Statistical modeling of 4D respiratory lung motion using diffeomorphic image registration

Modelling systematic anatomical uncertainties of head and neck cancer patients during fractionated radiotherapy treatment

Objective.Head and neck cancer patients experience systematic as well as random day to day anatomical changes during fractionated radiotherapy treatment. Modelling the expected systematic anatomical changes could aid in creating treatment plans which are more robust against such changes.Approach.Inter- patient correspondence aligned all patients to a model space. Intra- patient correspondence between each planning CT scan and on treatment cone beam CT scans was obtained using diffeomorphic deformable image registration. The stationary velocity fields were then used to develop B-Spline based patient specific (SM) and population average (AM) models. The models were evaluated geometrically and dosimetrically. A leave-one-out method was used to compare the training and testing accuracy of the models.Main results.Both SMs and AMs were able to capture systematic changes. The average surface distance between the registration propagated contours and the contours generated by the SM was less than 2 mm, showing that the SM are able to capture the anatomical changes which a patient experiences during the course of radiotherapy. The testing accuracy was lower than the training accuracy of the SM, suggesting that the model overfits to the limited data available and therefore, also captures some of the random day to day changes. For most patients the AMs were a better estimate of the anatomical changes than assuming there were no changes, but the AMs could not capture the variability in the anatomical changes seen in all patients. No difference was seen in the training and testing accuracy of the AMs. These observations were highlighted in both the geometric and dosimetric evaluations and comparisons.Significance.In this work, a SM and AM are presented which are able to capture the systematic anatomical changes of some head and neck cancer patients over the course of radiotherapy treatment. The AM is able to capture the overall trend of the population, but there is large patient variability which highlights the need for more complex, capable population models.

A model that predicts a real-time tumour surface using intra-treatment skin surface and end-of-expiration and end-of-inhalation planning CT images

OBJECTIVES

To develop a mapping model between skin surface motion and internal tumour motion and deformation using end-of-exhalation (EOE) and end-of-inhalation (EOI) 3D CT images for tracking lung tumours during respiration.

METHODS

Before treatment, skin and tumour surfaces were segmented and reconstructed from the EOE and the EOI 3D CT images. A non-rigid registration algorithm was used to register the EOE skin and tumour surfaces to the EOI, resulting in a displacement vector field that was then used to construct a mapping model. During treatment, the EOE skin surface was registered to the real-time, yielding a real-time skin surface displacement vector field. Using the mapping model generated, the input of a real-time skin surface can be used to calculate the real-time tumour surface. The proposed method was validated with and without simulated noise on 4D CT images from 15 patients at Léon Bérard Cancer Center and the 4D-lung dataset.

RESULTS

The average centre position error, dice similarity coefficient (DSC), 95%-Hausdorff distance and mean distance to agreement of the tumour surfaces were 1.29 mm, 0.924, 2.76 mm, and 1.13 mm without simulated noise, respectively. With simulated noise, these values were 1.33 mm, 0.920, 2.79 mm, and 1.15 mm, respectively.

CONCLUSIONS

A patient-specific model was proposed and validated that was constructed using only EOE and EOI 3D CT images and real-time skin surface images to predict internal tumour motion and deformation during respiratory motion.

ADVANCES IN KNOWLEDGE

The proposed method achieves comparable accuracy to state-of-the-art methods with fewer pre-treatment planning CT images, which holds potential for application in precise image-guided radiation therapy.

A deep registration method for accurate quantification of joint space narrowing progression in rheumatoid arthritis

Rheumatoid arthritis (RA) is a chronic autoimmune inflammatory disease that leads to progressive articular destruction and severe disability. Joint space narrowing (JSN) has been regarded as an important indicator for RA progression and has received significant attention. Radiology plays a crucial role in the diagnosis and monitoring of RA through the assessment of joint space. A new framework for monitoring joint space by quantifying joint space narrowing (JSN) progression through image registration in radiographic images has emerged as a promising research direction. This framework offers the advantage of high accuracy; however, challenges still exist in reducing mismatches and improving reliability. In this work, we utilize a deep intra-subject rigid registration network to automatically quantify JSN progression in the early stages of RA. In our experiments, the mean-square error of the Euclidean distance between the moving and fixed images was 0.0031, the standard deviation was 0.0661 mm and the mismatching rate was 0.48%. Our method achieves sub-pixel level accuracy, surpassing manual measurements significantly. The proposed method is robust to noise, rotation and scaling of joints. Moreover, it provides misalignment visualization, which can assist radiologists and rheumatologists in assessing the reliability of quantification, exhibiting potential for future clinical applications. As a result, we are optimistic that our proposed method will make a significant contribution to the automatic quantification of JSN progression in RA. Code is available at https://github.com/pokeblow/Deep-Registration-QJSN-Finger.git.

Analysis of emerging trends and hot spots in respiratory biomechanics from 2003 to 2022 based on CiteSpace

Introduction: With the global prevalence of coronavirus disease 2019 (COVID-19), an increasing number of people are experiencing respiratory discomfort. Respiratory biomechanics can monitor breathing patterns and respiratory movements and it is easier to prevent, diagnose, treat or rehabilitate. However, there is still a lack of global knowledge structure in the field of respiratory biomechanics. With the help of CiteSpace software, we aim to help researchers identify potential collaborators and collaborating institutions, hotspots and research frontiers in respiratory biomechanics. Methods: Articles on respiratory biomechanics from 2003 to 2022 were retrieved from the Web of Science Core Collection by using a specific strategy, resulting a total of 2,850 publications. We used CiteSpace 6.1.R6 to analyze the year of publication, journal/journals cited, country, institution, author/authors cited, references, keywords and research trends. Co-citation maps were created to visually observe research hot spots and knowledge structures. Results and discussion: The number of annual publications gradually increased over the past 20 years. Medical Physics published the most articles and had the most citations in this study. The United States was the most influential country, with the highest number and centrality of publications. The most productive and influential institution was Harvard University in the United States. Keall PJ was the most productive author and MCCLELLAND JR was the most cited authors The article by Keall PJ (2006) article (cocitation counts: 55) and the article by McClelland JR (2013) were the most representative and symbolic references, with the highest cocitation number and centrality, respectively. The top keywords were "radiotherapy", "volume", and "ventilation". The top Frontier keywords were "organ motion," "deep inspiration," and "deep learning". The keywords were clustered to form seven labels. Currently, the main area of research in respiratory biomechanics is respiratory motion related to imaging techniques. Future research may focus on respiratory assistance techniques and respiratory detection techniques. At the same time, in the future, we will pay attention to personalized medicine and precision medicine, so that people can monitor their health status anytime and anywhere.

A probability model for anatomical robust optimisation in head and neck cancer proton therapy

Objective.Develop an anatomical model based on the statistics of the population data and evaluate the model for anatomical robust optimisation in head and neck cancer proton therapy.Approach.Deformable image registration was used to build the probability model (PM) that captured the major deformation from patient population data and quantified the probability of each deformation. A cohort of 20 nasopharynx patients was included in this retrospective study. Each patient had a planning CT and 6 weekly CTs during radiotherapy. We applied the model to 5 test patients. Each test patient used the remaining 19 training patients to build the PM and estimate the likelihood of a certain anatomical deformation to happen. For each test patient, a spot scanning proton plan was created. The PM was evaluated using proton spot location deviation and dose distribution.Main results. Using the proton spot range, the PM can simulate small non-rigid variations in the first treatment week within 0.21 ± 0.13 mm. For overall anatomical uncertainty prediction, the PM can reduce anatomical uncertainty from 4.47 ± 1.23 mm (no model) to 1.49 ± 1.08 mm at week 6. The 95% confidence interval (CI) of dose metric variations caused by actual anatomical deformations in the first week is -0.59% ∼ -0.31% for low-risk CTD₉₅, and 0.84-3.04 Gy for parotidD_mean. On the other hand, the 95% CI of dose metric variations simulated by the PM at the first week is -0.52 ∼ -0.34% for low-risk CTVD₉₅, and 0.58 ∼ 2.22 Gy for parotidD_mean.Significance.The PM improves the estimation accuracy of anatomical uncertainty compared to the previous models and does not depend on the acquisition of the weekly CTs during the treatment. We also provided a solution to quantify the probability of an anatomical deformation. The potential of the model for anatomical robust optimisation is discussed.

Image-to-Graph Convolutional Network for 2D/3D Deformable Model Registration of Low-Contrast Organs

Organ shape reconstruction based on a single-projection image during treatment has wide clinical scope, e.g., in image-guided radiotherapy and surgical guidance. We propose an image-to-graph convolutional network that achieves deformable registration of a three-dimensional (3D) organ mesh for a low-contrast two-dimensional (2D) projection image. This framework enables simultaneous training of two types of transformation: from the 2D projection image to a displacement map, and from the sampled per-vertex feature to a 3D displacement that satisfies the geometrical constraint of the mesh structure. Assuming application to radiation therapy, the 2D/3D deformable registration performance is verified for multiple abdominal organs that have not been targeted to date, i.e., the liver, stomach, duodenum, and kidney, and for pancreatic cancer. The experimental results show shape prediction considering relationships among multiple organs can be used to predict respiratory motion and deformation from digitally reconstructed radiographs with clinically acceptable accuracy.

Correlation-Based Mutual Information Model for Analysis of Lung Cancer CT Image

Most of the people all over the world pass away from complications related to lung cancer every single day. It is a deadly form of the disease. To improve a person's chances of survival, an early diagnosis is a necessary prerequisite. In this regard, the existing methods of tumour detection, such as CT scans, are most commonly used to recognize infected regions. Despite this, there are certain obstacles presented by CT imaging, so this paper proposes a novel model which is a correlation-based model designed for analysis of lung cancer. When registering pictures of thoracic and abdominal organs with slider motion, the total variation regularization term may correct the border discontinuous displacement field, but it cannot maintain the local characteristics of the image and loses the registration accuracy. The thin-plate spline energy operator and the total variation operator are spatially weighted via the spatial position weight of the pixel points to construct an adaptive thin-plate spline total variation regular term for lung image CT single-mode registration and CT/PET dual-mode registration. The regular term is then combined with the CRMI similarity measure and the L-BFGS optimization approach to create a nonrigid registration procedure. The proposed method assures the smoothness of interior of the picture while ensuring the discontinuous motion of the border and has greater registration accuracy, according to the experimental findings on the DIR-Lab 4D-CT public dataset and the CT/PET clinical dataset.

A personalized image-guided intervention system for peripheral lung cancer on patient-specific respiratory motion model

PURPOSE

Due to respiratory motion, precise tracking of lung nodule movement is a persistent challenge for guiding percutaneous lung biopsy during image-guided intervention. We developed an automated image-guided system incorporating effective and robust tracking algorithms to address this challenge. Accurate lung motion prediction and personalized image-guided intervention are the key technological contributions of this work.

METHODS

A patient-specific respiratory motion model is developed to predict pulmonary movements of individual patients. It is based on the relation between the artificial 4D CT and corresponding positions tracked by position sensors attached on the chest using an electromagnetic (EM) tracking system. The 4D CT image of the thorax during breathing is calculated through deformable registration of two 3D CT scans acquired at inspiratory and expiratory breath-hold. The robustness and accuracy of the image-guided intervention system were assessed on a static thorax phantom under different clinical parametric combinations.

RESULTS

Real 4D CT images of ten patients were used to evaluate the accuracy of the respiratory motion model. The mean error of the model in different breathing phases was 1.59 ± 0.66 mm. Using a static thorax phantom, we achieved an average targeting accuracy of 3.18 ± 1.2 mm across 50 independent tests with different intervention parameters. The positive results demonstrate the robustness and accuracy of our system for personalized lung cancer intervention.

CONCLUSIONS

The proposed system integrates a patient-specific respiratory motion compensation model to reduce the effect of respiratory motion during percutaneous lung biopsy and help interventional radiologists target the lesion efficiently. Our preclinical studies indicate that the image-guided system has the ability to accurately predict and track lung nodules of individual patients and has the potential for use in the diagnosis and treatment of early stage lung cancer.

DIR-based models to predict weekly anatomical changes in head and neck cancer proton therapy

Objective. We proposed two anatomical models for head and neck patients to predict anatomical changes during the course of radiotherapy.Approach. Deformable image registration was used to build two anatomical models: (1) the average model (AM) simulated systematic progressive changes across the patient cohort; (2) the refined individual model (RIM) used a patient's CT images acquired during treatment to update the prediction for each individual patient. Planning CTs and weekly CTs were used from 20 nasopharynx patients. This dataset included 15 training patients and 5 test patients. For each test patient, a spot scanning proton plan was created. Models were evaluated using CT number differences, contours, proton spot location deviations and dose distributions.Main results. If no model was used, the CT number difference between the planning CT and the repeat CT at week 6 of treatment was on average 128.9 Hounsfield Units (HU) over the test population. This can be reduced to 115.5 HU using the AM, and to 110.5 HU using the RIM3(RIM, updated at week (3). When the predicted contours from the models were used, the average mean surface distance of parotid glands can be reduced from 1.98 (no model) to 1.16 mm (AM) and 1.19 mm (RIM3) at week 6. Using the proton spot range, the average anatomical uncertainty over the test population reduced from 4.47 ± 1.23 (no model) to 2.41 ± 1.12 mm (AM), and 1.89 ± 0.96 mm (RIM3). Based on the gamma analysis, the average gamma index over the test patients was improved from 93.87 ± 2.48 % (no model) to 96.16 ± 1.84% (RIM3) at week 6.Significance. The AM and the RIM both demonstrated the ability to predict anatomical changes during the treatment. The RIM can gradually refine the prediction of anatomical changes based on the AM. The proton beam spots provided an accurate and effective way for uncertainty evaluation.

Measuring Strain in Diffusion-Weighted Data Using Tagged Magnetic Resonance Imaging

Accurate strain measurement in a deforming organ has been essential in motion analysis using medical images. In recent years, internal tissue's in vivo motion and strain computation has been mostly achieved through dynamic magnetic resonance (MR) imaging. However, such data lack information on tissue's intrinsic fiber directions, preventing computed strain tensors from being projected onto a direction of interest. Although diffusion-weighted MR imaging excels at providing fiber tractography, it yields static images unmatched with dynamic MR data. This work reports an algorithm workflow that estimates strain values in the diffusion MR space by matching corresponding tagged dynamic MR images. We focus on processing a dataset of various human tongue deformations in speech. The geometry of tongue muscle fibers is provided by diffusion tractography, while spatiotemporal motion fields are provided by tagged MR analysis. The tongue's deforming shapes are determined by segmenting a synthetic cine dynamic MR sequence generated from tagged data using a deep neural network. Estimated motion fields are transformed into the diffusion MR space using diffeomorphic registration, eventually leading to strain values computed in the direction of muscle fibers. The method was tested on 78 time volumes acquired during three sets of specific tongue deformations including both speech and protrusion motion. Strain in the line of action of seven internal tongue muscles was extracted and compared both intra- and inter-subject. Resulting compression and stretching patterns of individual muscles revealed the unique behavior of individual muscles and their potential activation pattern.

Modeling Respiratory Signals by Deformable Image Registration on 4DCT Lung Images

The lung organ of human anatomy captured by a medical device reveals inhalation and exhalation information for treatment and monitoring. Given a large number of slices covering an area of the lung, we have a set of three-dimensional lung data. And then, by combining additionally with breath-hold measurements, we have a dataset of multigroup CT images (called 4DCT image set) that could show the lung motion and deformation over time. Up to now, it has still been a challenging problem to model a respiratory signal representing patients' breathing motion as well as simulating inhalation and exhalation process from 4DCT lung images because of its complexity. In this paper, we propose a promising hybrid approach incorporating the local binary pattern (LBP) histogram with entropy comparison to register the lung images. The segmentation process of the left and right lung is completely overcome by the minimum variance quantization and within class variance techniques which help the registration stage. The experiments are conducted on the 4DCT deformable image registration (DIR) public database giving us the overall evaluation on each stage: segmentation, registration, and modeling, to validate the effectiveness of the approach.

Diffeomorphic respiratory motion estimation of thoracoabdominal organs for image-guided interventions

PURPOSE

Percutaneous image-guided interventions are commonly used for the diagnosis and treatment of cancer. In practice, physiological breathing-induced motion increases the difficulty of accurately inserting needles into tumors without impairing the surrounding vital structures. In this work, we propose a data-driven patient-specific hierarchical respiratory motion estimation framework to accurately estimate the position of a tumor and surrounding vital tissues in real time.

METHODS

The motion of optical markers attached to the chest or abdomen skin is used as a surrogate signal to estimate tumor motion based on ɛ-support vector regression (ɛ-SVR). With the estimated tumor motion as the input, a novel respiratory motion model is developed to estimate the diffeomorphic deformation field of the whole organ (liver or lung) without intraoperative, iterative optimization computations. The respiratory motion model of the whole organ is established in Lie algebra space based on the kriging algorithm to ensure that the estimated deformation field is diffeomorphic, optimal, and unbiased. Preoperative prior knowledge for modeling the motion of whole organs is obtained by deformation registration between four-dimensional computed tomography (4D CT) images using a hybrid diffeomorphic registration method.

RESULTS AND CONCLUSIONS

Experimental results on an in vivo beagle dog show that the minimum value of the determinant of the Jacobian of the estimated deformation field is greater than zero, so the estimated deformation field of the whole liver with our method is diffeomorphic. The mean position error of the tumor is 1.2 mm corresponding to a mean accuracy improvement of 76.5%, and the mean position error of the whole liver is 2.1 mm, corresponding to a mean accuracy improvement of 37.9%. The experimental results based on public human subject data show that the mean position error of the tumor is 1.1 mm, corresponding to a mean accuracy improvement of 83.1%, and the mean position error of the whole lung is 2.1 mm, corresponding to a mean accuracy improvement of 41.4%. The positioning errors for the tumor and whole organ are hierarchical and consistent with clinical demand.

Deformation analysis of surface and bronchial structures in intraoperative pneumothorax using deformable mesh registration

The positions of nodules can change because of intraoperative lung deflation, and the modeling of pneumothorax-associated deformation remains a challenging issue for intraoperative tumor localization. In this study, we introduce spatial and geometric analysis methods for inflated/deflated lungs and discuss heterogeneity in pneumothorax-associated lung deformation. Contrast-enhanced CT images simulating intraoperative conditions were acquired from live Beagle dogs. The images contain the overall shape of the lungs, including all lobes and internal bronchial structures, and were analyzed to provide a statistical deformation model that could be used as prior knowledge to predict pneumothorax. To address the difficulties of mapping pneumothorax CT images with topological changes and CT intensity shifts, we designed deformable mesh registration techniques for mixed data structures including the lobe surfaces and the bronchial centerlines. Three global-to-local registration steps were performed under the constraint that the deformation was spatially continuous and smooth, while matching visible bronchial tree structures as much as possible. The developed framework achieved stable registration with a Hausdorff distance of less than 1 mm and a target registration error of less than 5 mm, and visualized deformation fields that demonstrate per-lobe contractions and rotations with high variability between subjects. The deformation analysis results show that the strain of lung parenchyma was 35% higher than that of bronchi, and that deformation in the deflated lung is heterogeneous.

2D Statistical Lung Shape Analysis Using Chest Radiographs: Modelling and Segmentation

Accurate information of the lung shape analysis and its anatomical variations is very noticeable in medical imaging. The normal variations of the lung shape can be interpreted as a normal lung. In contrast, abnormal variations of the lung shape can be a result of one of the pulmonary diseases. The goal of this study is twofold: (1) represent two lung shape models which are different at the reference points in registration process considering to show their impact on estimating the inter-patient 2D lung shape variations and (2) using the obtained models in lung field segmentation by utilizing active shape model (ASM) technique. The represented models which showed the inter-patient 2D lung shape variations in two different forms are fully compared and evaluated. The results show that the models along with standard principal component analysis (PCA) can be able to explain more than 95% of total variations in all cases using only first 7 principal component (PC) modes for both lungs. Both models are used in ASM-based segmentation technique for lung field segmentation. The segmentation results are evaluated using leave-one-out cross validation technique. According to the experimental results, the proposed method has average dice similarity coefficient of 97.1% and 96.1% for the right and the left lung, respectively. The results show that the proposed segmentation method is more stable and accurate than other model-based techniques to inter-patient lung field segmentation.

Imposing implicit feasibility constraints on deformable image registration using a statistical generative model

Purpose: Deformable registration problems are conventionally posed in a regularized optimization framework, where balance between fidelity and prescribed regularization usually needs to be tuned for each case. Even so, using a single weight to control regularization strength may be insufficient to reflect spatially variant tissue properties and limit registration performance. In this study, we proposed to incorporate a spatially variant deformation prior into image registration framework using a statistical generative model. Approach: A generator network is trained in an unsupervised setting to maximize the likelihood of observing the moving and fixed image pairs, using an alternating back-propagation approach. The trained model imposes constraints on deformation and serves as an effective low-dimensional deformation parametrization. During registration, optimization is performed over this learned parametrization, eliminating the need for explicit regularization and tuning. The proposed method was tested against SimpleElastix, DIRNet, and Voxelmorph. Results: Experiments with synthetic images and simulated CTs showed that our method yielded registration errors significantly lower than SimpleElastix and DIRNet. Experiments with cardiac magnetic resonance images showed that the method encouraged physical and physiological feasibility of deformation. Evaluation with left ventricle contours showed that our method achieved a dice of ( 0.93 ± 0.03 ) with significant improvement over all SimpleElastix options, DIRNet, and VoxelMorph. Mean average surface distance was on millimeter level, comparable to the best SimpleElastix setting. The average 3D registration time was 12.78 s, faster than 24.70 s in SimpleElastix. Conclusions: The learned implicit parametrization could be an efficacious alternative to regularized B-spline model, more flexible in admitting spatial heterogeneity.

A statistical weighted sparse-based local lung motion modelling approach for model-driven lung biopsy

PURPOSE

Lung biopsy is currently the most effective procedure for cancer diagnosis. However, respiration-induced location uncertainty presents a challenge in precise lung biopsy. To reduce the medical image requirements for motion modelling, in this study, local lung motion information in the region of interest (ROI) is extracted from whole chest computed tomography (CT) and CT-fluoroscopy scans to predict the motion of potentially cancerous tissue and important vessels during the model-driven lung biopsy process.

METHODS

The motion prior of the ROI was generated via a sparse linear combination of a subset of motion information from a respiratory motion repository, and a weighted sparse-based statistical model was used to preserve the local respiratory motion details. We also employed a motion prior-based registration method to improve the motion estimation accuracy in the ROI and designed adaptive variable coefficients to interactively weigh the relative influence of the prior knowledge and image intensity information during the registration process.

RESULTS

The proposed method was applied to ten test subjects for the estimation of the respiratory motion field. The quantitative analysis resulted in a mean target registration error of 1.5 (0.8) mm and an average symmetric surface distance of 1.4 (0.6) mm.

CONCLUSIONS

The proposed method shows remarkable advantages over traditional methods in preserving local motion details and reducing the estimation error in the ROI. These results also provide a benchmark for lung respiratory motion modelling in the literature.

Atlas-Based Tongue Muscle Correlation Analysis From Tagged and High-Resolution Magnetic Resonance Imaging

Purpose Intrinsic and extrinsic tongue muscles in healthy and diseased populations vary both in their intra- and intersubject behaviors during speech. Identifying coordination patterns among various tongue muscles can provide insights into speech motor control and help in developing new therapeutic and rehabilitative strategies. Method We present a method to analyze multisubject tongue muscle correlation using motion patterns in speech sound production. Motion of muscles is captured using tagged magnetic resonance imaging and computed using a phase-based deformation extraction algorithm. After being assembled in a common atlas space, motions from multiple subjects are extracted at each individual muscle location based on a manually labeled mask using high-resolution magnetic resonance imaging and a vocal tract atlas. Motion correlation between each muscle pair is computed within each labeled region. The analysis is performed on a population of 16 control subjects and 3 post-partial glossectomy patients. Results The floor-of-mouth (FOM) muscles show reduced correlation comparing to the internal tongue muscles. Patients present a higher amount of overall correlation between all muscles and exercise en bloc movements. Conclusions Correlation matrices in the atlas space show the coordination of tongue muscles in speech sound production. The FOM muscles are weakly correlated with the internal tongue muscles. Patients tend to use FOM muscles more than controls to compensate for their postsurgery function loss.

Surface deformation analysis of collapsed lungs using model-based shape matching

Purpose

To facilitate intraoperative localization of lung nodules, this study used model-based shape matching techniques to analyze the inter-subject three-dimensional surface deformation induced by pneumothorax. Methods: Contrast- enhanced computed tomography (CT) images of the left lungs of 11 live beagle dogs were acquired at two bronchial pressures (14 and 2 cm\documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\,\hbox {H}_2\hbox {O}$$\end{document}H2O). To address shape matching problems for largely deformed lung images with pixel intensity shift, a complete Laplacian-based shape matching solution that optimizes the differential displacement field was introduced.

Results

Experiments were performed to confirm the methods’ registration accuracy using CT images of lungs. Shape similarity and target displacement errors in the registered models were improved compared with those from existing shape matching methods. Spatial displacement of the whole lung’s surface was visualized with an average error of within 5 mm.

Conclusion

The proposed methods address problems with the matching of surfaces with large curvatures and deformations and achieved smaller registration errors than existing shape matching methods, even at the tip and ridge regions. The findings and inter-subject statistical representation are directly available for further research on pneumothorax deformation modeling.

Electronic supplementary material

The online version of this article (10.1007/s11548-019-02013-0) contains supplementary material, which is available to authorized users.

A novel method to generate dynamic boundary conditions for airway CFD by mapping upper airway movement with non-rigid registration of dynamic and static MRI

Computational fluid dynamics (CFD) simulations of airflow in the human airways have the potential to provide a great deal of information that can aid clinicians in case management and surgical decision making, such as airway resistance, energy expenditure, airflow distribution, heat and moisture transfer, and particle deposition, as well as the change in each of these due to surgical interventions. However, the clinical relevance of CFD simulations has been limited to date, as previous models either did not incorporate neuromuscular motion or any motion at all. Many common airway pathologies, such as obstructive sleep apnea (OSA) and tracheomalacia, involve large movements of the structures surrounding the airway, such as the tongue and soft palate. Airway wall motion may be due to many factors including neuromuscular motion, internal aerodynamic forces, and external forces such as gravity. Therefore, to realistically model these airway diseases, a method is required to derive the airway wall motion, whatever the cause, and apply it as a boundary condition to CFD simulations. This paper presents and validates a novel method of capturing in vivo motion of airway walls from magnetic resonance images with high spatiotemporal resolution, through a novel combination of non-rigid image, surface, and surface-normal-vector registration. Coupled with image-synchronous pneumotachography, this technique provides the necessary boundary conditions for dynamic CFD simulations of breathing, allowing the effect of the airway's complex motion to be calculated for the first time, in both normal subjects and those with conditions such as OSA.

Non-rigid point cloud registration based lung motion estimation using tangent-plane distance

Accurate estimation of motion field in respiration-correlated 4DCT images, is a precondition for the analysis of patient-specific breathing dynamics and subsequent image-supported treatment planning. However, the lung motion estimation often suffers from the sliding motion. In this paper, a novel lung motion method based on the non-rigid registration of point clouds is proposed, and the tangent-plane distance is used to represent the distance term, which describes the difference between two point clouds. Local affine transformation model is used to express the non-rigid deformation of the lung motion. The final objective function is expressed in the Frobenius norm formation, and matrix optimization scheme is carried out to find out the optimal transformation parameters that minimize the objective function. A key advantage of our proposed method is that it alleviates the requirement that the source point cloud and the reference point cloud should be in one-to-one corresponding relationship, and the requirement is difficult to be satisfied in practical application. Furthermore, the proposed method takes the sliding motion of the lung into consideration and improves the registration accuracy by reducing the constraint of the motion along the tangent direction. Non-rigid registration experiments are carried out to validate the performance of the proposed method using popi-model data. The results demonstrate that the proposed method outperforms the traditional method with about 20% accuracy increase.

Band-Limited Stokes Large Deformation Diffeomorphic Metric Mapping

The class of registration methods proposed in the framework of Stokes large deformation diffeomorphic metric mapping (LDDMM) is a particularly interesting family of physically meaningful diffeomorphic registration methods. Stokes-LDDMM methods are formulated as constrained variational problems, where the different physical models are imposed using the associated partial differential equations as hard constraints. The most significant limitation of Stokes-LDDMM framework is its huge computational complexity. The objective of this paper is to promote the use of Stokes-LDDMM in computational anatomy applications with an efficient approximation of the original variational problem. Thus, we propose a novel method for efficient Stokes-LDDMM diffeomorphic registration. Our method poses the constrained variational problem in the space of band-limited vector fields and it is implemented in the GPU. The performance of band-limited Stokes-LDDMM has been compared and evaluated with original Stokes-LDDMM, EPDiff-LDDMM, and band-limited EPDiff-LDDMM. The evaluation has been conducted in 3-D with the nonrigid image registration evaluation project database. Since the update equation in Stokes-LDDMM involves the action of low-pass filters, the computational complexity has been greatly alleviated with a modest accuracy lose. We have obtained a competitive performance for some method configurations. Overall, our proposed method may make feasible the extensive use of novel physically meaningful Stokes-LDDMM methods in different computational anatomy applications. In addition, our results reinforce the usefulness of band-limited vector fields in diffeomorphic registration methods involving the action of low-pass filters in the optimization, even in algorithmically challenging environments such as Stokes-LDDMM.

Strain Map of the Tongue in Normal and ALS Speech Patterns from Tagged and Diffusion MRI

Amyotrophic Lateral Sclerosis (ALS) is a neurological disease that causes death of neurons controlling muscle movements. Loss of speech and swallowing functions is a major impact due to degeneration of the tongue muscles. In speech studies using magnetic resonance (MR) techniques, diffusion tensor imaging (DTI) is used to capture internal tongue muscle fiber structures in three-dimensions (3D) in a non-invasive manner. Tagged magnetic resonance images (tMRI) are used to record tongue motion during speech. In this work, we aim to combine information obtained with both MR imaging techniques to compare the functionality characteristics of the tongue between normal and ALS subjects. We first extracted 3D motion of the tongue using tMRI from fourteen normal subjects in speech. The estimated motion sequences were then warped using diffeomorphic registration into the b0 spaces of the DTI data of two normal subjects and an ALS patient. We then constructed motion atlases by averaging all warped motion fields in each b0 space, and computed strain in the line of action along the muscle fiber directions provided by tractography. Strain in line with the fiber directions provides a quantitative map of the potential active region of the tongue during speech. Comparison between normal and ALS subjects explores the changing volume of compressing tongue tissues in speech facing the situation of muscle degradation. The proposed framework provides for the first time a dynamic map of contracting fibers in ALS speech patterns, and has the potential to provide more insight into the detrimental effects of ALS on speech.

Evaluating the interaction of a tracheobronchial stent in an ovine in-vivo model

Tracheobronchial stents are used to restore patency to stenosed airways. However, these devices are associated with many complications such as stent migration, granulation tissue formation, mucous plugging and stent strut fracture. Of these, granulation tissue formation is the complication that most frequently requires costly secondary interventions. In this study a biomechanical lung modelling framework recently developed by the authors to capture the lung in-vivo stress state under physiological loading is employed in conjunction with ovine pre-clinical stenting results and device experimental data to evaluate the effect of stent interaction on granulation tissue formation. Stenting is simulated using a validated model of a prototype covered laser-cut tracheobronchial stent in a semi-specific biomechanical lung model, and physiological loading is performed. Two computational methods are then used to predict possible granulation tissue formation: the standard method which utilises the increase in maximum principal stress change, and a newly proposed method which compares the change in contact pressure over a respiratory cycle. These computational predictions of granulation tissue formation are then compared to pre-clinical stenting observations after a 6-week implantation period. Experimental results of the pre-clinical stent implantation showed signs of granulation tissue formation both proximally and distally, with a greater proximal reaction. The standard method failed to show a correlation with the experimental results. However, the contact change method showed an apparent correlation with granulation tissue formation. These results suggest that this new method could be used as a tool to improve future device designs.

Primal-dual convex optimization in large deformation diffeomorphic metric mapping: LDDMM meets robust regularizers

This paper proposes a method for primal-dual convex optimization in variational large deformation diffeomorphic metric mapping problems formulated with robust regularizers and robust image similarity metrics. The method is based on Chambolle and Pock primal-dual algorithm for solving general convex optimization problems. Diagonal preconditioning is used to ensure the convergence of the algorithm to the global minimum. We consider three robust regularizers liable to provide acceptable results in diffeomorphic registration: Huber, V-Huber and total generalized variation. The Huber norm is used in the image similarity term. The primal-dual equations are derived for the stationary and the non-stationary parameterizations of diffeomorphisms. The resulting algorithms have been implemented for running in the GPU using Cuda. For the most memory consuming methods, we have developed a multi-GPU implementation. The GPU implementations allowed us to perform an exhaustive evaluation study in NIREP and LPBA40 databases. The experiments showed that, for all the considered regularizers, the proposed method converges to diffeomorphic solutions while better preserving discontinuities at the boundaries of the objects compared to baseline diffeomorphic registration methods. In most cases, the evaluation showed a competitive performance for the robust regularizers, close to the performance of the baseline diffeomorphic registration methods.

Speech Map: A Statistical Multimodal Atlas of 4D Tongue Motion During Speech from Tagged and Cine MR Images

Quantitative measurement of functional and anatomical traits of 4D tongue motion in the course of speech or other lingual behaviors remains a major challenge in scientific research and clinical applications. Here, we introduce a statistical multimodal atlas of 4D tongue motion using healthy subjects, which enables a combined quantitative characterization of tongue motion in a reference anatomical configuration. This atlas framework, termed Speech Map, combines cine- and tagged-MRI in order to provide both the anatomic reference and motion information during speech. Our approach involves a series of steps including (1) construction of a common reference anatomical configuration from cine-MRI, (2) motion estimation from tagged-MRI, (3) transformation of the motion estimations to the reference anatomical configuration, and (4) computation of motion quantities such as Lagrangian strain. Using this framework, the anatomic configuration of the tongue appears motionless, while the motion fields and associated strain measurements change over the time course of speech. In addition, to form a succinct representation of the high-dimensional and complex motion fields, principal component analysis is carried out to characterize the central tendencies and variations of motion fields of our speech tasks. Our proposed method provides a platform to quantitatively and objectively explain the differences and variability of tongue motion by illuminating internal motion and strain that have so far been intractable. The findings are used to understand how tongue function for speech is limited by abnormal internal motion and strain in glossectomy patients.

A Novel Method of Cone Beam CT Projection Binning Based on Image Registration

Accurate sorting of beam projections is important in 4D cone beam computed tomography (4D CBCT) to improve the quality of the reconstructed 4D CBCT image by removing motion-induced artifacts. We propose image registration-based projection binning (IRPB), a novel marker-less binning method for 4D CBCT projections, which combines intensity-based feature point detection and trajectory tracking using random sample consensus. IRPB extracts breathing motion and phases by analyzing tissue feature point trajectories. We conducted experiments with two phantom and six patient datasets, including both regular and irregular respirations. In experiments, we compared the performance of the proposed IRPB, Amsterdam Shroud method (AS), Fourier transform-based method (FT), and local intensity feature tracking method (LIFT). The results showed that the average absolute phase shift of IRPB was 3.74 projections and 0.48 projections less than that of FT and LIFT, respectively. AS lost the most breathing cycles in the respiration extraction for the five patient datasets, so we could not compare the average absolute phase shift between IRPB and AS. Based on the peak signal-to-noise ratio (PSNR) of the reconstructed 4D CBCT images, IRPB had 5.08, 1.05, and 2.90 dB larger PSNR than AS, FT, and LIFT, respectively. The average Structure SIMilarity Index (SSIM) of the 4D CBCT image reconstructed by IRPB, AS, and LIFT were 0.87, 0.74, 0.84, and 0.70, respectively. These results demonstrated that IRPB has superior performance to the other standard methods.

Patient-specific respiratory motion estimation using Sparse Motion Field Presentation

Respiratory motion estimation plays a significant role in radiation therapy. Previous motion estimation approaches usually depended on 4DCT, which introduced extra radio dose for patients, and the local motion details were ignored in the statistical model. In this paper, we propose a novel estimation framework, which employs the Sparse Motion Field Presentation (SMFP) method to obtain a coarse motion estimation which preserves patient-specific respiratory motion details and an Adaptive Variable Coefficient (AVC) motion prior registration approach is applied for the accurate estimation. The experimental results show that the proposed framework effectively preserved the local motion details and achieved more accurate motion estimations compared to the Mean Motion Model (MMM) and the Principal Component Analysis (PCA) model. We achieved motion estimations for diaphragmatic breathing type, thoracic breathing type and mixed type, respectively. The accuracy measured in the average symmetric surface distance (standard deviation) were 1.9(0.9) mm, 2.4(1.1) mm and 2.2(1.0) mm, when the sum of squared intensity difference (SSD) were 5.0, 6.1 and 5.6, respectively.

A Four-dimensional Motion Field Atlas of the Tongue from Tagged and Cine Magnetic Resonance Imaging

Representation of human tongue motion using three-dimensional vector fields over time can be used to better understand tongue function during speech, swallowing, and other lingual behaviors. To characterize the inter-subject variability of the tongue's shape and motion of a population carrying out one of these functions it is desirable to build a statistical model of the four-dimensional (4D) tongue. In this paper, we propose a method to construct a spatio-temporal atlas of tongue motion using magnetic resonance (MR) images acquired from fourteen healthy human subjects. First, cine MR images revealing the anatomical features of the tongue are used to construct a 4D intensity image atlas. Second, tagged MR images acquired to capture internal motion are used to compute a dense motion field at each time frame using a phase-based motion tracking method. Third, motion fields from each subject are pulled back to the cine atlas space using the deformation fields computed during the cine atlas construction. Finally, a spatio-temporal motion field atlas is created to show a sequence of mean motion fields and their inter-subject variation. The quality of the atlas was evaluated by deforming cine images in the atlas space. Comparison between deformed and original cine images showed high correspondence. The proposed method provides a quantitative representation to observe the commonality and variability of the tongue motion field for the first time, and shows potential in evaluation of common properties such as strains and other tensors based on motion fields.

Automated identification and reduction of artifacts in cine four-dimensional computed tomography (4DCT) images using respiratory motion model

PURPOSE

Four-dimensional computed tomography (4DCT) images are often marred by artifacts that substantially degrade image quality and confound image interpretation. Human observation remains the standard method of 4DCT artifact evaluation, which is time-consuming and subjective. We develop a method to automatically identify and reduce artifacts in cine 4DCT images.

METHODS

We proposed an algorithm that consisted of two main stages: deformable image registration and respiratory motion simulation. Specifically, each 4DCT phase image was registered to the breath-holding CT image using the block-matching method, with erroneous spatial matches removed by the least median of squares filter and the full displacement vector field generated by the moving least squares interpolation. The lung's respiratory motion trajectory was then recovered from the displacement vector field using the parameterized polynomial function, with fitting parameters estimated by combinatorial optimization. In this way, artifacts were located according to deviations between image points and their motion trajectories and further corrected based on position prediction.

RESULTS

The mean spatial error (standard deviation) was 1.00 (0.85) mm after registration as opposed to 6.96 (4.61) mm before registration. In addition, we took human observation conducted by medical experts as the gold standard. The average sensitivity, specificity, and accuracy of the proposed method in artifact identification were 0.97, 0.84, and 0.89, respectively.

CONCLUSIONS

The proposed method identified and reduced artifacts accurately and automatically, providing an alternative way to analyze 4DCT image quality and to correct problematic images for radiation therapy.

Modeling the Nonlinear Motion of the Rat Central Airways

Advances in volumetric medical imaging techniques allowed the subject-specific modeling of the bronchial flow through the first few generations of the central airways using computational fluid dynamics (CFD). However, a reliable CFD prediction of the bronchial flow requires modeling of the inhomogeneous deformation of the central airways during breathing. This paper addresses this issue by introducing two models of the central airways motion. The first model utilizes a node-to-node mapping between the discretized geometries of the central airways generated from a number of successive computed tomography (CT) images acquired dynamically (without breath hold) over the breathing cycle of two Sprague-Dawley rats. The second model uses a node-to-node mapping between only two discretized airway geometries generated from the CT images acquired at end-exhale and at end-inhale along with the ventilator measurement of the lung volume change. The advantage of this second model is that it uses just one pair of CT images, which more readily complies with the radiation dosage restrictions for humans. Three-dimensional computer aided design geometries of the central airways generated from the dynamic-CT images were used as benchmarks to validate the output from the two models at sampled time-points over the breathing cycle. The central airway geometries deformed by the first model showed good agreement to the benchmark geometries within a tolerance of 4%. The central airway geometry deformed by the second model better approximated the benchmark geometries than previous approaches that used a linear or harmonic motion model.

Efficient patient modeling for visuo-haptic VR simulation using a generic patient atlas

BACKGROUND AND OBJECTIVE

This work presents a new time-saving virtual patient modeling system by way of example for an existing visuo-haptic training and planning virtual reality (VR) system for percutaneous transhepatic cholangio-drainage (PTCD).

METHODS

Our modeling process is based on a generic patient atlas to start with. It is defined by organ-specific optimized models, method modules and parameters, i.e. mainly individual segmentation masks, transfer functions to fill the gaps between the masks and intensity image data. In this contribution, we show how generic patient atlases can be generalized to new patient data. The methodology consists of patient-specific, locally-adaptive transfer functions and dedicated modeling methods such as multi-atlas segmentation, vessel filtering and spline-modeling.

RESULTS

Our full image volume segmentation algorithm yields median DICE coefficients of 0.98, 0.93, 0.82, 0.74, 0.51 and 0.48 regarding soft-tissue, liver, bone, skin, blood and bile vessels for ten test patients and three selected reference patients. Compared to standard slice-wise manual contouring time saving is remarkable.

CONCLUSIONS

Our segmentation process shows out efficiency and robustness for upper abdominal puncture simulation systems. This marks a significant step toward establishing patient-specific training and hands-on planning systems in a clinical environment.

Lung motion estimation using dynamic point shifting: An innovative model based on a robust point matching algorithm

PURPOSE

Image-guided radiotherapy is an advanced 4D radiotherapy technique that has been developed in recent years. However, respiratory motion causes significant uncertainties in image-guided radiotherapy procedures. To address these issues, an innovative lung motion estimation model based on a robust point matching is proposed in this paper.

METHODS

An innovative robust point matching algorithm using dynamic point shifting is proposed to estimate patient-specific lung motion during free breathing from 4D computed tomography data. The correspondence of the landmark points is determined from the Euclidean distance between the landmark points and the similarity between the local images that are centered at points at the same time. To ensure that the points in the source image correspond to the points in the target image during other phases, the virtual target points are first created and shifted based on the similarity between the local image centered at the source point and the local image centered at the virtual target point. Second, the target points are shifted by the constrained inverse function mapping the target points to the virtual target points. The source point set and shifted target point set are used to estimate the transformation function between the source image and target image.

RESULTS

The performances of the authors' method are evaluated on two publicly available DIR-lab and POPI-model lung datasets. For computing target registration errors on 750 landmark points in six phases of the DIR-lab dataset and 37 landmark points in ten phases of the POPI-model dataset, the mean and standard deviation by the authors' method are 1.11 and 1.11 mm, but they are 2.33 and 2.32 mm without considering image intensity, and 1.17 and 1.19 mm with sliding conditions. For the two phases of maximum inhalation and maximum exhalation in the DIR-lab dataset with 300 landmark points of each case, the mean and standard deviation of target registration errors on the 3000 landmark points of ten cases by the authors' method are 1.21 and 1.04 mm. In the EMPIRE10 lung registration challenge, the authors' method ranks 24 of 39. According to the index of the maximum shear stretch, the authors' method is also efficient to describe the discontinuous motion at the lung boundaries.

CONCLUSIONS

By establishing the correspondence of the landmark points in the source phase and the other target phases combining shape matching and image intensity matching together, the mismatching issue in the robust point matching algorithm is adequately addressed. The target registration errors are statistically reduced by shifting the virtual target points and target points. The authors' method with consideration of sliding conditions can effectively estimate the discontinuous motion, and the estimated motion is natural. The primary limitation of the proposed method is that the temporal constraints of the trajectories of voxels are not introduced into the motion model. However, the proposed method provides satisfactory motion information, which results in precise tumor coverage by the radiation dose during radiotherapy.

A Spatio-Temporal Atlas and Statistical Model of the Tongue During Speech from Cine-MRI

Statistical modeling of tongue motion during speech using cine magnetic resonance imaging (MRI) provides key information about the relationship between structure and motion of the tongue. In order to study the variability of tongue shape and motion in populations, a consistent integration and characterization of inter-subject variability is needed. In this paper, a method to construct a spatio-temporal atlas comprising a mean motion model and statistical modes of variation during speech is presented. The model is based on the cine-MRI from twenty two normal speakers and consists of several steps involving both spatial and temporal alignment problems independently. First, all images are registered into a common reference space, which is taken to be a neutral resting position of the tongue. Second, the tongue shapes of each individual relative to this reference space are produced. Third, a time warping approach (several are evaluated) is used to align the time frames of each subject to a common time series of initial mean images. Finally, the spatio-temporal atlas is created by time-warping each subject, generating new mean images at each time, and producing shape statistics around these mean images using principal component analysis at each reference time frame. Experimental results consist of comparison of various parameters and methods in creation of the atlas and a demonstration of the final modes of variations at various key time frames in a sample phrase.

In vivo validation of spatio-temporal liver motion prediction from motion tracked on MR thermometry images

PURPOSE

Magnetic resonance-guided focused ultrasound (MRgFUS) of the liver during free-breathing requires spatio-temporal prediction of the liver motion from partial motion observations. The study purpose is to evaluate the prediction accuracy for a realistic MRgFUS therapy scenario, namely for human in vivo data, tracking based on MR images routinely acquired during MRgFUS and in vivo deformations caused by the FUS probe.

METHODS

In vivo validation of the motion model was based on a 3D breath-hold image and an interleaved acquisition of two MR slices. Prediction accuracy was determined with respect to manually annotated landmarks. A statistical population liver motion model was used for predicting the liver motion for not tracked regions. This model was individualized by mapping it to end-exhale 3D breath-hold images. Spatial correspondence between tracking and model positions was established by affine 3D-to-2D image registration. For spatio-temporal prediction, MR tracking results were temporally extrapolated.

RESULTS

Performance was evaluated for 10 volunteers, of which 5 had a dummy FUS probe put on their abdomen. MR tracking had a mean (95 %) accuracy of 1.1 (2.4) mm. The motion of the liver on the evaluation MR slice was spatio-temporally predicted with an accuracy of 1.9 (4.4) mm for a latency of 216 ms. A simple translation model performed similarly (2.1 (4.8) mm) as the two MR slices were relatively close (mean 38 mm). Temporal prediction was important (10 % error reduction), while registration effects could only partially be assessed and showed no benefits. On average, motion magnitude, motion amplitude and breathing frequency increased by 24, 16 and 8 %, respectively, for the cases with FUS probe placement. This motion increase could be reduced by the spatio-temporal prediction.

CONCLUSION

The study shows that tracking liver vessels on MR images, which are also used for MR thermometry, is a viable approach.

Learning intervention-induced deformations for non-rigid MR-CT registration and electrode localization in epilepsy patients

This paper describes a framework for learning a statistical model of non-rigid deformations induced by interventional procedures. We make use of this learned model to perform constrained non-rigid registration of pre-procedural and post-procedural imaging. We demonstrate results applying this framework to non-rigidly register post-surgical computed tomography (CT) brain images to pre-surgical magnetic resonance images (MRIs) of epilepsy patients who had intra-cranial electroencephalography electrodes surgically implanted. Deformations caused by this surgical procedure, imaging artifacts caused by the electrodes, and the use of multi-modal imaging data make non-rigid registration challenging. Our results show that the use of our proposed framework to constrain the non-rigid registration process results in significantly improved and more robust registration performance compared to using standard rigid and non-rigid registration methods.

Population-based prediction of subject-specific prostate deformation for MR-to-ultrasound image registration

Statistical shape models of soft-tissue organ motion provide a useful means of imposing physical constraints on the displacements allowed during non-rigid image registration, and can be especially useful when registering sparse and/or noisy image data. In this paper, we describe a method for generating a subject-specific statistical shape model that captures prostate deformation for a new subject given independent population data on organ shape and deformation obtained from magnetic resonance (MR) images and biomechanical modelling of tissue deformation due to transrectal ultrasound (TRUS) probe pressure. The characteristics of the models generated using this method are compared with corresponding models based on training data generated directly from subject-specific biomechanical simulations using a leave-one-out cross validation. The accuracy of registering MR and TRUS images of the prostate using the new prostate models was then estimated and compared with published results obtained in our earlier research. No statistically significant difference was found between the specificity and generalisation ability of prostate shape models generated using the two approaches. Furthermore, no statistically significant difference was found between the landmark-based target registration errors (TREs) following registration using different models, with a median (95th percentile) TRE of 2.40 (6.19) mm versus 2.42 (7.15) mm using models generated with the new method versus a model built directly from patient-specific biomechanical simulation data, respectively (N = 800; 8 patient datasets; 100 registrations per patient). We conclude that the proposed method provides a computationally efficient and clinically practical alternative to existing complex methods for modelling and predicting subject-specific prostate deformation, such as biomechanical simulations, for new subjects. The method may also prove useful for generating shape models for other organs, for example, where only limited shape training data from dynamic imaging is available.

Lung Segmentation in 4D CT Volumes Based on Robust Active Shape Model Matching

Dynamic and longitudinal lung CT imaging produce 4D lung image data sets, enabling applications like radiation treatment planning or assessment of response to treatment of lung diseases. In this paper, we present a 4D lung segmentation method that mutually utilizes all individual CT volumes to derive segmentations for each CT data set. Our approach is based on a 3D robust active shape model and extends it to fully utilize 4D lung image data sets. This yields an initial segmentation for the 4D volume, which is then refined by using a 4D optimal surface finding algorithm. The approach was evaluated on a diverse set of 152 CT scans of normal and diseased lungs, consisting of total lung capacity and functional residual capacity scan pairs. In addition, a comparison to a 3D segmentation method and a registration based 4D lung segmentation approach was performed. The proposed 4D method obtained an average Dice coefficient of 0.9773 ± 0.0254, which was statistically significantly better (p value ≪0.001) than the 3D method (0.9659 ± 0.0517). Compared to the registration based 4D method, our method obtained better or similar performance, but was 58.6% faster. Also, the method can be easily expanded to process 4D CT data sets consisting of several volumes.

Reconstruction of four-dimensional computed tomography lung images by applying spatial and temporal anatomical constraints using a Bayesian model

Current four-dimensional computed tomography (4-D CT) lung image reconstruction methods rely on respiratory gating, such as surrogate, to sort the large number of axial images captured during multiple breathing cycles into serial three-dimensional CT images of different respiratory phases. Such sorting methods may be subject to external surrogate signal noises due to poor reproducibility of breathing cycles. New image-matching-based reconstruction algorithms refine the 4-D CT reconstruction by matching neighboring image slices, and they generally work better for the cine mode of 4-D CT acquisition than the helical mode due to different table positions of axial images in the helical mode. We propose a Bayesian model (BM) based automated 4-D CT lung image reconstruction for helical mode scans. BM allows for applying new spatial and temporal anatomical constraints in the optimization procedure. Using an iterative optimization procedure, each axial image is assigned to a respiratory phase to make sure the anatomical structures are spatially and temporally smooth based on the BM framework. In experiments, we visually and quantitatively compared the results of the proposed BM-based 4-D CT reconstruction with the respiratory surrogate and the normalized cross-correlation based image matching method using both simulated and actual 4-D patient scans. The results indicated that the proposed algorithm yielded more accurate reconstruction and fewer artifacts in the 4-D CT image series.

Estimating dynamic lung images from high-dimension chest surface motion using 4D statistical model

Computed Tomography (CT) has been widely used in image-guided procedures such as intervention and radiotherapy of lung cancer. However, due to poor reproducibility of breath holding or respiratory cycles, discrepancies between static images and patient's current lung shape and tumor location could potentially reduce the accuracy for image guidance. Current methods are either using multiple intra-procedural scans or monitoring respiratory motion with tracking sensors. Although intra-procedural scanning provides more accurate information, it increases the radiation dose and still only provides snapshots of patient's chest. Tracking-based breath monitoring techniques can effectively detect respiratory phases but have not yet provided accurate tumor shape and location due to low dimensional signals. Therefore, estimating the lung motion and generating dynamic CT images from real-time captured high-dimensional sensor signals acts as a key component for image-guided procedures. This paper applies a principal component analysis (PCA)-based statistical model to establish the relationship between lung motion and chest surface motion from training samples, on a template space, and then uses this model to estimate dynamic images for a new patient from the chest surface motion. Qualitative and quantitative results showed that the proposed high-dimensional estimation algorithm yielded more accurate 4D-CT compared to fiducial marker-based estimation.