to small variations in SPECT segmentation.     

Postnatal maturation of the layer III pyramidal neurons in the human prefrontal cortex: a quantitative Golgi analysis

In this study we examined the morphological maturation of the basal dendritic field of layer III pyramidal neurons located in the human dorsolateral prefrontal cortex in subjects ranging from 7.5 months after birth up to 27 years. The sections were stained with the Golgi-Cox method and the three-dimensional branching pattern was measured with a semi-automatic dendrite measuring system. Results show a rapid growth phase of the dendritic field from 7.5 months after birth up to one year. A marked increase in total dendritic length is observed, for which elongation of the terminal segments, longer intermediate segments and an increase in number of segments is an explanation. The dendritic length appears to have stabilized after one year, leading us to conclude that the postnatal morphological maturation of the layer III pyramidals does not continue well into childhood, but is completed at a much younger age. Additionally we analyzed the effect of varying section thickness on dendritic parameters and found no tendency for higher dendritic values with increasing section thickness for the range of thickness values of the histological sections used.     

Registration of dynamic dopamine D2 receptor images using principal component analysis

This paper describes a novel technique for registering a dynamic sequence of single-photon emission tomography (SPET) dopamine D2 receptor images, using principal component analysis (PCA). Conventional methods for registering images, such as count difference and correlation coefficient algorithms, fail to take into account the dynamic nature of the data, resulting in large systematic errors when registering time-varying images. However, by using principal component analysis to extract the temporal structure of the image sequence, misregistration can be quantified by examining the distribution of eigenvalues. The registration procedures were tested using a computer-generated dynamic phantom derived from a high-resolution magnetic resonance image of a realistic brain phantom. Each method was also applied to clinical SPET images of dopamine D2 receptors, using the ligands iodine-123 iodobenzamide and iodine-123 epidepride, to investigate the influence of misregistration on kinetic modelling parameters and the binding potential. The PCA technique gave highly significant (P<0.001) improvements in image registration, leading to alignment errors in x and y of about 25% of the alternative methods, with reductions in autocorrelations over time. It could also be applied to align image sequences which the other methods failed completely to register, particularly 123I-epidepride scans. The PCA method produced data of much greater quality for subsequent kinetic modelling, with an improvement of nearly 50% in the chi2 of the fit to the compartmental model, and provided superior quality registration of particularly difficult dynamic sequences.     

Skin tightening effects of the ultrapulse CO2 laser

The authors evaluated the relative importance of the following scanning parameters at computed tomographic bronchoscopy in an anesthetized adult sheep's thorax: section thickness (2, 4, 8 mm), pitch (1.0, 1.5, 2.0), milliampere setting (100, 175, 250 mA), and overlap of reconstructed sections (0%, 25%, 50%, 75%). Five blinded readers ranked the images twice in comparison with photographs of the mounted specimen. Differences in image quality were significant (P < .001) with section thickness of 2 mm and a pitch of 1.0. The milliampere setting had only a minor effect on image quality, and a 50% overlap of reconstructed sections was best.     

Fast numerical algorithms for fitting multiresolution hybrid shape models to brain MRI

In this paper, we present new and fast numerical algorithms for shape recovery from brain MRI using multiresolution hybrid shape models. In this modeling framework, shapes are represented by a core rigid shape characterized by a superquadric function and a superimposed displacement function which is characterized by a membrane spline discretized using the finite-element method. Fitting the model to brain MRI data is cast as an energy minimization problem which is solved numerically. We present three new computational methods for model fitting to data. These methods involve novel mathematical derivations that lead to efficient numerical solutions of the model fitting problem. The first method involves using the nonlinear conjugate gradient technique with a diagonal Hessian preconditioner. The second method involves the nonlinear conjugate gradient in the outer loop for solving global parameters of the model and a preconditioned conjugate gradient scheme for solving the local parameters of the model. The third method involves the nonlinear conjugate gradient in the outer loop for solving the global parameters and a combination of the Schur complement formula and the alternating direction-implicit method for solving the local parameters of the model. We demonstrate the efficiency of our model fitting methods via experiments on several MR brain scans.     

Three-dimensional echocardiography. Principles and applications

Three-dimensional echocardiography is based on two methods of retrospective reconstruction from two-dimensional echocardiographic images. The acquisition of the two-dimensional images may be free or imposed, the transducer either carrying an emission-reception system or fixed to an articulated support providing data about its position. In the first system, manual tracing of the contours of the region of interest performed on each frame are superimposed after time sequencing (using the ECG) and spatial repositioning, so enabling three-dimensional visualisation of the contours of the cardiac structures: this approach provides reliable quantitative information (volumes, mass and ejection fractions) and has led to the redefinition of the echocardiographic criteria of mitral valve prolapse. The second system is based on equidistant sections obtained by progressive, controlled two-dimensional scanning (parallel, arc of a circle and rotational) of the structure of interest: a value of grey scale is assigned to the space between two adjacent pixels, enabling the formation of voxels which, when superimposed, give the required effects of volume and surface for three-dimensional imaging. It is then possible to obtain any section of the volume and simulate surgical views of the beating heart. This approach may significantly improve diagnostic accuracy compared with two-dimensional echocardiography and provides access to new quantitative and qualitative parameters.     

Three-dimensional PET emission scan registration and transmission scan synthesis

The duration of a positron emission tomography (PET) imaging scan can be reduced if the transmission scan of one patient which is used for emission correction can be synthesized by using the reference transmission scan of another patient. In this paper, we propose a new intersubjects PET emission scan registration method and PET transmission synthesis method by using the boundary information of the body or brain scan of the PET emission scans. The PET emission scans have poor image quality and different intensity statistics so that we preprocess the emission scans to have similar histogram and then apply the point distribution model (PDM) [15] to extract the contours of the emission scan. The extracted boundary contour of every slice is used to reconstruct the three-dimensional (3-D) surface of the reference set and the target set. Our registration is 3-D surface-based which uses the normal flow method [17] to find the correspondence vector field between two 3-D reconstructed surfaces. Since it is difficult to analyze internal organ using the PET emission scan imaging without correction, we assume that the deformation of internal organ is homogeneous. With the corresponding vector field between the two emission scans and the transmission scan of the reference set, we can synthesize the transmission scan of the target set.     

Hybrid ordered phase encoding (HOPE): an improved approach for respiratory artifact reduction

Respiration causes continuous change in cardiac position, which leads to image degradation. Phase-encode reordering methods are often used to reduce these artifacts. An improved method for suppressing motion artifacts by reordering the acquisition of k space has been developed that is less sensitive to change of breathing patterns and bulk movement. We describe the theory behind the new approach and compare its results with those of existing methods by use of a phantom with simulated and actual acquired breathing patterns. The comparison was also made in vivo; cardiac scans were performed in 15 subjects with image planes that are known to be particularly susceptible to respiratory artifact. A significant improvement in image quality was achieved compared with conventional nonreordered and existing reordering methods.     

Visual assessment of the accuracy of retrospective registration of MR and CT images of the brain

In a previous study we demonstrated that automatic retrospective registration algorithms can frequently register magnetic resonance (MR) and computed tomography (CT) images of the brain with an accuracy of better than 2 mm, but in that same study we found that such algorithms sometimes fail, leading to errors of 6 mm or more. Before these algorithms can be used routinely in the clinic, methods must be provided for distinguishing between registration solutions that are clinically satisfactory and those that are not. One approach is to rely on a human observer to inspect the registration results and reject images that have been registered with insufficient accuracy. In this paper, we present a methodology for evaluating the efficacy of the visual assessment of registration accuracy. Since the clinical requirements for level of registration accuracy are likely to be application dependent, we have evaluated the accuracy of the observer's estimate relative to six thresholds: 1-6 mm. The performance of the observers was evaluated relative to the registration solution obtained using external fiducial markers that are screwed into the patient's skull and that are visible in both MR and CT images. This fiducial marker system provides the gold standard for our study. Its accuracy is shown to be approximately 0.5 mm. Two experienced, blinded observers viewed five pairs of clinical MR and CT brain images, each of which had each been misregistered with respect to the gold standard solution. Fourteen misregistrations were assessed for each image pair with misregistration errors distributed between 0 and 10 mm with approximate uniformity. For each misregistered image pair each observer estimated the registration error (in millimeters) at each of five locations distributed around the head using each of three assessment methods. These estimated errors were compared with the errors as measured by the gold standard to determine agreement relative to each of the six thresholds, where agreement means that the two errors lie on the same side of the threshold. The effect of error in the gold standard itself is taken into account in the analysis of the assessment methods. The results were analyzed by means of the Kappa statistic, the agreement rate, and the area of receiver-operating-characteristic (ROC) curves. No assessment performed well at 1 mm, but all methods performed well at 2 mm and higher. For these five thresholds, two methods agreed with the standard at least 80% of the time and exhibited mean ROC areas greater than 0.84. One of these same methods exhibited Kappa statistics that indicated good agreement relative to chance (Kappa > 0.6) between the pooled observers and the standard for these same five thresholds. Further analysis demonstrates that the results depend strongly on the choice of the distribution of misregistration errors presented to the observers.     

Edge detection in brain SPET perfusion imaging: a comparison of several methods

Four methods of brain edge detection on brain SPET perfusion (99Tcm-hexamethylpropylene amine oxime) images were compared: ellipse adaptation, simple thresholding (four threshold values), a low threshold (40%) followed by 1, 2 or 3 pixel erosion, and the Deriche 3D adaptive cut-off frequency method (four filter widths: alpha = 1, 2, 3 or 4). The SPET data of six patients were reconstructed to obtain 10 axial slices, each 10 mm thick, covering the whole brain. On the 60 axial slices, the methods were compared based on automaticity, computation time and accuracy of edge detection compared with morphological edges drawn manually on the patients' 3D co-registered magnetic resonance imaging (MRI) scans. The proportion of pixels inside the contour defined by the MRI scan but outside the SPET edge (p(i)), and the proportion of pixels inside the contour defined by the SPET image but outside the MRI contour (pe), were calculated. The thresholding methods provided interesting results, particularly the application of a low threshold value (40%), followed by a 2 pixel erosion, which required a computation time of 12 s (p(i) = 5.7 +/- 2.2%; pe = 2.7 +/- 0.9%). Because of adjustments to each slice of the ellipse axis, the processing time of this method was about 3 min (p(i) = 1.5 +/- 1.4%; pe = 11.3 +/- 3.4%). The Deriche 3D filter was time-consuming (6 min for 10 slices on a NXT workstation, SMV International). With this method, the best edge fitting was found with a filter width of 3 and 4 (p(i) = 9.6 +/- 11.1%; pe = 14.1 +/- 23.2%; alpha = 3). Three-dimensional filtering methods must be refined to reduce the computation time and to improve brain edge fitting accuracy when compared with the eroded thresholding method.     

A method of correlating and merging cerebral morphology and function by a special head holder

A method is introduced which records and correlates topographically identical morphological and functional image data by means of a special head holder system which is adaptable to different modalities (MRI, PET, SPECT). It is based on a commercially available thermoplastic headmask. A thermoplastic form is used to mold an individual headmask (time required: 7 min) for all modalities providing a fixation of the patient during acquisition. This method guarantees an exact repositioning and therefore the same slice orientation of the images. The in-plane correlation is performed by adapting standard offset parameters determined with a homogeneous head phantom. By fusion (merging) of the brain outline contours or images themselves the accuracy was tested in MRI vs. PET resp. SPECT (transaxial accuracy: < or = 2.0 mm, axial: < or = 3.0 mm in patients with MRI-slice thickness of 6.0 mm).     

Dynamic properties of lymphatic pathways for the absorption of cerebrospinal fluid

Recent advances in small, linear-array transducers have opened new avenues for three-dimensional image acquisition from an intracardiac approach. The purpose of this study was to introduce a novel method of image acquisition using toroidal geometry, explore its fidelity of reproduction of three-dimensional cardiac anatomy, and determine whether a whole-heart scan is achievable. Acquisition was accomplished through 360-degree incremental rotation of a rigid endoscope with a side-mounted ultrasound transducer. The procedure was first tested with the use of a gelatin model to define far-field slice resolution with 1.8-degree rotational increments. Comparison of three-dimensional scans of cardiac specimens with corresponding photographs confirmed that toroidal geometry can provide a high-quality display of structures from all sides. We conclude that whole-heart three-dimensional scanning from within the cardiac chambers is possible with toroidal geometry. The quality of depicted anatomy depends on transducer location within the heart, distance from the transducer, density of slices, and image resolution. The potential of intracardiac three-dimensional ultrasound imaging includes detailed spatial evaluation of cardiac morphology, determination of appropriate placement of investigative or therapeutic devices (catheters, closure devices, etc.), and assessment of cardiac function.     

露采平台安全厚度与隐伏采空区跨度关系的数值模拟研究

准确掌握露采平台安全及下部隐伏采空区的稳定性,是矿山进行安全生产工作的重要前提.为了确定某矿露采平台下部隐伏采空区跨度与露采平台安全厚度之间的关系,通过室内岩石力学实验,获取岩样相应的物理力学参数;结合摩尔-库仑强度破坏准则,应用FLAC3D数值计算软件,建立三维模型;在一定的空区走向长度(30 m)和不同的跨度条件下,以每次10 m的工程进度向地表方向模拟开挖,分析空区顶板临界安全厚度与空区跨度和岩体抗拉强度的相互关系.给出了露采平台安全厚度与空区跨度关系和抗拉强度三者的线性拟合公式,为类似矿山的采矿工作提供借鉴.     

Variables affecting pulmonary nodule detection with computed tomography: evaluation with three-dimensional computer simulation

To meaningfully evaluate factors determining the overall accuracy of computed tomography (CT) for identifying pulmonary nodules, computer-generated nodules were superimposed on normal CT scans and interpreted independently by three experienced chest radiologists. Variables evaluated included nodule size, shape, number, density, location, edge characteristics, and relationship to adjacent vessels, as well as technical factors, including slice thickness and electronic windowing. The overall sensitivity in identifying nodules was 62% and the specificity was 80%. On average, the observers identified 56, 67, and 63% of nodules on 1.5-, 5-, and 10-mm-thick sections, respectively (p = 0.037). Nodules were more difficult to identify on 1.5-mm-thick sections. On average, observers identified 1, 48, 82, and 91% of nodules < 1.5, < 3, < 4.5, and < 7 mm in diameter, respectively (p < 0.001). Other factors that made a significant contribution (p < 0.01) in identifying nodules, as determined by linear discriminant function analysis, included nodule location, angiocentricity, and density. We concluded that computer-generated nodules can be used to assess a large number of imaging variables. We anticipate that this approach will be of considerable utility in assessing the accuracy of interpretation of a wide range of pathologic entities as well as in optimizing three-dimensional scan protocols within the thorax.     

Automatic registration of pelvic computed tomography data and magnetic resonance scans including a full circle method for quantitative accuracy evaluation

The purpose of this study is to develop a method for registration of CT and MR scans of the pelvis with minimal user interaction and to obtain a means for objective quantification of the registration accuracy of clinical data without markers. CT scans were registered with proton density MR scans using chamfer matching on automatically segmented bone. A fixed threshold was used to segment CT, while morphological filters were used to segment MR. The method was tested with transverse and coronal MR scans of 18 patients and sagittal MR scans of 8 patients. The registration accuracy was estimated by comparing (triangulating) registrations of a single CT scan with MR in different orientations in a "full circle." For example, CT is first matched on transverse MR, next transverse MR is matched independently on coronal MR, and finally coronal MR is matched independently on CT. The product of the three transformations is the identity if all matching steps are perfect. Deviations from identity occur both due to random errors and due to some types of systematic errors. MR was registered on MR (to close the "circle") by minimization of rms voxel value differences. CT-MR registration takes about 1 min, including user interaction. The random error for CT-MR registration with transverse or coronal MR was 0.5 mm in translation and 0.4 degree in rotation (standard deviation) for each axis. A systematic registration error of about 1 mm was demonstrated along the MR frequency encoding direction, which is attributed to the chemical shift. In conclusion, the presented algorithm efficiently and accurately registers pelvic CT and MR scans on bone. The "full circle" method provides an estimate of the registration accuracy on clinical data.     

Phantom study of optimization of spiral-CT and 3D reconstruction of the tracheobronchial system

PURPOSE: To optimise three-dimensional spiral CT of the tracheobronchial tree using adequate acquisition and reconstruction parameters for spiral CT of the chest. MATERIAL AND METHODS: Qualitative and quantitative assessment of different 3 D reconstructions of two test objects of the tracheobronchial tree depending on section thickness, reconstruction interval, pitch, and reconstruction algorithm used in spiral CT (Siemens, Somatom plus S) of the chest. The frequency of volume and stairstep artifacts was evaluated. The 3 D reconstructions were generated using a seeded VOI-technique (Allegro, ISG). RESULTS: Reduction of artifacts was achieved by decreasing section thickness. Increasing overlap of source images, lowering the pitch factor, and application of the reconstruction algorithm "slim". Section thickness was the single most important factor which was mainly responsible for the occurrence of volume artifacts. Stairstep artifacts were primarily influenced by the reconstruction interval. CONCLUSION: Spiral CT with a section thickness > 4 mm is not adequate for 3 D reconstructions of the tracheobronchial tree. Overlapping source images with a pitch of 1 and the reconstruction algorithm "slim" can be recommended to reduce artifacts.     

Tissue factor antigen is elevated in patients with microvascular complications of diabetes mellitus

This paper describes a cost-effective technique that optimally utilizes all available diagnostic studies for three-dimensional treatment planning. A simulator unit modified to produce cross-sectional images (simulator-CT unit) is used to create a reference data set with the patient in the treatment position. Registration software (qsh) brings other diagnostic studies into agreement with this reference data set. Two cases are presented as examples of the use of this technique. Registration of abdominal scans from the same patient demonstrates the warping of a nontreatment position study to the treatment position. The second case is based on paired data sets through the head, in which the diagnostic study was obtained by using a gantry tilt to follow the base of the skull and to avoid sections passing through the teeth. The registration software provides a method for combining diagnostic studies into a single "master" data set. The success of the transformation depends on the operator's ability to identify corresponding anatomic landmarks for different data sets and on the magnitude of the variation in the patient's position from one procedure to the next. Limitations in image quality and the number of cross-sections obtainable from a simulator-CT unit can be partially overcome by using the described technique. Thus, the information contained in nontreatment position diagnostic tests can be used accurately for treatment planning at limited cost.