Three-dimensional multi-scale line filter for segmentation and visualization of curvilinear structures in medical images

Chestwall segmentation in 3D breast ultrasound using a deformable volume model

A deformable volume segmentation method is proposed to detect the breast parenchyma in frontal scanned 3D whole breast ultrasound. Deformable volumes are a viable alternative to the deformable surface paradigm in noisy images with poorly defined object boundaries. A deformable ultrasound volume model was developed containing breast, rib, intercostal space and thoracic shadowing. Using prior knowledge about grey value statistics and shape the parameterized model deforms by optimization to match an ultrasound scan. Additionally a rib shadow enhancement filter was developed based on a Hessian sheet detector. An ROC chestwall detection study on 88 multi-center scans (20 non-visible chestwalls) showed a significant accuracy which improved strongly using the sheet detector. The results show the potential of our methodology to extract breast parenchyma which could help reduce false positives in subsequent computer aided lesion detection.

Expression of neurotrophin-3 promotes axonal plasticity in the acute but not chronic injured spinal cord

Previously, we reported that over-expression of neurotrophin-3 (NT-3) promoted sprouting of axons in the injured but not uninjured spinal cord, suggesting that processes associated with the injury such as Wallerian degeneration (WD) participated to induce the neuroplasticity. To determine whether NT-3-induced axonal sprouting depends upon processes associated with an acute injury, we uncoupled the injury and NT-3 over-expression in time. Rats were treated with a replicationdefective adenoviral vector carrying the NT-3 gene (Adv.NT-3) 2 weeks or 4 months after receiving a unilateral lesion of their corticospinal tract (CST). Adv.LacZ was used as a control vector. Morphometric analysis of axonal sprouting was performed to measure the number of CST axons that arise from the intact CST, traverse the midline, and grow into the gray matter of the lesioned side of the spinal cord where the NT-3 was over-expressed. The number of axons sprouting across the midline was greater in the rats treated with Adv.NT-3 than in the control groups when the Adv.NT-3 was delivered 2 weeks after injury. These axons persisted for at least 6 months after Adv.NT-3 delivery. In contrast, when Adv.NT-3 was delivered 4 months after lesion, there was no significant difference in the number of CST axons that crossed the midline compared to controls. Since the processes of WD would have resolved within 4 months after injury, these data demonstrate that products of WD are a potential source of the co-inducing signals that support neuroplasticity in the presence of NT-3.

A novel tracing algorithm for high throughput imaging Screening of neuron-based assays

High throughput neuron image processing is an important method for drug screening and quantitative neurobiological studies. The method usually includes detection of neurite structures, feature extraction, quantification, and statistical analysis. In this paper, we present a new algorithm for fast and automatic extraction of neurite structures in microscopy neuron images. The algorithm is based on novel methods for soma segmentation, seed point detection, recursive center-line detection, and 2D curve smoothing. The algorithm is fully automatic without any human interaction, and robust enough for usage on images with poor quality, such as those with low contrast or low signal-to-noise ratio. It is able to completely and accurately extract neurite segments in neuron images with highly complicated neurite structures. Robustness comes from the use of 2D smoothening techniques and the idea of center-line extraction by estimating the surrounding edges. Efficiency is achieved by processing only pixels that are close enough to the line structures, and by carefully chosen stopping conditions. These make the proposed approach suitable for demanding image processing tasks in high throughput screening of neuron-based assays. Detailed results on experimental validation of the proposed method and on its comparative performance with other proposed schemes are included.

Semi-automated quantification of axonal densities in labeled CNS tissue

Current techniques used to quantify axons often rely upon manual quantification or potentially expensive commercially available programs for automated quantification. We describe a computerized method for the detection and quantification of axons in the rat CNS using readily available free software. Feature J, a java-based plug-in to the imaging software NIH Image J, faithfully detects linear structures such as axons in confocal or bright-field images using a Hessian-based algorithm. We validated the method by comparing values obtained by manual and automated analyses of axons induced to grow in response to neurotrophin over-expression in the rat spinal cord. We also demonstrated that the program can be used to quantify neurotrophin-induced growth of lesioned serotonergic axons in the rat cortex, where manual measurement would be impractical due to dense axonal growth. The use of this software suite provided faster and less biased quantification of labeled axons in comparison to manual measurements at no cost.

Automatic segmentation and recognition of anatomical lung structures from high-resolution chest CT images

This paper describes a fully automated segmentation and recognition scheme, which is designed to recognize lung anatomical structures in the human chest by segmenting the different chest internal organ and tissue regions sequentially from high-resolution chest CT images. A sequential region-splitting process is used to segment lungs, airway of bronchus, lung lobes and fissures based on the anatomical structures and statistical intensity distributions in CT images. The performance of our scheme is evaluated by segmenting lung structures from high-resolution multi-slice chest CT images from 44 patients; the validity of our method was proved by preliminary experimental results.

Characterizing vascular connectivity from microCT images

X-ray microCT (computed tomography) has become a valuable tool in the analysis of vascular architecture in small animals. Because of its high resolution, a detailed assessment of blood vessel physiology and pathology is possible. Vascular measurement from noninvasive imaging is important for the study and quantification of vessel disease and can aid in diagnosis, as well as measure disease progression and response to therapy. The analysis of tracked vessel trajectories enables the derivation of vessel connectivity information, lengths between vessel junctions as well as level of ramification, contributing to a quantitative analysis of vessel architecture. In this paper, we introduce a new vessel tracking methodology based on wave propagation in oriented domains. Vessel orientation and vessel likelihood are estimated based on an eigenanalysis of gray-level Hessian matrices computed at multiple scales. An anisotropic wavefront then propagates through this vector field with a speed modulated by the maximum vesselness response at each location. Putative vessel trajectories can be found by tracing the characteristics of the propagation solution between different points. We present preliminary results from both synthetic and mouse microCT image data.

Cerebrovascular segmentation from TOF using stochastic models

In this paper, we present an automatic statistical approach for extracting 3D blood vessels from time-of-flight (TOF) magnetic resonance angiography (MRA) data. The voxels of the dataset are classified as either blood vessels or background noise. The observed volume data is modeled by two stochastic processes. The low level process characterizes the intensity distribution of the data, while the high level process characterizes their statistical dependence among neighboring voxels. The low level process of the background signal is modeled by a finite mixture of one Rayleigh and two normal distributions, while the blood vessels are modeled by one normal distribution. The parameters of the low level process are estimated using the expectation maximization (EM) algorithm. Since the convergence of the EM is sensitive to the initial estimate of the model parameters, an automatic method for parameter initialization, based on histogram analysis, is provided. To improve the quality of segmentation achieved by the proposed low level model especially in the regions of significantly vascular signal loss, the high level process is modeled as a Markov random field (MRF). Since MRF is sensitive to edges and the intracranial vessels represent roughly 5% of the intracranial volume, 2D MRF will destroy most of the small and medium sized vessels. Therefore, to reduce this limitation, we employed 3D MRF, whose parameters are estimated using the maximum pseudo likelihood estimator (MPLE), which converges to the true likelihood under large lattice. Our proposed model exhibits a good fit to the clinical data and is extensively tested on different synthetic vessel phantoms and several 2D/3D TOF datasets acquired from two different MRI scanners. Experimental results showed that the proposed model provides good quality of segmentation and is capable of delineating vessels down to 3 voxel diameters.

Reconstruction of coronary arteries from a single rotational X-ray projection sequence

Cardiovascular diseases remain the primary cause of death in developed countries. In most cases, exploration of possibly underlying coronary artery pathologies is performed using X-ray coronary angiography. Current clinical routine in coronary angiography is directly conducted in two-dimensional projection images from several static viewing angles. However, for diagnosis and treatment purposes, coronary artery reconstruction is highly suitable. The purpose of this study is to provide physicians with a three-dimensional (3-D) model of coronary arteries, e.g., for absolute 3-D measures for lesion assessment, instead of direct projective measures deduced from the images, which are highly dependent on the viewing angle. In this paper, we propose a novel method to reconstruct coronary arteries from one single rotational X-ray projection sequence. As a side result, we also obtain an estimation of the coronary artery motion. Our method consists of three main consecutive steps: 1) 3-D reconstruction of coronary artery centerlines, including respiratory motion compensation; 2) coronary artery four-dimensional motion computation; 3) 3-D tomographic reconstruction of coronary arteries, involving compensation for respiratory and cardiac motions. We present some experiments on clinical datasets, and the feasibility of a true 3-D Quantitative Coronary Analysis is demonstrated.

Magnetic resonance angiography: From anatomical knowledge modeling to vessel segmentation

Magnetic resonance angiography (MRA) has become a common way to study cerebral vascular structures. Indeed, it enables to obtain information on flowing blood in a totally non-invasive and non-irradiant fashion. MRA exams are generally performed for three main applications: detection of vascular pathologies, neurosurgery planning, and vascular landmark detection for brain functional analysis. This large field of applications justifies the necessity to provide efficient vessel segmentation tools. Several methods have been proposed during the last fifteen years. However, the obtained results are still not fully satisfying. A solution to improve brain vessel segmentation from MRA data could consist in integrating high-level a priori knowledge in the segmentation process. A preliminary attempt to integrate such knowledge is proposed here. It is composed of two methods devoted to phase contrast MRA (PC MRA) data. The first method is a cerebral vascular atlas creation process, composed of three steps: knowledge extraction, registration, and data fusion. Knowledge extraction is performed using a vessel size determination algorithm based on skeletonization, while a topology preserving non-rigid registration method is used to fuse the information into the atlas. The second method is a segmentation process involving adaptive sets of gray-level hit-or-miss operators. It uses anatomical knowledge modeled by the cerebral vascular atlas to adapt the parameters of these operators (number, size, and orientation) to the searched vascular structures. These two methods have been tested by creating an atlas from a 18 MRA database, and by using it to segment 30 MRA images, comparing the results to those obtained from a region-growing segmentation method.

Computer analysis of computed tomography scans of the lung: a survey

Current computed tomography (CT) technology allows for near isotropic, submillimeter resolution acquisition of the complete chest in a single breath hold. These thin-slice chest scans have become indispensable in thoracic radiology, but have also substantially increased the data load for radiologists. Automating the analysis of such data is, therefore, a necessity and this has created a rapidly developing research area in medical imaging. This paper presents a review of the literature on computer analysis of the lungs in CT scans and addresses segmentation of various pulmonary structures, registration of chest scans, and applications aimed at detection, classification and quantification of chest abnormalities. In addition, research trends and challenges are identified and directions for future research are discussed.

2D-3D registration of coronary angiograms for cardiac procedure planning and guidance

We present a completely automated 2D-3D registration technique that accurately maps a patient-specific heart model, created from preoperative images, to the patient's orientation in the operating room. This mapping is based on the registration of preoperatively acquired 3D vascular data with intraoperatively acquired angiograms. Registration using both single and dual-plane angiograms is explored using simulated but realistic datasets that were created from clinical images. Heart deformations and cardiac phase mismatches are taken into account in our validation using a digital 4D human heart model. In an ideal situation where the pre- and intraoperative images were acquired at identical time points within the cardiac cycle, the single-plane and the dual-plane registrations resulted in 3D root-mean-square (rms) errors of 1.60 +/- 0.21 and 0.53 +/- 0.08 mm, respectively. When a 10% timing offset was added between the pre- and the intraoperative acquisitions, the single-plane registration approach resulted in inaccurate registrations in the out-of-plane axis, whereas the dual-plane registration exhibited a 98% success rate with a 3D rms error of 1.33 +/- 0.28 mm. When all potential sources of error were included, namely, the anatomical background, timing offset, and typical errors in the vascular tree reconstruction, the dual-plane registration performed at 94% with an accuracy of 2.19 +/- 0.77 mm.

Computer-aided diagnosis scheme using a filter bank for detection of microcalcification clusters in mammograms

Mammography is considered the most effective method for early detection of breast cancers. However, it is difficult for radiologists to detect microcalcification clusters. Therefore, we have developed a computerized scheme for detecting early-stage microcalcification clusters in mammograms. We first developed a novel filter bank based on the concept of the Hessian matrix for classifying nodular structures and linear structures. The mammogram images were decomposed into several subimages for second difference at scales from 1 to 4 by this filter bank. The subimages for the nodular component (NC) and the subimages for the nodular and linear component (NLC) were then obtained from analysis of the Hessian matrix. Many regions of interest (ROIs) were selected from the mammogram image. In each ROI, eight features were determined from the subimages for NC at scales from 1 to 4 and the subimages for NLC at scales from 1 to 4. The Bayes discriminant function was employed for distinguishing among abnormal ROIs with a microcalcification cluster and two different types of normal ROIs without a microcalcification cluster. We evaluated the detection performance by using 600 mammograms. Our computerized scheme was shown to have the potential to detect microcalcification clusters with a clinically acceptable sensitivity and low false positives.

Automated image analysis methods for 3-D quantification of the neurovascular unit from multichannel confocal microscope images

BACKGROUND

There is a need for integrative and quantitative methods to investigate the structural and functional relations among elements of complex systems, such as the neurovascular unit (NVU), that involve multiple cell types, microvasculatures, and various genomic/proteomic/ionic functional entities.

METHODS

Vascular casting and selective labeling enabled simultaneous three-dimensional imaging of the microvasculature, cell nuclei, and cytoplasmic stains. Multidimensional segmentation was achieved by (i) bleed-through removal and attenuation correction; (ii) independent segmentation and morphometry for each corrected channel; and (iii) spatially associative feature computation across channels. The combined measurements enabled cell classification based on nuclear morphometry, cytoplasmic signals, and distance from vascular elements. Specific spatial relations among the NVU elements could be quantified.

RESULTS

A software system combining nuclear and vessel segmentation codes and associative features was constructed and validated. Biological variability contributed to misidentified nuclei (9.3%), undersegmentation of nuclei (3.7%), hypersegmentation of nuclei (14%), and missed nuclei (4.7%). Microvessel segmentation errors occurred rarely, mainly due to nonuniform lumen staining.

CONCLUSIONS

Associative features across fluorescence channels, in combination with standard features, enable integrative structural and functional analysis of the NVU. By labeling additional structural and functional entities, this method can be scaled up to larger-scale systems biology studies that integrate spatial and molecular information.

Thin structure segmentation and visualization in three-dimensional biomedical images: a shape-based approach

This paper presents a shape-based approach in extracting thin structures, such as lines and sheets, from three-dimensional (3D) biomedical images. Of particular interest is the capability to recover cellular structures, such as microtubule spindle fibers and plasma membranes, from laser scanning confocal microscopic (LSCM) data. Hessian-based shape methods are reviewed. A synthesized linear structure is used to evaluate the sensitivity of the multiscale filtering approach in extracting closely positioned fibers. We find that the multiscale approach tends to fuse lines together, which makes it unsuitable for visualizing mouse egg spindle fibers. Single-scale Gaussian filters, balanced between sensitivity and noise resistance, are adopted instead. In addition, through an ellipsoidal Gaussian model, the eigenvalues of the Hessian matrix are quantitatively associated with the standard deviations of the Gaussian model. Existing shape filters are simplified and applied to LSCM data. A significant improvement in extracting closely positioned thin lines is demonstrated by the resultant images. Further, the direct association of shape models and eigenvalues makes the processed images more understandable qualitatively and quantitatively.

Multimodal and three-dimensional imaging of prostate cancer

Accurate characterization of prostate cancer is crucial for treatment planning and patient management. Non-invasive SPECT imaging using a radiolabeled monoclonal antibody, 111In-labeled capromab pendetide, offers advantage over existing means for prostate cancer diagnosis and staging. However, there are difficulties associated with the interpretation of these SPECT images. In this study, we developed a 3D surface-volume hybrid rendering method that utilizes multi-modality image data to facilitate diagnosis of prostate cancer. SPECT and CT or MRI (or both) images were aligned either manually or automatically. 3D hybrid rendering was implemented to blend prostate tumor distribution from SPECT in pelvis with anatomic structures from CT/MRI. Feature extraction technique was also implemented within the hybrid rendering for tumor uptake enhancement. Autoradiographic imaging and histological evaluation were performed to correlate with the in-vivo SPECT images. Warping registration of histological sections was carried out to compensate the deformation of histology slices during fixation to help the alignment between histology and in-vivo images. Overall, the rendered volumetric evaluation of prostate cancer has the potential to greatly increase the confidence in the reading of radiolabeled monoclonal antibody scans, especially in patients where there is a high suspicion of prostate tumor metastasis.

In situ expression of brain-derived neurotrophic factor or neurotrophin-3 promotes sprouting of cortical serotonergic axons following a neurotoxic lesion

Neurotrophins promote sprouting and elongation of central nervous system (CNS) axons following injury. Consequently, it has been suggested that neurotrophins could be used to repair the CNS by inducing axonal sprouting from nearby intact axons, thereby compensating for the loss of recently injured axons. We tested whether long-term overexpression of neurotrophins in the rat cortex would induce sprouting of cortical serotonergic axons following a neurotoxic injury. After a single subcutaneous injection of para-chloroamphetamine (PCA; 9 mg/ml) that lesions the majority of serotonergic axons in the rat cortex, we injected adenoviral vectors containing cDNAs for brain-derived neurotrophic factor (Adv.BDNF), neurotrophin-3 (Adv.NT-3), or nerve growth factor (Adv.NGF) into the rat frontal cortex. Nine days later, we measured significant increases in the concentration of the respective neurotrophins surrounding the vector injection sites, as measured by ELISA. Immunohistochemical localization of serotonin revealed a fourfold increase in the density of serotonergic fibers surrounding the injection sites of Adv.BDNF and Adv.NT-3, corresponding to a 50% increase in cortical serotonin concentration, compared with a control vector containing the cDNA for enhanced green fluorescent protein (Adv.EGFP). In contrast, there was no difference in serotonergic fiber density or cortical serotonin concentration surrounding the injection of Adv.NGF compared with Adv.EGFP. These data demonstrate that localized overexpression of BDNF or NT-3, but not NGF, is sufficient to promote sprouting of serotonergic axons in the cortex following an experimental neurotoxic injury.

Bayesian image segmentation using local iso-intensity structural orientation

Image segmentation is a fundamental problem in early computer vision. In segmentation of flat shaded, nontextured objects in real-world images, objects are usually assumed to be piecewise homogeneous. This assumption, however, is not always valid with images such as medical images. As a result, any techniques based on this assumption may produce less-than-satisfactory image segmentation. In this work, we relax the piecewise homogeneous assumption. By assuming that the intensity nonuniformity is smooth in the imaged objects, a novel algorithm that exploits the coherence in the intensity profile to segment objects is proposed. The algorithm uses a novel smoothness prior to improve the quality of image segmentation. The formulation of the prior is based on the coherence of the local structural orientation in the image. The segmentation process is performed in a Bayesian framework. Local structural orientation estimation is obtained with an orientation tensor. Comparisons between the conventional Hessian matrix and the orientation tensor have been conducted. The experimental results on the synthetic images and the real-world images have indicated that our novel segmentation algorithm produces better segmentations than both the global thresholding with the maximum likelihood estimation and the algorithm with the multilevel logistic MRF model.

Evaluation of an improved technique for automated center lumen line definition in cardiovascular image data

The aim of the study was to evaluate a new method for automated definition of a center lumen line in vessels in cardiovascular image data. This method, called VAMPIRE, is based on improved detection of vessel-like structures. A multiobserver evaluation study was conducted involving 40 tracings in clinical CTA data of carotid arteries to compare VAMPIRE with an established technique. This comparison showed that VAMPIRE yields considerably more successful tracings and improved handling of stenosis, calcifications, multiple vessels, and nearby bone structures. We conclude that VAMPIRE is highly suitable for automated definition of center lumen lines in vessels in cardiovascular image data.

Region-growing segmentation of brain vessels: an atlas-based automatic approach

PURPOSE

To propose an atlas-based method that uses both phase and magnitude images to integrate anatomical information in order to improve the segmentation of blood vessels in cerebral phase-contrast magnetic resonance angiography (PC-MRA).

MATERIAL AND METHODS

An atlas of the whole head was developed to store the anatomical information. The atlas divides a magnitude image into several vascular areas, each of which has specific vessel properties. It can be applied to any magnitude image of an entire or nearly entire head by deformable matching, which helps to segment blood vessels from the associated phase image. The segmentation method used afterwards consists of a topology-preserving, region-growing algorithm that uses adaptive threshold values depending on the current region of the atlas. This algorithm builds the arterial and venous trees by iteratively adding voxels that are selected according to their grayscale value and the variation of values in their neighborhood. The topology preservation is guaranteed because only simple points are selected during the growing process.

RESULTS

The method was performed on 40 PC-MRA images of the brain. The results were validated using maximum-intensity projection (MIP) and three-dimensional surface rendering visualization, and compared with results obtained with two non-atlas-based methods.

CONCLUSION

The results show that the proposed method significantly improves the segmentation of cerebral vascular structures from PC-MRA. These experiments tend to prove that the use of vascular atlases is an effective way to optimize vessel segmentation of cerebral images.

Analyzing attributes of vessel populations

Almost all diseases affect blood vessel attributes (vessel number, radius, tortuosity, and branching pattern). Quantitative measurement of vessel attributes over relevant vessel populations could thus provide an important means of diagnosing and staging disease. Unfortunately, little is known about the statistical properties of vessel attributes. In particular, it is unclear whether vessel attributes fit a Gaussian distribution, how dependent these values are upon anatomical location, and how best to represent the attribute values of the multiple vessels comprising a population of interest in a single patient. The purpose of this report is to explore the distributions of several vessel attributes over vessel populations located in different parts of the head. In 13 healthy subjects, we extract vessels from MRA data, define vessel trees comprising the anterior cerebral, right and left middle cerebral, and posterior cerebral circulations, and, for each of these four populations, analyze the vessel number, average radius, branching frequency, and tortuosity. For the parameters analyzed, we conclude that statistical methods employing summary measures for each attribute within each region of interest for each patient are preferable to methods that deal with individual vessels, that the distributions of the summary measures are indeed Gaussian, and that attribute values may differ by anatomical location. These results should be useful in designing studies that compare patients with suspected disease to a database of healthy subjects and are relevant to groups interested in atlas formation and in the statistics of tubular objects.

Vessel tree reconstruction in thoracic CT scans with application to nodule detection

Vessel tree reconstruction in volumetric data is a necessary prerequisite in various medical imaging applications. Specifically, when considering the application of automated lung nodule detection in thoracic computed tomography (CT) scans, vessel trees can be used to resolve local ambiguities based on global considerations and so improve the performance of nodule detection algorithms. In this study, a novel approach to vessel tree reconstruction and its application to nodule detection in thoracic CT scans was developed by using correlation-based enhancement filters and a fuzzy shape representation of the data. The proposed correlation-based enhancement filters depend on first-order partial derivatives and so are less sensitive to noise compared with Hessian-based filters. Additionally, multiple sets of eigenvalues are used so that a distinction between nodules and vessel junctions becomes possible. The proposed fuzzy shape representation is based on regulated morphological operations that are less sensitive to noise. Consequently, the vessel tree reconstruction algorithm can accommodate vessel bifurcation and discontinuities. A quantitative performance evaluation of the enhancement filters and of the vessel tree reconstruction algorithm was performed. Moreover, the proposed vessel tree reconstruction algorithm reduced the number of false positives generated by an existing nodule detection algorithm by 38%.

New methods for the computer-assisted 3-D reconstruction of neurons from confocal image stacks

Exact geometrical reconstructions of neuronal architecture are indispensable for the investigation of neuronal function. Neuronal shape is important for the wiring of networks, and dendritic architecture strongly affects neuronal integration and firing properties as demonstrated by modeling approaches. Confocal microscopy allows to scan neurons with submicron resolution. However, it is still a tedious task to reconstruct complex dendritic trees with fine structures just above voxel resolution. We present a framework assisting the reconstruction. User time investment is strongly reduced by automatic methods, which fit a skeleton and a surface to the data, while the user can interact and thus keeps full control to ensure a high quality reconstruction. The reconstruction process composes a successive gain of metric parameters. First, a structural description of the neuron is built, including the topology and the exact dendritic lengths and diameters. We use generalized cylinders with circular cross sections. The user provides a rough initialization by marking the branching points. The axes and radii are fitted to the data by minimizing an energy functional, which is regularized by a smoothness constraint. The investigation of proximity to other structures throughout dendritic trees requires a precise surface reconstruction. In order to achieve accuracy of 0.1 microm and below, we additionally implemented a segmentation algorithm based on geodesic active contours that allow for arbitrary cross sections and uses locally adapted thresholds. In summary, this new reconstruction tool saves time and increases quality as compared to other methods, which have previously been applied to real neurons.

Multiscale Vessel Enhancing Diffusion in CT Angiography Noise Filtering

Filtering of vessel structures in medical images by analyzing the second order information or the Hessian of the image, is a well known technique. In this work we incorporate Frangi's multiscale vessel filter, which is based on a geometrical analysis of the Hessian' eigenvectors, into a nonlinear, anisotropic diffusion scheme, such that diffusion mainly takes place along the vessel axis while diffusion perpendicular to this axis is inhibited. The multiscale character of the vesselness filter ensures an equally good response for varying vessel radii. The first, theoretical contribution of this paper is the modification of the original formulation of this vessel filter, such that it becomes a smooth function on its domain which is a necessary condition imposed by the diffusion process to ensure well-posedness. The second contribution concerns the application of noise filtering of 3D synthetic, phantom computed tomography (CT) and patient CT data. It is shown that the method is very effective in noise filtering, illustrating its potential as a preprocessing step in the analysis of low dose CT angiography.

Bone enhancement filtering: application to sinus bone segmentation and simulation of pituitary surgery

We present a novel multi-scale bone enhancement measure that can be used to drive a geometric flow to segment bone structures. This measure has the essential properties to be incorporated in the computation of anatomical models for the simulation of pituitary surgery, enabling it to better account for the presence of sinus bones. We present synthetic examples that validate our approach and show a comparison between existing segmentation techniques of paranasal sinus CT data.

3D tomographic reconstruction of coronary arteries using a precomputed 4D motion field

In this paper, we present a new method to perform 3D tomographic reconstruction of coronary arteries from cone-beam rotational x-ray angiography acquisitions. We take advantage of the precomputation of the coronary artery motion, modelled as a parametric 4D motion field. Contrary to data gating or data triggering approaches, we homogeneously use all available frames, independently of the cardiac phase. In addition, we artificially subtract angiograms from their background structures. Our method significantly improves the reconstruction, by removing both motion and background artefacts. We have successfully tested it on the datasets from a synthetic phantom and 10 patients.

Depth-map-based scene analysis for active navigation in virtual angioscopy

This paper presents a new approach dealing with virtual exploratory navigation inside vascular structures. It is based on the notion of active vision in which only visual perception drives the motion of the virtual angioscope. The proposed fly-through approach does not require a premodeling of the volume dataset or an interactive control of the virtual sensor during the fly-through. Active navigation combines the on-line computation of the scene view and its analysis, to automatically define the three-dimensional sensor path. The navigation environment and the camera-like model are first sketched. The basic stages of the active navigation framework are then described: the virtual image computation (based on ray casting), the scene analysis process (using depth map), the navigation strategy, and the virtual path estimation. Experimental results obtained from phantom model and patient computed tomography data are finally reported.

Quantifying 3-D vascular structures in MRA images using hybrid PDE and geometric deformable models

The aim of this paper is to present a hybrid approach to accurate quantification of vascular structures from magnetic resonance angiography (MRA) images using level set methods and deformable geometric models constructed with 3-D Delaunay triangulation. Multiple scale filtering based on the analysis of local intensity structure using the Hessian matrix is used to effectively enhance vessel structures with various diameters. The level set method is then applied to automatically segment vessels enhanced by the filtering with a speed function derived from enhanced MRA images. Since the goal of this paper is to obtain highly accurate vessel borders, suitable for use in fluid flow simulations, in a subsequent step, the vessel surface determined by the level set method is triangulated using 3-D Delaunay triangulation and the resulting surface is used as a parametric deformable model. Energy minimization is then performed within a variational setting with a first-order internal energy; the external energy is derived from 3-D image gradients. Using the proposed method, vessels are accurately segmented from MRA data.

A review on MR vascular image processing algorithms: acquisition and prefiltering: part I

Vascular segmentation has recently been given much attention. This review paper has two parts. Part I focuses on the physics of magnetic resonance angiography (MRA) generation and prefiltering techniques applied to MRA data sets. Part II of the review focuses on the vessel segmentation algorithms. The first section of this paper introduces the five different sets of receive coils used with the MRI system for magnetic resonance angiography data acquisition. This section then presents the five different types of the most popular data acquisition techniques: time-of-flight (TOF), phase-contrast, contrast-enhanced, black-blood, T2-weighted, and T2*-weighted, along with their pros and cons. Section II of this paper focuses on prefiltering algorithms for MRA data sets. This is necessary for removing the background nonvascular structures in the MRA data sets. Finally, the paper concludes with a clinical discussion on the challenges and the future of the data acquisition and the automated filtering algorithms.

Intracranial vessel segmentation from time-of-flight MRA using pre-processing of the MIP Z-buffer: accuracy of the ZBS algorithm

We evaluate the accuracy of a vascular segmentation algorithm which uses continuity in the maximum intensity projection (MIP) depth Z-buffer as a pre-processing step to generate a list of 3D seed points for further segmentation. We refer to the algorithm as Z-buffer segmentation (ZBS). The pre-processing of the MIP Z-buffer is based on smoothness measured using the minimum chi-square value of a least square fit. Points in the Z-buffer with chi-square values below a selected threshold are used as seed points for 3D region growing. The ZBS algorithm couples spatial continuity information with intensity information to create a simple yet accurate segmentation algorithm. We examine the dependence of the segmentation on various parameters of the algorithm. Performance is assessed in terms of the inclusion/exclusion of vessel/background voxels in the segmentation of intracranial time-of-flight MRA images. The evaluation is based on 490,256 voxels from 14 patients which were classified by an observer. ZBS performance was compared to simple thresholding and to segmentation based on vessel enhancement filtering. The ZBS segmentation was only weakly dependent on the parameters of the initial MIP image generation, indicating the robustness of this approach. Region growing based on Z-buffer generated seeds was advantageous compared to simple thresholding. The ZBS algorithm provided segmentation accuracies similar to that obtained with the vessel enhancement filter. The ZBS performance was notably better than the filter based segmentation for aneurysms where the assumptions of the filter were violated. As currently implemented the algorithm slightly under-segments the intracranial vasculature.

Design and validation of a tool for neurite tracing and analysis in fluorescence microscopy images

BACKGROUND

For the investigation of the molecular mechanisms involved in neurite outgrowth and differentiation, accurate and reproducible segmentation and quantification of neuronal processes are a prerequisite. To facilitate this task, we developed a semiautomatic neurite tracing technique. This article describes the design and validation of the technique.

METHODS

The technique was compared to fully manual delineation. Four observers repeatedly traced selected neurites in 20 fluorescence microscopy images of cells in culture, using both methods. Accuracy and reproducibility were determined by comparing the tracings to high-resolution reference tracings, using two error measures. Labor intensiveness was measured in numbers of mouse clicks required. The significance of the results was determined by a Student t-test and by analysis of variance.

RESULTS

Both methods slightly underestimated the true neurite length, but the differences were not unanimously significant. The average deviation from the true neurite centerline was a factor 2.6 smaller with the developed technique compared to fully manual tracing. Intraobserver variability in the respective measures was reduced by a factor 6.0 and 23.2. Interobserver variability was reduced by a factor 2.4 and 8.8, respectively, and labor intensiveness by a factor 3.3.

CONCLUSIONS

Providing similar accuracy in measuring neurite length, significantly improved accuracy in neurite centerline extraction, and significantly improved reproducibility and reduced labor intensiveness, the developed technique may replace fully manual tracing methods.

Segmentation of vessels from mammograms using a deformable model

Vessel extraction is a fundamental step in certain medical imaging applications such as angiograms. Different methods are available to segment vessels in medical images, but they are not fully automated (initial vessel points are required) or they are very sensitive to noise in the image. Unfortunately, the presence of noise, the variability of the background, and the low and varying contrast of vessels in many imaging modalities such as mammograms, makes it quite difficult to obtain reliable fully automatic or even semi-automatic vessel detection procedures. In this paper a fully automatic algorithm for the extraction of vessels in noisy medical images is presented and validated for mammograms. The main issue in this research is the negative influence of noise on segmentation algorithms. A two-stage procedure was designed for noise reduction. First, a global approach phase including edge detection and thresholding is applied. Then, the local approach phase performs vessel segmentation using a deformable model with a new energy term that reduces the noise still remaining in the image from the first stage. Experimental results on mammograms show that this method has an excellent performance level in terms of accuracy, sensitivity, and specificity. The computation time also makes it suitable for real-time applications within a clinical environment.

Diagnostic fidelity of the Z-buffer segmentation algorithm: preliminary assessment based on intracranial aneurysm detection

We have developed an algorithm known as the Z-buffer segmentation (ZBS) algorithm for segmenting vascular structures from 3D MRA images. Previously we evaluated the accuracy of the ZBS algorithm on a voxel level in terms of inclusion and exclusion of vascular and background voxels. In this paper we evaluate the diagnostic fidelity of the ZBS algorithm. By diagnostic fidelity we mean that the data preserves the structural information necessary for diagnostic evaluation. This evaluation is necessary to establish the potential usefulness of the segmentation for improved image display, or whether the segmented data could form the basis of a computerized analysis tool. We assessed diagnostic fidelity by measuring how well human observers could detect aneurysms in the segmented data sets. ZBS segmentation of 30 MRA cases containing 29 aneurysms was performed. Image display used densitometric reprojections with shaded surface highlighting that were generated from the segmented data. Three neuroradiologists independently reviewed the generated ZBS images for aneurysms. The observers had 80% sensitivity (90% for aneurysms larger than 2mm) with 0.13 false positives per image. Good agreement with the gold standard for describing aneurysm size and orientation was shown. These preliminary results suggest that the segmentation has diagnostic fidelity with the original data and may be useful for improved visualization or automated analysis of the vasculature.

Multiscale vessel tracking

A method is presented that uses a vectorial multiscale feature image for wave front propagation between two or more user defined points to retrieve the central axis of tubular objects in digital images. Its implicit scale selection mechanism makes the method more robust to overlap and to the presence of adjacent structures than conventional techniques that propagate a wave front over a scalar image representing the maximum of a range of filters. The method is shown to retain its potential to cope with severe stenoses or imaging artifacts and objects with varying widths in simulated and actual two-dimensional angiographic images.

Endpoint localization in guide wire tracking during endovascular interventions1

RATIONALE AND OBJECTIVES

A method is presented to track guide wires during endovascular interventions under X-ray fluoroscopy. Accurate guide wire tracking can be used to improve guide wire visualization in the low quality fluoroscopic images, and to estimate the position of the guide wire in world coordinates for navigation purposes.

MATERIALS AND METHODS

A two-step procedure is used to track the guide wire in subsequent frames. First, the position of the guide wire is obtained by fitting a spline to the image. Subsequently, the spline is iteratively moved toward the tip of the guide wire for accurate tip localization. For both steps, a feature image is used in which line-like structures are enhanced. The method is validated using a reference standard, obtained by manual tracings of three observers.

RESULTS

The method is evaluated on 20 image sequences, 10 sequences with a J-tipped guide wire and 10 with a straight guide wire. The tracking success was 96% for J-tipped and 100% for straight guide wires, whereas accurate endpoint localization could be performed in 91.3% and 94.4% of the frames respectively, with a tip localization error of less than 1.5 mm.

CONCLUSIONS

Accurate endpoint localization can be performed for both J-tipped and straight guide wires and therefore the presented tracking method can be used for navigation purposes.

Snake modeling and distance transform approach to vascular centerline extraction and quantification

A new method for fully automated centerline extraction and quantification of microvascular structures in confocal microscopy (CM) images is presented. Our method uses the idea of active contour models as well as path planning and distance transforms for the three-dimensional centerline extraction of elongated objects such as vessels. The proposed approach is especially efficient for centerline extraction of complex branching structures. The method performance is validated in several CM images of both normal and stroked rat brains as well as simulated objects. The results confirm the efficiency of the proposed method in extracting the medial curve of vessels, which is essential for the computation of quantitative parameters.

Limits on the accuracy of 3-D thickness measurement in magnetic resonance images--effects of voxel anisotropy

Measuring the thickness of sheet-like thin anatomical structures, such as articular cartilage and brain cortex, in three-dimensional (3-D) magnetic resonance (MR) images is an important diagnostic procedure. This paper investigates the fundamental limits on the accuracy of thickness determination in MR images. We defined thickness here as the distance between the two sides of boundaries measured at the subvoxel resolution, which are the zero-crossings of the second directional derivatives combined with Gaussian blurring along the normal directions of the sheet surface. Based on MR imaging and computer postprocessing parameters, characteristics for the accuracy of thickness determination were derived by a theoretical simulation. We especially focused on the effects of voxel anisotropy in MR imaging with variable orientation of sheet-like structure. Improved and stable accuracy features were observed when the standard deviation of Gaussian blurring combined with thickness determination processes was around square root of 2/2 times as large as the pixel size. The relation between voxel anisotropy in MR imaging and the range of sheet normal orientation within which acceptable accuracy is attainable was also clarified, based on the dependences of voxel anisotropy and the sheet normal orientation obtained by numerical simulations. Finally, in vitro experiments were conducted using an acrylic plate phantom and a resected femoral head to validate the results of theoretical simulation. The simulated thickness was demonstrated to be well-correlated with the actual in vitro thickness.

Automated tracing and change analysis of angiogenic vasculature from in vivo multiphoton confocal image time series

Automated methods are described for tracing and analysis of changes in angiogenic vasculature imaged by a multiphoton laser-scanning confocal microscope. Utilizing chronic animal window models, time series of in vivo 3-D images were acquired on approximately the same target volume of the same specimen while undergoing angiogenic change (typically every 24 h for 7 days). Objective, precise, 3-D, rapid, and fully automated vessel morphometry was performed using an adaptive tracing algorithm that is based on a generalized irregular cylinder model of the vasculature. This algorithm was found to be not only adaptive enough for tracing angiogenic vasculature, but also very efficient in its use of computer memory, and fast, taking less than 1 min to trace a 768 x 512 x 32, 8-bit/pixel 3-D image stack on a Dell Pentium III 1-GHz computer. The automatically traced centerlines were manually validated on six image stacks and the average spatial error was measured to be 2 pixels, with an average concordance of 81% between manual and automated traces on a voxel basis. The tracing output includes geometrical statistics of traced vasculature and serves as the basis of statistical change analysis. The computer methods described here are designed to be scalable to much larger hypothesis testing studies involving quantitative measurements of tumor angiogenesis, gene expression relative to known vascular structures, and impact of drug delivery.