Utility and validation of biomechanical deformable image registration in low-contrast images

Deformable image registration for composite planned doses during adaptive radiation therapy

INTRODUCTION

Some patients have significant anatomic changes during radiotherapy, necessitating an adaptive repeat CT-simulation and re-planning. This yields two unique planning datasets that introduce uncertainty into total dose records. This study explored the impact of using deformable image registration (DIR) to spatially align repeat CT-simulation images and calculate total planned dose distributions.

MATERIALS & METHODS

Data from 5 head-and-neck, 5 lung, and 5 sarcoma patients who had unanticipated re-planning during radiotherapy were analyzed in a treatment planning system (RayStation v6.1 RaySearch Laboratories). Total planned doses to normal tissues were calculated using two methods and the previously generated manual contours defined on each CT. The first method, termed 'parameter addition', simply sums the relevant DVH metrics from the initial and re-planned distributions without spatially registering the CTs. The second, termed 'dose accumulation', uses a validated hybrid contour/intensity-based DIR algorithm to deform initial CT and dose distribution onto the repeat CT and re-planning dose distribution. DVH metrics from the summed distribution on the repeat CT are then calculated. Dose differences for organs-at-risk between parameter addition and dose accumulation ≥100 cGy were assumed to be clinically relevant. To elucidate whether relevant differences were due to registration accuracy or contouring variability between CTs, the analysis was repeated using contours on the first CT and the same contours deformed to the repeat CT with DIR.

RESULTS

For all patients, high overall DIR accuracy was verified visually (qualitatively) and numerically (quantitatively) using image similarity and contour-based metrics. All head-and-neck and lung patients, and one sarcoma patient (11 of 15 total) had dose differences between parameter addition and dose accumulation ≥100 cGy, with absolute mean differences of 160 cGy (range 101-436 cGy) seen in 41 of 205 total DVH criteria. In 22 of these 41 criteria, these differences were attributed to contouring variability between CTs. After correcting for contouring variations using DIR, the mean absolute differences in 7 of these 22 criteria with a relevant result (across 6 patients) was 146 cGy (range 100-502 cGy). In only 4 DVH criteria, the DIR mapped contours had higher variations than the original contours. One lung patient had a DVH criteria exceeding the clinical dose constraint by 125 cGy with parameter addition, and with accurate DIR and dose accumulation, the criteria was actually 97 cGy lower than the constraint.

CONCLUSIONS

The use of DIR to generate total planned dose records revealed substantial dose differences in most cases compared to commonly used clinical methods (i.e. parameter addition), and altered the planned acceptance criteria in a minority. DIR is recommended to be used for future adaptive re-plans to generate total planned dose records and facilitate accurate re-contouring. More accurate dose records may also improve our understanding of clinical outcomes.

Artificial intelligence-based automated segmentation and radiotherapy dose mapping for thoracic normal tissues

Background and purpose

Objective assessment of delivered radiotherapy (RT) to thoracic organs requires fast and accurate deformable dose mapping. The aim of this study was to implement and evaluate an artificial intelligence (AI) deformable image registration (DIR) and organ segmentation-based AI dose mapping (AIDA) applied to the esophagus and the heart.

Materials and methods

AIDA metrics were calculated for 72 locally advanced non-small cell lung cancer patients treated with concurrent chemo-RT to 60 Gy in 2 Gy fractions in an automated pipeline. The pipeline steps were: (i) automated rigid alignment and cropping of planning CT to week 1 and week 2 cone-beam CT (CBCT) field-of-views, (ii) AI segmentation on CBCTs, and (iii) AI-DIR-based dose mapping to compute dose metrics. AIDA dose metrics were compared to the planned dose and manual contour dose mapping (manual DA).

Results

AIDA required ∼2 min/patient. Esophagus and heart segmentations were generated with a mean Dice similarity coefficient (DSC) of 0.80±0.15 and 0.94±0.05, a Hausdorff distance at 95th percentile (HD95) of 3.9±3.4 mm and 14.1±8.3 mm, respectively. AIDA heart dose was significantly lower than the planned heart dose (p = 0.04). Larger dose deviations (>=1Gy) were more frequently observed between AIDA and the planned dose (N = 26) than with manual DA (N = 6).

Conclusions

Rapid estimation of RT dose to thoracic tissues from CBCT is feasible with AIDA. AIDA-derived metrics and segmentations were similar to manual DA, thus motivating the use of AIDA for RT applications.

Review and recommendations on deformable image registration uncertainties for radiotherapy applications

Deformable image registration (DIR) is a versatile tool used in many applications in radiotherapy (RT). DIR algorithms have been implemented in many commercial treatment planning systems providing accessible and easy-to-use solutions. However, the geometric uncertainty of DIR can be large and difficult to quantify, resulting in barriers to clinical practice. Currently, there is no agreement in the RT community on how to quantify these uncertainties and determine thresholds that distinguish a good DIR result from a poor one. This review summarises the current literature on sources of DIR uncertainties and their impact on RT applications. Recommendations are provided on how to handle these uncertainties for patient-specific use, commissioning, and research. Recommendations are also provided for developers and vendors to help users to understand DIR uncertainties and make the application of DIR in RT safer and more reliable.

Liver SBRT dose accumulation to assess the impact of anatomic variations on normal tissue doses and toxicity in patients treated with concurrent sorafenib

BACKGROUND AND PURPOSE

Unexpected liver volume reductions occurred during trials of liver SBRT and concurrent sorafenib. The aims were to accumulate liver SBRT doses to assess the impact of these anatomic variations on normal tissue dose parameters and toxicity.

MATERIALS AND METHODS

Thirty-two patients with hepatocellular carcinoma (HCC) or metastases treated on trials of liver SBRT (30-57 Gy, 6 fractions) and concurrent sorafenib were analyzed. SBRT doses were accumulated using biomechanical deformable registration of daily cone-beam CT. Dose deviations (accumulated-planned) for normal tissues were compared for patients with liver volume reductions > 100 cc versus stable volumes, and accumulated doses were reported for three patients with grade 3-5 luminal gastrointestinal toxicities.

RESULTS

Patients with reduced (N = 12) liver volumes had larger mean deviations of 0.4-1.3 Gy in normal tissues, versus -0.2-0.4 Gy for stable cases (N = 20), P > 0.05. Deviations > 5% of the prescribed dose occurred in both groups. Two HCC patients with toxicities to small and large bowel had liver volume reductions and deviations to the maximum dose of 4% (accumulated 36.9 Gy) and 3% (accumulated 33.4 Gy) to these organs respectively. Another HCC patient with a toxicity of unknown location plus tumor rupture, had stable liver volumes and deviations to luminal organs of -6% to 4.5% (accumulated < 30.5 Gy).

CONCLUSION

Liver volume reductions during SBRT and concurrent sorafenib were associated with larger increases in accumulated dose to normal tissues versus stable liver volumes. These dosimetric changes may have further contributed to toxicities in HCC patients who have higher baseline risks.

Optimization of mesh generation for geometric accuracy, robustness, and efficiency of biomechanical-model-based deformable image registration

BACKGROUND

Successful generation of biomechanical-model-based deformable image registration (BM-DIR) relies on user-defined parameters that dictate surface mesh quality. The trial-and-error process to determine the optimal parameters can be labor-intensive and hinder DIR efficiency and clinical workflow.

PURPOSE

To identify optimal parameters in surface mesh generation as boundary conditions for a BM-DIR in longitudinal liver and lung CT images to facilitate streamlined image registration processes.

METHODS

Contrast-enhanced CT images of 29 colorectal liver cancer patients and end-exhale four-dimensional CT images of 26 locally advanced non-small cell lung cancer patients were collected. Different combinations of parameters that determine the triangle mesh quality (voxel side length and triangle edge length) were investigated. The quality of DIRs generated using these parameters was evaluated with metrics for geometric accuracy, robustness, and efficiency. Metrics for geometric accuracy included target registration error (TRE) of internal vessel bifurcations, dice similar coefficient (DSC), mean distance to agreement (MDA), Hausdorff distance (HD) for organ contours, and number of vertices in the triangle mesh. American Association of Physicists in Medicine Task Group 132 was used to ensure parameters met TRE, DSC, MDA recommendations before the comparison among the parameters. Robustness was evaluated as the success rate of DIR generation, and efficiency was evaluated as the total time to generate boundary conditions and compute finite element analysis.

RESULTS

Voxel side length of 0.2 cm and triangle edge length of 3 were found to be the optimal parameters for both liver and lung, with success rate of 1.00 and 0.98 and average DIR computation time of 100 and 143 s, respectively. For this combination, the average TRE, DSC, MDA, and HD were 0.38-0.40, 0.96-0.97, 0.09-0.12, and 0.87-1.17 mm, respectively.

CONCLUSION

The optimal parameters were found for the analyzed patients. The decision-making process described in this study serves as a recommendation for BM-DIR algorithms to be used for liver and lung. These parameters can facilitate consistence in the evaluation of published studies and more widespread utilization of BM-DIR in clinical practice.

Leveraging deep learning-based segmentation and contours-driven deformable registration for dose accumulation in abdominal structures

Purpose

Discrepancies between planned and delivered dose to GI structures during radiation therapy (RT) of liver cancer may hamper the prediction of treatment outcomes. The purpose of this study is to develop a streamlined workflow for dose accumulation in a treatment planning system (TPS) during liver image-guided RT and to assess its accuracy when using different deformable image registration (DIR) algorithms.

Materials and Methods

Fifty-six patients with primary and metastatic liver cancer treated with external beam radiotherapy guided by daily CT-on-rails (CTOR) were retrospectively analyzed. The liver, stomach and duodenum contours were auto-segmented on all planning CTs and daily CTORs using deep-learning methods. Dose accumulation was performed for each patient using scripting functionalities of the TPS and considering three available DIR algorithms based on: (i) image intensities only; (ii) intensities + contours; (iii) a biomechanical model (contours only). Planned and accumulated doses were converted to equivalent dose in 2Gy (EQD2) and normal tissue complication probabilities (NTCP) were calculated for the stomach and duodenum. Dosimetric indexes for the normal liver, GTV, stomach and duodenum and the NTCP values were exported from the TPS for analysis of the discrepancies between planned and the different accumulated doses.

Results

Deep learning segmentation of the stomach and duodenum enabled considerable acceleration of the dose accumulation process for the 56 patients. Differences between accumulated and planned doses were analyzed considering the 3 DIR methods. For the normal liver, stomach and duodenum, the distribution of the 56 differences in maximum doses (D2%) presented a significantly higher variance when a contour-driven DIR method was used instead of the intensity only-based method. Comparing the two contour-driven DIR methods, differences in accumulated minimum doses (D98%) in the GTV were >2Gy for 15 (27%) of the patients. Considering accumulated dose instead of planned dose in standard NTCP models of the duodenum demonstrated a high sensitivity of the duodenum toxicity risk to these dose discrepancies, whereas smaller variations were observed for the stomach.

Conclusion

This study demonstrated a successful implementation of an automatic workflow for dose accumulation during liver cancer RT in a commercial TPS. The use of contour-driven DIR methods led to larger discrepancies between planned and accumulated doses in comparison to using an intensity only based DIR method, suggesting a better capability of these approaches in estimating complex deformations of the GI organs.

Automatic liver tumor localization using deep learning-based liver boundary motion estimation and biomechanical modeling (DL-Bio)

PURPOSE

Recently, two-dimensional-to-three-dimensional (2D-3D) deformable registration has been applied to deform liver tumor contours from prior reference images onto estimated cone-beam computed tomography (CBCT) target images to automate on-board tumor localizations. Biomechanical modeling has also been introduced to fine-tune the intra-liver deformation-vector-fields (DVFs) solved by 2D-3D deformable registration, especially at low-contrast regions, using tissue elasticity information and liver boundary DVFs. However, the caudal liver boundary shows low contrast from surrounding tissues in the cone-beam projections, which degrades the accuracy of the intensity-based 2D-3D deformable registration there and results in less accurate boundary conditions for biomechanical modeling. We developed a deep-learning (DL)-based method to optimize the liver boundary DVFs after 2D-3D deformable registration to further improve the accuracy of subsequent biomechanical modeling and liver tumor localization.

METHODS

The DL-based network was built based on the U-Net architecture. The network was trained in a supervised fashion to learn motion correlation between cranial and caudal liver boundaries to optimize the liver boundary DVFs. Inputs of the network had three channels, and each channel featured the 3D DVFs estimated by the 2D-3D deformable registration along one Cartesian direction (x, y, z). To incorporate patient-specific liver boundary information into the DVFs, the DVFs were masked by a liver boundary ring structure generated from the liver contour of the prior reference image. The network outputs were the optimized DVFs along the liver boundary with higher accuracy. From these optimized DVFs, boundary conditions were extracted for biomechanical modeling to further optimize the solution of intra-liver tumor motion. We evaluated the method using 34 liver cancer patient cases, with 24 for training and 10 for testing. We evaluated and compared the performance of three methods: 2D-3D deformable registration, 2D-3D-Bio (2D-3D deformable registration with biomechanical modeling), and DL-Bio (DL model prediction with biomechanical modeling). The tumor localization errors were quantified through calculating the center-of-mass-errors (COMEs), DICE coefficients, and Hausdorff distance between deformed liver tumor contours and manually segmented "gold-standard" contours.

RESULTS

The predicted DVFs by the DL model showed improved accuracy at the liver boundary, which translated into more accurate liver tumor localizations through biomechanical modeling. On a total of 90 evaluated images and tumor contours, the average (± sd) liver tumor COMEs of the 2D-3D, 2D-3D-Bio, and DL-Bio techniques were 4.7 ± 1.9 mm, 2.9 ± 1.0 mm, and 1.7 ± 0.4 mm. The corresponding average (± sd) DICE coefficients were 0.60 ± 0.12, 0.71 ± 0.07, and 0.78 ± 0.03; and the average (± sd) Hausdorff distances were 7.0 ± 2.6 mm, 5.4 ± 1.5 mm, and 4.5 ± 1.3 mm, respectively.

CONCLUSION

DL-Bio solves a general correlation model to improve the accuracy of the DVFs at the liver boundary. With improved boundary conditions, the accuracy of biomechanical modeling can be further increased for accurate intra-liver low-contrast tumor localization.

Comparison of regional lung perfusion response on longitudinal MAA SPECT/CT in lung cancer patients treated with and without functional tissue-avoidance radiation therapy

OBJECTIVE

The effect of functional lung avoidance planning on radiation dose-dependent changes in regional lung perfusion is unknown. We characterized dose-perfusion response on longitudinal perfusion single photon emission computed tomography (SPECT)/CT in two cohorts of lung cancer patients treated with and without functional lung avoidance techniques.

METHODS

The study included 28 primary lung cancer patients: 20 from interventional (NCT02773238) (FLARE-RT) and eight from observational (NCT01982123) (LUNG-RT) clinical trials. FLARE-RT treatment plans included perfused lung dose constraints while LUNG-RT plans adhered to clinical standards. Pre- and 3 month post-treatment macro-aggregated albumin (MAA) SPECT/CT scans were rigidly co-registered to planning four-dimensional CT scans. Tumour-subtracted lung dose was converted to EQD2 and sorted into 5 Gy bins. Mean dose and percent change between pre/post-RT MAA-SPECT uptake (%ΔPERF), normalized to total tumour-subtracted lung uptake, were calculated in each binned dose region. Perfusion frequency histograms of pre/post-RT MAA-SPECT were analyzed. Dose-response data were parameterized by sigmoid logistic functions to estimate maximum perfusion increase (%ΔPERFmaxincrease), maximum perfusion decrease (%ΔPERFmaxdecrease), dose midpoint (Dmid), and dose-response slope (k).

RESULTS

Differences in MAA perfusion frequency distribution shape between time points were observed in 11/20 (55%) FLARE-RT and 2/8 (25%) LUNG-RT patients (p < 0.05). FLARE-RT dose response was characterized by >10% perfusion increase in the 0-5 Gy dose bin for 8/20 patients (%ΔPERFmaxincrease = 10-40%), which was not observed in any LUNG-RT patients (p = 0.03). The dose midpoint Dmid at which relative perfusion declined by 50% trended higher in FLARE-RT compared to LUNG-RT cohorts (35 GyEQD2 vs 21 GyEQD2, p = 0.09), while the dose-response slope k was similar between FLARE-RT and LUNG-RT cohorts (3.1-3.2, p = 0.86).

CONCLUSION

Functional lung avoidance planning may promote increased post-treatment perfusion in low dose regions for select patients, though inter-patient variability remains high in unbalanced cohorts. These preliminary findings form testable hypotheses that warrant subsequent validation in larger cohorts within randomized or case-matched control investigations.

ADVANCES IN KNOWLEDGE

This novel preliminary study reports differences in dose-response relationships between patients receiving functional lung avoidance radiation therapy (FLARE-RT) and those receiving conventionally planned radiation therapy (LUNG-RT). Following further validation and testing of these effects in larger patient populations, individualized estimation of regional lung perfusion dose-response may help refine future risk-adaptive strategies to minimize lung function deficits and toxicity incidence.

Deformable Registration for Dose Accumulation

As deformable image registration makes its way into the clinical routine, the summation of doses from fractionated treatment regimens to evaluate cumulative doses to targets and healthy tissues is also becoming a frequently utilized tool in the context of image-guided adaptive radiotherapy. Accounting for daily geometric changes using deformable image registration and dose accumulation potentially enables a better understanding of dose-volume-effect relationships, with the goal of translation of this knowledge to personalization of treatment, to further enhance treatment outcomes. Treatment adaptation involving image deformation requires patient-specific quality assurance of the image registration and dose accumulation processes, to ensure that uncertainties in the 3D dose distributions are identified and appreciated from a clinical relevance perspective. While much research has been devoted to identifying and managing the uncertainties associated with deformable image registration and dose accumulation approaches, there are still many unanswered questions. Here, we provide a review of current deformable image registration and dose accumulation techniques, and related clinical application. We also discuss salient issues that need to be deliberated when applying deformable algorithms for dose mapping and accumulation in the context of adaptive radiotherapy and response assessment.

The evaluation of a hybrid biomechanical deformable registration method on a multistage physical phantom with reproducible deformation

BACKGROUND

Advanced clinical applications, such as dose accumulation and adaptive radiation therapy, require deformable image registration (DIR) algorithms capable of voxel-wise accurate mapping of treatment dose or functional imaging. By utilizing a multistage deformable phantom, the authors investigated scenarios where biomechanical refinement method (BM-DIR) may be better than the pure image intensity based deformable registration (IM-DIR).

METHODS

The authors developed a biomechanical-model based DIR refinement method (BM-DIR) to refine the deformable vector field (DVF) from any initial intensity-based DIR (IM-DIR). The BM-DIR method was quantitatively evaluated on a novel phantom capable of ten reproducible gradually-increasing deformation stages using the urethra tube as a surrogate. The internal DIR accuracy was inspected in term of the Dice similarity coefficient (DSC), Hausdorff and mean surface distance as defined in of the urethra structure inside the phantom and compared with that of the initial IM-DIR under various stages of deformation. Voxel-wise deformation vector discrepancy and Jacobian regularity were also inspected to evaluate the output DVFs. In addition to phantom, two pairs of Head&Neck patient MR images with expert-defined landmarks inside parotids were utilized to evaluate the BM-DIR accuracy with target registration error (TRE).

RESULTS

The DSC and surface distance measures of the inner urethra tube indicated the BM-DIR method can improve the internal DVF accuracy on masked MR images for the phases of a large degree of deformation. The smoother Jacobian distribution from the BM-DIR suggests more physically-plausible internal deformation. For H&N cancer patients, the BM-DIR improved the TRE from 0.339 cm to 0.210 cm for the landmarks inside parotid on the masked MR images.

CONCLUSIONS

We have quantitatively demonstrated on a multi-stage physical phantom and limited patient data that the proposed BM-DIR can improve the accuracy inside solid organs with large deformation where distinctive image features are absent.

Implementing Radiation Dose-Volume Liver Response in Biomechanical Deformable Image Registration

PURPOSE

Understanding anatomic and functional changes in the liver resulting from radiation therapy is fundamental to the improvement of normal tissue complication probability models needed to advance personalized medicine. The ability to link pretreatment and posttreatment imaging is often compromised by significant dose-dependent volumetric changes within the liver that are currently not accounted for in deformable image registration (DIR) techniques. This study investigated using delivered dose, in combination with other patient factors, to biomechanically model longitudinal changes in liver anatomy for follow-up care and re-treatment planning.

METHODS AND MATERIALS

Population models describing the relationship between dose and hepatic volume response were produced using retrospective data from 33 patients treated with focal radiation therapy. A DIR technique was improved by implementing additional boundary conditions associated with the dose-volume response in series with a previously developed biomechanical DIR algorithm. Evaluation of this DIR technique was performed on computed tomography imaging from 7 patients by comparing the model-predicted volumetric change within the liver with the observed change, tracking vessel bifurcations within the liver through the deformation process, and then determining target registration error between the predicted and identified posttreatment bifurcation points.

RESULTS

Evaluation of the proposed DIR technique showed that all lobes were volumetrically deformed to within the respective contour variability of each lobe. The average target registration error achieved was 7.3 mm (2.8 mm left-right and anterior-posterior and 5.1 mm superior-inferior), with the superior-inferior component within the average limiting slice thickness (6.0 mm). This represented a significant improvement (P<.01, Wilcoxon test) over the application of the previously published biomechanical DIR algorithm (10.9 mm).

CONCLUSIONS

This study demonstrates the feasibility of implementing dose-driven volumetric response in deformable registration, enabling improved accuracy of modeling liver anatomy changes, which could allow for improved dose accumulation, particularly for patients who require additional liver radiation therapy.

Validation of biomechanical deformable image registration in the abdomen, thorax, and pelvis in a commercial radiotherapy treatment planning system

PURPOSE

The accuracy of deformable image registration tools can vary widely between imaging modalities and specific implementations of the same algorithms. A biomechanical model-based algorithm initially developed in-house at an academic institution was translated into a commercial radiotherapy treatment planning system and validated for multiple imaging modalities and anatomic sites.

METHODS

Biomechanical deformable registration (Morfeus) is a geometry-driven algorithm based on the finite element method. Boundary conditions are derived from the model-based segmentation of controlling structures in each image which establishes a point-to-point surface correspondence. For each controlling structure, material properties and fixed or sliding interfaces are assigned. The displacements of internal volumes for controlling structures and other structures implicitly deformed are solved with finite element analysis. Registration was performed for 74 patients with images (mean vector resolution) of thoracic and abdominal 4DCT (2.8 mm) and MR (5.3 mm), liver CT-MR (4.5 mm), and prostate MR (2.6 mm). Accuracy was quantified between deformed and actual target images using distance-to-agreement (DTA) for structure surfaces and the target registration error (TRE) for internal point landmarks.

RESULTS

The results of the commercial implementation were as follows. The mean DTA was ≤ 1.0 mm for controlling structures and 1.0-3.5 mm for implicitly deformed structures on average. TRE ranged from 2.0 mm on prostate MR to 5.1 mm on lung MR on average, within 0.1 mm or lower than the image voxel sizes. Accuracy was not overly sensitive to changes in the material properties or variability in structure segmentations, as changing these inputs affected DTA and TRE by ≤ 0.8 mm. Maximum DTA > 5 mm occurred for 88% of the structures evaluated although these were within the inherent segmentation uncertainty for 82% of structures. Differences in accuracy between the commercial and in-house research implementations were ≤ 0.5 mm for mean DTA and ≤ 0.7 mm for mean TRE.

CONCLUSIONS

Accuracy of biomechanical deformable registration evaluated on a large cohort of images in the thorax, abdomen and prostate was similar to the image voxel resolution on average across multiple modalities. Validation of this treatment planning system implementation supports biomechanical deformable registration as a versatile clinical tool to enable accurate target delineation at planning and treatment adaptation.

Characterization of deformation and physical force in uniform low contrast anatomy and its impact on accuracy of deformable image registration

PURPOSE

Little is known about the effect of force on organ deformation and consequently its impact on precision dose delivery. The purpose of this study was to evaluate the fundamental relationship between anatomic deformation and its causative physical force to ascertain if a threshold limit exists for deformable image registration (DIR) accuracy in uniform low contrast anatomy, beyond which its applicability may be clinically inappropriate.

METHODS

To simulate a simplified model, a tissue equivalent deformable bladder phantom with 21 implanted fiducial markers was developed using a viscoelastic polymer. The bladder phantom was deformed by applying a force in increments from 10 to 70 N. DIR accuracy was studied using intensity based mim and Velocity B-spline algorithms by comparing the 3D vector of the 21 marker locations at the original target image with the synthetically derived marker positions from each target image obtained from DIR.

RESULTS

The relationship between applied force in 1D deformation along the axis of applied force and 3D deformation of the phantom showed a linear response. The maximum and average displacements of markers exhibited a nonlinear response to the applied force. In the absence of implanted markers, DIR performance was suboptimal with a threshold limit of only 20 N (5 mm deformation) beyond which the average marker error was ≥3 mm. DIR performance improved significantly with the addition of only one marker for the intensity based mim algorithm. In contrast, the Velocity B-spline algorithm showed reduced sensitivity to the number of markers introduced in both the source and target images.

CONCLUSIONS

The limits of applicability of DIR are strongly dependent on the magnitude of deformation. There is a threshold limit beyond which the accuracy of DIR fails in uniform low contrast anatomy. The sensitivity of the DIR performance to the number of fiducial markers present indicates that if DIR performance is solely assessed with the contrast rich features present in clinical anatomy, the results may not be reflective of the true DIR performance in uniform low contrast anatomy.