Statistical Interspace Models (SIMs): Application to Robust 3D Spine Segmentation

VerFormer: Vertebrae-Aware Transformer for Automatic Spine Segmentation from CT Images

The accurate and efficient segmentation of the spine is important in the diagnosis and treatment of spine malfunctions and fractures. However, it is still challenging because of large inter-vertebra variations in shape and cross-image localization of the spine. In previous methods, convolutional neural networks (CNNs) have been widely applied as a vision backbone to tackle this task. However, these methods are challenged in utilizing the global contextual information across the whole image for accurate spine segmentation because of the inherent locality of the convolution operation. Compared with CNNs, the Vision Transformer (ViT) has been proposed as another vision backbone with a high capacity to capture global contextual information. However, when the ViT is employed for spine segmentation, it treats all input tokens equally, including vertebrae-related tokens and non-vertebrae-related tokens. Additionally, it lacks the capability to locate regions of interest, thus lowering the accuracy of spine segmentation. To address this limitation, we propose a novel Vertebrae-aware Vision Transformer (VerFormer) for automatic spine segmentation from CT images. Our VerFormer is designed by incorporating a novel Vertebrae-aware Global (VG) block into the ViT backbone. In the VG block, the vertebrae-related global contextual information is extracted by a Vertebrae-aware Global Query (VGQ) module. Then, this information is incorporated into query tokens to highlight vertebrae-related tokens in the multi-head self-attention module. Thus, this VG block can leverage global contextual information to effectively and efficiently locate spines across the whole input, thus improving the segmentation accuracy of VerFormer. Driven by this design, the VerFormer demonstrates a solid capacity to capture more discriminative dependencies and vertebrae-related context in automatic spine segmentation. The experimental results on two spine CT segmentation tasks demonstrate the effectiveness of our VG block and the superiority of our VerFormer in spine segmentation. Compared with other popular CNN- or ViT-based segmentation models, our VerFormer shows superior segmentation accuracy and generalization.

Development of a software system for surgical robots based on multimodal image fusion: study protocol

Background

Surgical robots are gaining increasing popularity because of their capability to improve the precision of pedicle screw placement. However, current surgical robots rely on unimodal computed tomography (CT) images as baseline images, limiting their visualization to vertebral bone structures and excluding soft tissue structures such as intervertebral discs and nerves. This inherent limitation significantly restricts the applicability of surgical robots. To address this issue and further enhance the safety and accuracy of robot-assisted pedicle screw placement, this study will develop a software system for surgical robots based on multimodal image fusion. Such a system can extend the application range of surgical robots, such as surgical channel establishment, nerve decompression, and other related operations.

Methods

Initially, imaging data of the patients included in the study are collected. Professional workstations are employed to establish, train, validate, and optimize algorithms for vertebral bone segmentation in CT and magnetic resonance (MR) images, intervertebral disc segmentation in MR images, nerve segmentation in MR images, and registration fusion of CT and MR images. Subsequently, a spine application model containing independent modules for vertebrae, intervertebral discs, and nerves is constructed, and a software system for surgical robots based on multimodal image fusion is designed. Finally, the software system is clinically validated.

Discussion

We will develop a software system based on multimodal image fusion for surgical robots, which can be applied to surgical access establishment, nerve decompression, and other operations not only for robot-assisted nail placement. The development of this software system is important. First, it can improve the accuracy of pedicle screw placement, percutaneous vertebroplasty, percutaneous kyphoplasty, and other surgeries. Second, it can reduce the number of fluoroscopies, shorten the operation time, and reduce surgical complications. In addition, it would be helpful to expand the application range of surgical robots by providing key imaging data for surgical robots to realize surgical channel establishment, nerve decompression, and other operations.

Fully Automatic initialization and segmentation of left and right ventricles for large-scale cardiac MRI using a deeply supervised network and 3D-ASM

BACKGROUND AND OBJECTIVE

The sheer volume of data generated by population imaging studies is unparalleled by current capabilities to extract objective and quantitative cardiac phenotypes; subjective and time-consuming manual image analysis remains the gold standard. Automated image analytics to compute quantitative imaging biomarkers of cardiac function are desperately needed. Data volumes and their variability pose a challenge to most state-of-the-art methods for endo- and epicardial contours, which lack robustness when applied to very large datasets. Our aim is to develop an analysis pipeline for the automatic quantification of cardiac function from cine magnetic resonance imaging data.

METHOD

This work adopt 4,638 cardiac MRI cases coming from UK Biobank with ground truth available for left and RV contours. A hybrid and robust algorithm is proposed to improve the accuracy of automatic left and right ventricle segmentation by harnessing the localization accuracy of deep learning and the morphological accuracy of 3D-ASM (three-dimensional active shape models). The contributions of this paper are three-fold. First, a fully automatic method is proposed for left and right ventricle initialization and cardiac MRI segmentation by taking full advantage of spatiotemporal constraint. Second, a deeply supervised network is introduced to train and segment the heart. Third, the 3D-ASM image search procedure is improved by combining image intensity models with convolutional neural network (CNN) derived distance maps improving endo- and epicardial edge localization.

RESULTS

The proposed architecture outperformed the state of the art for cardiac MRI segmentation from UK Biobank. The statistics of RV landmarks detection errors for Triscuspid valve and RV apex are 4.17 mm and 5.58 mm separately. The overlap metric, mean contour distance, Hausdorff distance and cardiac functional parameters are calculated for the LV (Left Ventricle) and RV (Right Ventricle) contour segmentation. Bland-Altman analysis for clinical parameters shows that the results from our automated image analysis pipelines are in good agreement with results from expert manual analysis.

CONCLUSIONS

Our hybrid scheme combines deep learning and statistical shape modeling for automatic segmentation of the LV/RV from cardiac MRI datasets is effective and robust and can compute cardiac functional indexes from population imaging.

CT-Based Automatic Spine Segmentation Using Patch-Based Deep Learning

CT vertebral segmentation plays an essential role in various clinical applications, such as computer-assisted surgical interventions, assessment of spinal abnormalities, and vertebral compression fractures. Automatic CT vertebral segmentation is challenging due to the overlapping shadows of thoracoabdominal structures such as the lungs, bony structures such as the ribs, and other issues such as ambiguous object borders, complicated spine architecture, patient variability, and fluctuations in image contrast. Deep learning is an emerging technique for disease diagnosis in the medical field. This study proposes a patch-based deep learning approach to extract the discriminative features from unlabeled data using a stacked sparse autoencoder (SSAE). 2D slices from a CT volume are divided into overlapping patches fed into the model for training. A random under sampling (RUS)-module is applied to balance the training data by selecting a subset of the majority class. SSAE uses pixel intensities alone to learn high-level features to recognize distinctive features from image patches. Each image is subjected to a sliding window operation to express image patches using autoencoder high-level features, which are then fed into a sigmoid layer to classify whether each patch is a vertebra or not. We validate our approach on three diverse publicly available datasets: VerSe, CSI-Seg, and the Lumbar CT dataset. Our proposed method outperformed other models after configuration optimization by achieving 89.9% in precision, 90.2% in recall, 98.9% in accuracy, 90.4% in F-score, 82.6% in intersection over union (IoU), and 90.2% in Dice coefficient (DC). The results of this study demonstrate that our model’s performance consistency using a variety of validation strategies is flexible, fast, and generalizable, making it suited for clinical application.

Multiresolution Aggregation Transformer UNet Based on Multiscale Input and Coordinate Attention for Medical Image Segmentation

The latest medical image segmentation methods uses UNet and transformer structures with great success. Multiscale feature fusion is one of the important factors affecting the accuracy of medical image segmentation. Existing transformer-based UNet methods do not comprehensively explore multiscale feature fusion, and there is still much room for improvement. In this paper, we propose a novel multiresolution aggregation transformer UNet (MRA-TUNet) based on multiscale input and coordinate attention for medical image segmentation. It realizes multiresolution aggregation from the following two aspects: (1) On the input side, a multiresolution aggregation module is used to fuse the input image information of different resolutions, which enhances the input features of the network. (2) On the output side, an output feature selection module is used to fuse the output information of different scales to better extract coarse-grained information and fine-grained information. We try to introduce a coordinate attention structure for the first time to further improve the segmentation performance. We compare with state-of-the-art medical image segmentation methods on the automated cardiac diagnosis challenge and the 2018 atrial segmentation challenge. Our method achieved average dice score of 0.911 for right ventricle (RV), 0.890 for myocardium (Myo), 0.961 for left ventricle (LV), and 0.923 for left atrium (LA). The experimental results on two datasets show that our method outperforms eight state-of-the-art medical image segmentation methods in dice score, precision, and recall.

Verte-Box: A Novel Convolutional Neural Network for Fully Automatic Segmentation of Vertebrae in CT Image

Due to the complex shape of the vertebrae and the background containing a lot of interference information, it is difficult to accurately segment the vertebrae from the computed tomography (CT) volume by manual segmentation. This paper proposes a convolutional neural network for vertebrae segmentation, named Verte-Box. Firstly, in order to enhance feature representation and suppress interference information, this paper places a robust attention mechanism on the central processing unit, including a channel attention module and a dual attention module. The channel attention module is used to explore and emphasize the interdependence between channel graphs of low-level features. The dual attention module is used to enhance features along the location and channel dimensions. Secondly, we design a multi-scale convolution block to the network, which can make full use of different combinations of receptive field sizes and significantly improve the network’s perception of the shape and size of the vertebrae. In addition, we connect the rough segmentation prediction maps generated by each feature in the feature box to generate the final fine prediction result. Therefore, the deep supervision network can effectively capture vertebrae information. We evaluated our method on the publicly available dataset of the CSI 2014 Vertebral Segmentation Challenge and achieved a mean Dice similarity coefficient of 92.18 ± 0.45%, an intersection over union of 87.29 ± 0.58%, and a 95% Hausdorff distance of 7.7107 ± 0.5958, outperforming other algorithms.

Statistical Shape and Appearance Models: Development Towards Improved Osteoporosis Care

PURPOSE OF REVIEW

Statistical models of shape and appearance have increased their popularity since the 1990s and are today highly prevalent in the field of medical image analysis. In this article, we review the recent literature about how statistical models have been applied in the context of osteoporosis and fracture risk estimation.

RECENT FINDINGS

Recent developments have increased their ability to accurately segment bones, as well as to perform 3D reconstruction and classify bone anatomies, all features of high interest in the field of osteoporosis and fragility fractures diagnosis, prevention, and treatment. An increasing number of studies used statistical models to estimate fracture risk in retrospective case-control cohorts, which is a promising step towards future clinical application. All the reviewed application areas made considerable steps forward in the past 5-6 years. Heterogeneities in validation hinder a thorough comparison between the different methods and represent one of the future challenges to be addressed to reach clinical implementation.

The lumbar region localization using bone anatomy feature graphs

The automatic localization of the lumbar region is essential for the diagnosis of lumbar diseases, the study of lumbar morphology, and the surgical planning. Although the existing researches have made great progress, it still faces several challenges. First, the various lumbar diseases and pathologies cause different abnormalities in the lumbar shape and appearance. Second, the numbers of lumbar vertebrae are irregular (some people have an additional vertebra L6). To tackle these challenges, we propose a novel lumbar region localization method based on bone anatomy feature graphs. Specifically, a feature graph (called LS) considering the anatomy of the sacrum and the lumbar vertebra is proposed to locate the inferior boundary of L5 or L6. A feature graph (called TL) considering the anatomy of the thoracic vertebra and the lumbar vertebra is proposed to locate the superior boundary of L1. Extensive experimental analysis is performed on a public available dataset xVertSeg and a private dataset which contains 197 CT scans. The localization results show that the proposed method is robust and can be applied to normal scans, scoliosis scans, deformity scans, hyperosteogeny scans, 6 lumbar vertebrae scans and lumbar implant scans. The Dice and Jaccard coefficients are 98.09 ± 0.84% and 96.27 ± 1.62% respectively. Graphical Abstract Lumbar Region Localization Framework.

VerSe: A Vertebrae labelling and segmentation benchmark for multi-detector CT images

Vertebral labelling and segmentation are two fundamental tasks in an automated spine processing pipeline. Reliable and accurate processing of spine images is expected to benefit clinical decision support systems for diagnosis, surgery planning, and population-based analysis of spine and bone health. However, designing automated algorithms for spine processing is challenging predominantly due to considerable variations in anatomy and acquisition protocols and due to a severe shortage of publicly available data. Addressing these limitations, the Large Scale Vertebrae Segmentation Challenge (VerSe) was organised in conjunction with the International Conference on Medical Image Computing and Computer Assisted Intervention (MICCAI) in 2019 and 2020, with a call for algorithms tackling the labelling and segmentation of vertebrae. Two datasets containing a total of 374 multi-detector CT scans from 355 patients were prepared and 4505 vertebrae have individually been annotated at voxel level by a human-machine hybrid algorithm (https://osf.io/nqjyw/, https://osf.io/t98fz/). A total of 25 algorithms were benchmarked on these datasets. In this work, we present the results of this evaluation and further investigate the performance variation at the vertebra level, scan level, and different fields of view. We also evaluate the generalisability of the approaches to an implicit domain shift in data by evaluating the top-performing algorithms of one challenge iteration on data from the other iteration. The principal takeaway from VerSe: the performance of an algorithm in labelling and segmenting a spine scan hinges on its ability to correctly identify vertebrae in cases of rare anatomical variations. The VerSe content and code can be accessed at: https://github.com/anjany/verse.

Spine and Individual Vertebrae Segmentation in Computed Tomography Images Using Geometric Flows and Shape Priors

The surgical treatment of injuries to the spine often requires the placement of pedicle screws. To prevent damage to nearby blood vessels and nerves, the individual vertebrae and their surrounding tissue must be precisely localized. To aid surgical planning in this context we present a clinically applicable geometric flow based method to segment the human spinal column from computed tomography (CT) scans. We first apply anisotropic diffusion and flux computation to mitigate the effects of region inhomogeneities and partial volume effects at vertebral boundaries in such data. The first pipeline of our segmentation approach uses a region-based geometric flow, requires only a single manually identified seed point to initiate, and runs efficiently on a multi-core central processing unit (CPU). A shape-prior formulation is employed in a separate second pipeline to segment individual vertebrae, using both region and boundary based terms to augment the initial segmentation. We validate our method on four different clinical databases, each of which has a distinct intensity distribution. Our approach obviates the need for manual segmentation, significantly reduces inter- and intra-observer differences, runs in times compatible with use in a clinical workflow, achieves Dice scores that are comparable to the state of the art, and yields precise vertebral surfaces that are well within the acceptable 2 mm mark for surgical interventions.

A convenient and stable vertebrae instance segmentation method for transforaminal endoscopic surgery planning

PURPOSE

Transforaminal endoscopic surgery (TES) is effective for treatment of intervertebral disc-related diseases. To avoid injury to the critical structures, preoperative planning is required to find a safe working channel. Therefore, accurate patient-specific vertebral segmentation is important. The purpose of this work is to develop a convenient, stable and feasible lumbar vertebrae segmentation method for TES planning.

METHODS

Based on the chain structure of the spine, an interactive dual-output vertebrae instance segmentation network was designed to segment the specific vertebrae in CT images. First, an initialization locator module was set up to provide an initial locating box. Then the dual-output network was designed to segment two adjacent vertebrae inside the locating box. Finally, iteration was performed until all the expected vertebrae were segmented.

RESULTS

Verification on reconstructed public dataset showed that the vertebral segmentation Dice coefficient was 96.8 ± 1.2% and average surface distance (ASD) was 0.25 ± 0.10 mm. For intervertebral foramen (IVF) region, the Dice coefficient was 96.1 ± 1.5% and ASD was 0.29 ± 0.10 mm. For IVF forming region, the Dice coefficient was 93.4 ± 3.1% and ASD was 0.28 ± 0.13 mm. The evaluation on private dataset showed that more than 90% of the segmentation were suitable for TES planning. For IVF region, the Dice coefficient was 94.4 ± 1.8% and ASD was 0.71 ± 0.49 mm.

CONCLUSION

This work provides a convenient, stable and feasible segmentation method for lumbar vertebrae, IVF region, and IVF forming region. The segmentation can meet the requirement for TES planning.

Axial-SpineGAN: simultaneous segmentation and diagnosis of multiple spinal structures on axial magnetic resonance imaging images

Providing a simultaneous segmentation and diagnosis of the spinal structures on axial magnetic resonance imaging (MRI) images has significant value for subsequent pathological analyses and clinical treatments. However, this task remains challenging, owing to the significant structural diversity, subtle differences between normal and abnormal structures, implicit borders, and insufficient training data. In this study, we propose an innovative network framework called 'Axial-SpineGAN' comprising a generator, discriminator, and diagnostor, aiming to address the above challenges, and to achieve simultaneous segmentation and disease diagnosis for discs, neural foramens, thecal sacs, and posterior arches on axial MRI images. The generator employs an enhancing feature fusion module to generate discriminative features, i.e. to address the challenges regarding the significant structural diversity and subtle differences between normal and abnormal structures. An enhancing border alignment module is employed to obtain an accurate pixel classification of the implicit borders. The discriminator employs an adversarial learning module to effectively strengthen the higher-order spatial consistency, and to avoid overfitting owing to insufficient training data. The diagnostor employs an automated diagnosis module to provide automated recognition of spinal diseases. Extensive experiments demonstrate that these modules have positive effects on improving the segmentation and diagnosis accuracies. Additionally, the results indicate that Axial-SpineGAN has the highest Dice similarity coefficient (94.9% ± 1.8%) in terms of the segmentation accuracy and highest accuracy rate (93.9% ± 2.6%) in terms of the diagnosis accuracy, thereby outperforming existing state-of-the-art methods. Therefore, our proposed Axial-SpineGAN is effective and potential as a clinical tool for providing an automated segmentation and disease diagnosis for multiple spinal structures on MRI images.

Bimodal CT/MRI-Based Segmentation Method for Intervertebral Disc Boundary Extraction

Intervertebral disc (IVD) localization and segmentation have triggered intensive research efforts in the medical image analysis community, since IVD abnormalities are strong indicators of various spinal cord-related pathologies. Despite the intensive research efforts to address IVD boundary extraction based on MR images, the potential of bimodal approaches, which benefit from complementary information derived from both magnetic resonance imaging (MRI) and computed tomography (CT), has not yet been fully realized. Furthermore, most existing approaches rely on manual intervention or on learning, although sufficiently large and labelled 3D datasets are not always available. In this light, this work introduces a bimodal segmentation method for vertebrae and IVD boundary extraction, which requires a limited amount of intervention and is not based on learning. The proposed method comprises various image processing and analysis stages, including CT/MRI registration, Otsu-based thresholding and Chan–Vese-based segmentation. The method was applied on 98 expert-annotated pairs of CT and MR spinal cord images with varying slice thicknesses and pixel sizes, which were obtained from 7 patients using different scanners. The experimental results had a Dice similarity coefficient equal to 94.77(%) for CT and 86.26(%) for MRI and a Hausdorff distance equal to 4.4 pixels for CT and 4.5 pixels for MRI. Experimental comparisons with state-of-the-art CT and MRI segmentation methods lead to the conclusion that the proposed method provides a reliable alternative for vertebrae and IVD boundary extraction. Moreover, the segmentation results are utilized to perform a bimodal visualization of the spine, which could potentially aid differential diagnosis with respect to several spine-related pathologies.

A novel robust kernel principal component analysis for nonlinear statistical shape modeling from erroneous data

Statistical Shape Models (SSMs) have achieved considerable success in medical image segmentation. A high quality SSM is able to approximate the main plausible variances of a given anatomical structure to guide segmentation. However, it is technically challenging to derive such a quality model because: (1) the distribution of shape variance is often nonlinear or multi-modal which cannot be modeled by standard approaches assuming Gaussian distribution; (2) as the quality of annotations in training data usually varies, heavy corruption will degrade the quality of the model as a whole. In this work, these challenges are addressed by introducing a generic SSM that is able to model nonlinear distribution and is robust to outliers in training data. Without losing generality and assuming a sparsity in nonlinear distribution, a novel Robust Kernel Principal Component Analysis (RKPCA) for statistical shape modeling is proposed with the aim of constructing a low-rank nonlinear subspace where outliers are discarded. The proposed approach is validated on two different datasets: a set of 30 public CT kidney pairs and a set of 49 MRI ankle bones volumes. Experimental results demonstrate a significantly better performance on outlier recovery and a higher quality of the proposed model as well as lower segmentation errors compared to the state-of-the-art techniques.

Biomechanically driven intraoperative spine registration during navigated anterior vertebral body tethering

The integration of pre-operative biomechanical planning with intra-operative imaging for navigated corrective spine surgery may improve surgical outcomes, as well as the accuracy and safety of manoeuvres such as pedicle screw insertion and cable tethering, as these steps are performed empirically by the surgeon. However, registration of finite element models (FEMs) of the spine remains challenging due to changes in patient positioning and imaging modalities. The purpose of this study was to develop and validate a new method registering a preoperatively constructed patient-specific FEM aimed to plan and assist anterior vertebral body tethering (AVBT) of scoliotic patients, to intraoperative cone beam computed tomography (CBCT) during navigated AVBT procedures. Prior to surgery, the 3D reconstruction of the patient's spine was obtained using biplanar radiographs, from which a patient-specific FEM was derived. The surgical plan was generated by first simulating the standing to intraoperative decubitus position change, followed by the AVBT correction techniques. Intraoperatively, a CBCT was acquired and an automatic segmentation method generated the 3D model for a series of vertebrae. Following a rigid initialization, a multi-level registration simulation using the FEM and the targeted positions of the corresponding reconstructed vertebrae from the CBCT allows for the refinement of the alignment between modalities. The method was tested with 18 scoliotic cases with a mean thoracic Cobb angle of 47°  ±  7° having already undergone AVBT. The translation error of the registered FEM vertebrae to the segmented CBCT spine was 1.4  ±  1.2 mm, while the residual orientation error was 2.7°  ±  2.6°, 2.8°  ±  2.4° and 2.5°  ±  2.8° in the coronal, sagittal, and axial planes, respectively. The average surface-to-surface distance was 1.5  ±  1.2 mm. The proposed method is a first attempt to use a patient-specific biomechanical FEM for navigated AVBT, allowing to optimize surgical strategies and screw placement during surgery.

Artificially enriching the training dataset of statistical shape models via constrained cage-based deformation

The construction of a powerful statistical shape model (SSM) requires a rich training dataset that includes the large variety of complex anatomical topologies. The lack of real data causes most SSMs unable to generalize possible unseen instances. Artificial enrichment of training data is one of the methods proposed to address this issue. In this paper, we introduce a novel technique called constrained cage-based deformation (CCBD), which has the ability to produce unlimited artificial data that promises to enrich variability within the training dataset. The proposed method is a two-step algorithm: in the first step, it moves a few handles together, and in the second step transfers the displacements of these handles to the base mesh vertices to generate a real new instance. The evaluation of statistical characteristics of the CCBD confirms that our proposed technique outperforms notable data-generating methods quantitatively, in terms of the generalization ability, and with respect to specificity.

N-Net: 3D Fully Convolution Network-Based Vertebrae Segmentation from CT Spinal Images

Accurate vertebrae segmentation from CT spinal images is crucial for the clinical tasks of diagnosis, surgical planning, and post-operative assessment. This paper describes an [Formula: see text]-shaped 3D fully convolution network (FCN) for vertebrae segmentation: [Formula: see text]-net. In this network, a global structure guidance pathway is designed for fusing the high-level semantic features with the global structure information. Moreover, the residual structure and the skip connection are introduced into traditional 3D FCN framework. These schemes can significantly improve the accuracy of vertebrae segmentation. Experimental results demonstrate the effectiveness and robustness of our method. A high average DICE score of 0.9499 [Formula: see text] 0.02 can be obtained, which is better than those of existing methods.

Iterative fully convolutional neural networks for automatic vertebra segmentation and identification

Precise segmentation and anatomical identification of the vertebrae provides the basis for automatic analysis of the spine, such as detection of vertebral compression fractures or other abnormalities. Most dedicated spine CT and MR scans as well as scans of the chest, abdomen or neck cover only part of the spine. Segmentation and identification should therefore not rely on the visibility of certain vertebrae or a certain number of vertebrae. We propose an iterative instance segmentation approach that uses a fully convolutional neural network to segment and label vertebrae one after the other, independently of the number of visible vertebrae. This instance-by-instance segmentation is enabled by combining the network with a memory component that retains information about already segmented vertebrae. The network iteratively analyzes image patches, using information from both image and memory to search for the next vertebra. To efficiently traverse the image, we include the prior knowledge that the vertebrae are always located next to each other, which is used to follow the vertebral column. The network concurrently performs multiple tasks, which are segmentation of a vertebra, regression of its anatomical label and prediction whether the vertebra is completely visible in the image, which allows to exclude incompletely visible vertebrae from further analyses. The predicted anatomical labels of the individual vertebrae are additionally refined with a maximum likelihood approach, choosing the overall most likely labeling if all detected vertebrae are taken into account. This method was evaluated with five diverse datasets, including multiple modalities (CT and MR), various fields of view and coverages of different sections of the spine, and a particularly challenging set of low-dose chest CT scans. For vertebra segmentation, the average Dice score was 94.9 ± 2.1% with an average absolute symmetric surface distance of 0.2 ± 10.1mm. The anatomical identification had an accuracy of 93%, corresponding to a single case with mislabeled vertebrae. Vertebrae were classified as completely or incompletely visible with an accuracy of 97%. The proposed iterative segmentation method compares favorably with state-of-the-art methods and is fast, flexible and generalizable.

Group-wise similarity registration of point sets using Student's t-mixture model for statistical shape models

A probabilistic group-wise similarity registration technique based on Student's t-mixture model (TMM) and a multi-resolution extension of the same (mr-TMM) are proposed in this study, to robustly align shapes and establish valid correspondences, for the purpose of training statistical shape models (SSMs). Shape analysis across large cohorts requires automatic generation of the requisite training sets. Automated segmentation and landmarking of medical images often result in shapes with varying proportions of outliers and consequently require a robust method of alignment and correspondence estimation. Both TMM and mrTMM are validated by comparison with state-of-the-art registration algorithms based on Gaussian mixture models (GMMs), using both synthetic and clinical data. Four clinical data sets are used for validation: (a) 2D femoral heads (K= 1000 samples generated from DXA images of healthy subjects); (b) control-hippocampi (K= 50 samples generated from T1-weighted magnetic resonance (MR) images of healthy subjects); (c) MCI-hippocampi (K= 28 samples generated from MR images of patients diagnosed with mild cognitive impairment); and (d) heart shapes comprising left and right ventricular endocardium and epicardium (K= 30 samples generated from short-axis MR images of: 10 healthy subjects, 10 patients diagnosed with pulmonary hypertension and 10 diagnosed with hypertrophic cardiomyopathy). The proposed methods significantly outperformed the state-of-the-art in terms of registration accuracy in the experiments involving synthetic data, with mrTMM offering significant improvement over TMM. With the clinical data, both methods performed comparably to the state-of-the-art for the hippocampi and heart data sets, which contained few outliers. They outperformed the state-of-the-art for the femur data set, containing large proportions of outliers, in terms of alignment accuracy, and the quality of SSMs trained, quantified in terms of generalization, compactness and specificity.

Computer-Assisted Screw Size and Insertion Trajectory Planning for Pedicle Screw Placement Surgery

Pathological conditions that cause instability of the spine are commonly treated by vertebral fixation involving pedicle screw placement surgery. However, existing methods for preoperative planning are based only on geometrical properties of vertebral structures (i.e., shape) without taking into account their structural properties (i.e., appearance). We propose a novel automated method for computer-assisted preoperative planning of the thoracic pedicle screw size and insertion trajectory. The proposed method extracts geometrical properties of vertebral structures by parametric modeling of vertebral bodies and pedicles in three dimensions (3D), and combines them with structural properties, evaluated through underlying image intensities in computed tomography (CT) images while considering the guidelines for pedicle screw design. The method was evaluated on 81 pedicles, obtained from 3D CT images of 11 patients that were appointed for pedicle screw placement surgery. In terms of mean absolute difference (MAD) and corresponding standard deviation (SD), the resulting high modeling accuracy of 0.39±0.31 mm for 3D vertebral body models and 0.31±0.25 mm for 3D pedicle models created an adequate anatomical frame for 3D pedicle screw models. When comparing the automatically obtained and manually defined plans for pedicle screw placement, a relatively high agreement was observed, with MAD ±SD of 0.4±0.4 mm for the screw diameter, 5.8±4.2 mm for the screw length, 2.0±1.4 mm for the pedicle crossing point and 7.6±5.8(°) for screw insertion angles. However, a statistically significant increase of 48±26% in the screw fastening strength in favor of the proposed automated method was observed in 99% of the cases.

Medical image computing in diagnosis and intervention of spinal diseases

Spinal image analysis and computer assisted intervention have emerged as new and independent research areas, due to the importance of treatment of spinal diseases, increasing availability of spinal imaging, and advances in analytics and navigation tools. Among others, multiple modality spinal image analysis and spinal navigation tools have emerged as two keys in this new area. We believe that further focused research in these two areas will lead to a much more efficient and accelerated research path, avoiding detours that exist in other applications, such as in brain and heart.