Investigation of a 3D system distortion correction method for MR images

Assessment of MRI image distortion based on 6 consecutive years of annual QAs and measurements on 14 MRI scanners used for radiation therapy

PURPOSE

To determine the magnitude of MRI image distortion based on 6 consecutive years of annual quality assurances/measurements on 14 MRI scanners used for radiation therapy and to provide evidence for the inclusion of additional margin for treatment planning.

METHODS AND MATERIALS

We used commercial MRI image phantoms to quantitatively study the MRI image distortion over period of 6 years for up to 14 1.5 and 3 T MRI scanners that could potentially be used to provide MRI images for treatment planning. With the phantom images collected from 2016 to 2022, we investigated the MRI image distortion, the dependence of distortion on the distance from the imaging isocenter, and the possible causes of large distortion discovered.

RESULTS

MRI image distortion increases with the distance from the imaging isocenter. For a region of interest (ROI) with a radius of 100 mm centered at the isocenter, the mean magnitude of distortion for all MRI scanners is 0.44 ± 0.18 mm $0.44 \pm 0.18\;{\rm{mm}}$ , and the maximum distortion varies from 0.52 to 1.31 mm $0.52\;{\rm{to}}\;1.31\;{\rm{mm}}$ depending on MRI scanners. For an ROI with a radius of 200 mm centered at the isocenter, the mean magnitude of distortion increases to 0.84 ± 0.45 mm $0.84 \pm 0.45\;{\rm{mm}}$ , and the range of the maximum distortion increases to 1.92 - 5.03 mm $1.92 - 5.03\;{\rm{mm}}$ depending on MRI scanners. The distortion could reach 2 mm at 150 mm from the isocenter.

CONCLUSION

An additional margin to accommodate image distortion should be considered for treatment planning. Imaging with proper patient alignment to the isocenter is vital to reducing image distortion. We recommend performing image distortion checks annually and after major upgrade on MRI scanners.

MRI Distortion Correction and Robot-to-MRI Scanner Registration for an MRI-Guided Robotic System

Magnetic resonance imaging (MRI) guided robotic procedures require safe robotic instrument navigation and precise target localization. This depends on reliable tracking of the instrument from MR images, which requires accurate registration of the robot to the scanner. A novel differential image based robot-to-MRI scanner registration approach is proposed that utilizes a set of active fiducial coils, where background subtraction method is employed for coil detection. In order to use the presented preoperative registration approach jointly with the real-time high speed MRI image acquisition and reconstruction methods in real-time interventional procedures, the effects of the geometric MRI distortion in robot to scanner registration is analyzed using a custom distortion mapping algorithm. The proposed approach is validated by a set of target coils placed within the workspace, employing multi-planar capabilities of the scanner. Registration and validation errors are respectively 2.05 mm and 2.63 mm after the distortion correction showing an improvement of respectively 1.08 mm and 0.14 mm compared to the results without distortion correction.

Target localization accuracy in frame‐based stereotactic radiosurgery: Comparison between MR‐only and MR/CT co‐registration approaches

Purpose

In frame‐based Gamma Knife (GK) stereotactic radiosurgery two treatment planning workflows are commonly employed; one based solely on magnetic resonance (MR) images and the other based on magnetic resonance/computed tomography (MR/CT) co‐registered images. In both workflows, target localization accuracy (TLA) can be deteriorated due to MR‐related geometric distortions and/or MR/CT co‐registration uncertainties. In this study, the overall TLA following both clinical workflows is evaluated for cases of multiple brain metastases.

Methods

A polymer gel‐filled head phantom, having the Leksell stereotactic headframe attached, was CT‐imaged and irradiated by a GK Perfexion unit. A total of 26 4‐mm shots were delivered at 26 locations directly defined in the Leksell stereotactic space (LSS), inducing adequate contrast in corresponding T2‐weighted (T2w) MR images. Prescribed shot coordinates served as reference locations. An additional MR scan was acquired to implement the “mean image” distortion correction technique. The TLA for each workflow was assessed by comparing the radiation‐induced target locations, identified in MR images, with corresponding reference locations. Using T1w MR and CT images of 15 patients (totaling 81 lesions), TLA in clinical cases was similarly assessed, considering MR‐corrected data as reference. For the MR/CT workflow, both global and region of interest (ROI)‐based MR/CT registration approaches were studied.

Results

In phantom measurements, the MR‐corrected workflow demonstrated unsurpassed TLA (median offset of 0.2 mm) which deteriorated for MR‐only and MR/CT workflows (median offsets of 0.8 and 0.6 mm, respectively). In real‐patient cases, the MR‐only workflow resulted in offsets that exhibit a significant positive correlation with the distance from the MR isocenter, reaching 1.1 mm (median 0.6 mm). Comparable results were obtained for the MR/CT‐global workflow, although a maximum offset of 1.4 mm was detected. TLA was improved with the MR/CT‐ROI workflow resulting in median/maximum offsets of 0.4 mm/1.1 mm.

Conclusions

Subpixel TLA is achievable in all workflows. For the MR/CT workflow, a ROI‐based MR/CT co‐registration approach could considerably increase TLA and should be preferred instead of a global registration.

＜Editors' Choice＞ Evaluation of system-related magnetic resonance imaging geometric distortion in radiation therapy treatment planning: two approaches and effectiveness of three-dimensional distortion correction

We propose two methods to evaluate system-related distortion in magnetic resonance imaging (MRI) in radiation therapy treatment planning (RTP) and demonstrate the importance of three-dimensional (3D) distortion correction (DC) by quantitatively measuring the distortion magnitude. First, a small pin phantom was scanned at multiple positions using an external laser guide for accurate phantom placement and combined into one image encompassing a large area. Direct plane images were used for evaluating in-plane distortion and multiplanar reconstruction images for through-plane distortion with no DC, two-dimensional (2D) DC, and 3D DC. Second, a large grid sheet was scanned as the direct plane of the phantom placement. The distortion magnitude was determined by measuring the displacement between the MRI and reference coordinates. The measured distortions were compared between in- and through-plane when applying DC and between the two methods. The small pin phantom method can be used to evaluate a wide range of distortions, whereas data from the entire plane can be obtained with a single scan using the grid sheet without a laser guide. The mean distortion magnitudes differed between the methods. Furthermore, the 3D DC reduced in- and through-plane distortions. In conclusion, the small pin phantom method can be used to evaluate a wide range of distortions by creating a combined image, whereas the grid sheet method is simpler, accurate, repeatable, and does not require a special-order phantom or laser guide. As 3D DC reduces both in- and through-plane distortions, it can be used to improve RTP quality.

Phantom assessment of three-dimensional geometric distortion of a dedicated wide-bore MR-simulator for radiotherapy

This study evaluated the machine-dependent three-dimensional geometric distortion images acquired from a 1.5T 700mm-wide bore MR-simulator based on a large geometric accuracy phantom. With the consideration of radiation therapy (RT) application requirements, every sequence was examined in various combinations of acquisition-orientations and receiver-bandwidths with console-integrated distortion correction enabled. Distortion was repeatedly measured over a six-month period. The distortion measured from the images acquired at the beginning of this period was employed to retrospectively correct the distortion in the subsequent acquisitions. Geometric distortion was analyzed within the largest field-of-view allowed. Six sequences were examined for comprehensive distortion analysis - VIBE, SPACE, TSE, FLASH, BLADE and PETRA. Based on optimal acquisition parameters, their diameter-sphere-volumes (DSVs) of CT-comparable geometric fidelity (where 1mm distortion was allowed) were 333.6mm, 315.1mm, 316.0mm, 318.9mm, 306.2mm and 314.5mm respectively. This was a significant increase from 254.0mm, 245.5mm, 228.9mm, 256.6mm, 230.8mm and 254.2mm DSVs respectively, when images were acquired using un-optimized parameters. The longitudinal stability of geometric distortion and the efficacy of retrospective correction of console-corrected images, based on prior distortion measurements, were inspected using VIBE and SPACE. The retrospectively corrected images achieved over 500mm DSVs with 1mm distortion allowed. The median distortion was below 1mm after retrospective correction, proving that obtaining prior distortion map for subsequent retrospective distortion correction is beneficial. The systematic evaluation of distortion using various combinations of sequence-type, acquisition-orientation and receiver-bandwidth in a six-month time span would be a valuable guideline for optimizing sequence for various RT applications.

Design and construction of a customizable phantom for the characterization of the three-dimensional magnetic resonance imaging geometric distortion

One of the main challenges to using magnetic resonance imaging (MRI) in radiotherapy is the existence of system‐related geometric inaccuracies caused mainly by the inhomogeneity in the main magnetic field and the nonlinearities of the gradient coils.

Several physical phantoms, with fixed configuration, have been developed and commercialized for the assessment of the MRI geometric distortion. In this study, we propose a new design of a customizable phantom that can fit any type of radio frequency (RF) coil. It is composed of 3D printed plastic blocks containing holes that can hold glass tubes which can be filled with any liquid. The blocks can be assembled to construct phantoms with any dimension.

The feasibility of this design has been demonstrated by assembling four phantoms with high robustness allowing the assessment of the geometric distortion for the GE split head coil, the head and neck array coil, the anterior array coil, and the body coil. Phantom reproducibility was evaluated by analyzing the geometric distortion on CT acquisition of five independent assemblages of the phantom.

This solution meets all expectations in terms of having a robust, lightweight, modular, and practical tool for measuring distortion in three dimensions. Mean error in the position of the tubes was less than 0.2 mm. For the geometric distortion, our results showed that for all typical MRI sequences used for radiotherapy, the mean geometric distortion was less than 1 mm and less than 2.5 mm over radial distances of 150 mm and 250 mm, respectively.

These tools will be part of a quality assurance program aimed at monitoring the image quality of MRI scanners used to guide radiation therapy.

Quantification of magnetic susceptibility fingerprint of a 3D linearity medical device

PURPOSE

The study investigates the numerical modelling as well as experimental validation of magnetic susceptibility effects with respect to a 3D linearity phantom used for the quantification of MR image distortions.

METHODS

Magnetic field numerical simulations based on finite difference methods were conducted to generate the susceptibility (χ) model of the MRID^3D phantom. Experimental data was acquired and analyzed for eight different MR scanners to include a wide range of scanning parameters. Distortion vector fields were generated by applying a harmonic analysis based on finite elements methods. Phantom scans for the same setup but with opposite polarities of the frequency encoding gradient were processed in conjunction with the susceptibility modelling to separately quantify three field components due to gradient non-linearities (GNL), B₀ inhomogeneities and χ perturbations.

RESULTS

The numerical modelling showed a significant range of χ value of up to 8.23 ppm, with a mean value of 2.9 ppm. The χ perturbations were found to be mostly present at the end plates of the cylindrical phantom design. The simulations also showed that setup rotations of up to 10° introduced only negligible variations in the χ model of less than 0.1 ppm. This allows for a straightforward practical implementation of the modelling as a single lookup table. After correcting for the χ perturbations, the B₀ inhomogeneities were derived and found to be in good agreement with either the MR system manufacturer specifications or experimental data available in the literature.

CONCLUSIONS

It is possible to accurately model the magnetic susceptibility signature of a 3D linearity device and remove it as a post-processing correction step. This is important as the procedure unlocks the ability of determining both the GNL field and B₀ map of the scanner without the need of extra acquisitions or phantoms.

A Comparison of the Distortion in the Same Field MRI and MR-Linac System With a 3D Printed Phantom

PURPOSE

A 3D printed geometric phantom was developed that can be scanned with computed tomography (CT) and magnetic resonance imaging (MRI) to measure the geometric distortion and determine the relevant dose changes.

MATERIALS AND METHODS

A self-designed 3D printed photosensitive resin phantom was used, which adopts grid-like structures and has 822 1 cm2 squares. The scanning plan was delivered by three MRI scanners: the Elekta Unity MR-Linac 1.5T, GE Signa HDe 1.5T, and GE Discovery-sim 750 3.0T. The geometric distortion comparison was concentrated on two 1.5T MRI systems, whereas the 3.0T MRI was used as a supplemental experiment. The most central transverse images in each dataset were selected to demonstrate the plane distortion. Some mark points were selected to analyze the distortion in the 3D direction based on the plane geometric distortion. A treatment plan was created with the off-line Monaco system.

RESULTS

The distortion increases gradually from the center to the outside. The distortion range is 0.79 ± 0.40 mm for the Unity, 1.31 ± 0.56 mm for the GE Signa HDe, and 2.82 ± 1.48 mm for the GE Discovery-sim 750. Additionally, the geometric distortion slightly affects the actual planning dose of the radiotherapy.

CONCLUSION

Geometric distortion increases gradually from the center to the outside. The distortion values of the Unity were smaller than those of the GE Signa HDe, and the Unity has the smallest geometric distortion. Finally, the Unity's dose variation best matched with the standard treatment plan.

Evaluation of patient-specific MR distortion correction schemes for improved target localization accuracy in SRS

PURPOSE

This work aims at promoting target localization accuracy in cranial stereotactic radiosurgery (SRS) applications by focusing on the correction of sequence-dependent (also patient induced) magnetic resonance (MR) distortions at the lesion locations. A phantom-based quality assurance (QA) methodology was developed and implemented for the evaluation of three distortion correction techniques. The same approach was also adapted to cranial MR images used for SRS treatment planning purposes in single or multiple brain metastases cases.

METHODS

A three-dimensional (3D)-printed head phantom was filled with a 3D polymer gel dosimeter. Following treatment planning and dose delivery, volumes of radiation-induced polymerization served as hypothetical lesions, offering adequate MR contrast with respect to the surrounding unirradiated areas. T1-weighted (T1w) MR imaging was performed at 1.5 T using the clinical scanning protocol for SRS. Additional images were acquired to implement three distortion correction methods; the field mapping (FM), mean image (MI) and signal integration (SI) techniques. Reference lesion locations were calculated as the averaged centroid positions of each target identified in the forward and reverse read gradient polarity MRI scans. The same techniques and workflows were implemented for the correction of contrast-enhanced T1w MR images of 10 patients with a total of 27 brain metastases.

RESULTS

All methods employed in the phantom study diminished spatial distortion. Median and maximum distortion magnitude decreased from 0.7 mm (2.10 ppm) and 0.8 mm (2.36 ppm), respectively, to <0.2 mm (0.61 ppm) at all target locations, using any of the three techniques. Image quality of the corrected images was acceptable, while contrast-to-noise ratio slightly increased. Results of the patient study were in accordance with the findings of the phantom study. Residual distortion in corrected patient images was found to be <0.3 mm in the vast majority of targets. Overall, the MI approach appears to be the most efficient correction method from the three investigated.

CONCLUSIONS

In cranial SRS applications, patient-specific distortion correction at the target location(s) is feasible and effective, despite the expense of longer imaging time since additional MRI scan(s) need to be performed. A phantom-based QA methodology was developed and presented to reassure efficient implementation of correction techniques for sequence-dependent spatial distortion.

Characterization of hardware-related spatial distortions for IR-PETRA pulse sequence using a brain specific phantom

OBJECTIVE

Inversion recovery-pointwise encoding time reduction with radial acquisition (IR-PETRA) is an effective magnetic resonance (MR) pulse sequence in generating pseudo-CTs. The hardware-related spatial-distortion (HRSD) in MR images potentially deteriorates the accuracy of pseudo-CTs. Thus, we aimed at characterizing HRSD for IR-PETRA.

MATERIALS AND METHODS

gross-HRSD_overall (Euclidean-sum of gross-HRSD_i (i = x, y, z)) for IR-PETRA was assessed using a brain-specific phantom for two MR scanners (1.5 T-Aera and 3.0 T-Prisma). Moreover, hardware imperfections were analyzed by determining gradient-nonlinearity spatial-distortion (GNSD) and B₀-inhomogeneity spatial-distortion (B₀ISD) for magnetization-prepared rapid acquisition gradient-echo (MP-RAGE) which has well-known distortion characteristics.

RESULTS

In 3.0 T, maximum of gross-GNSD_overall (Euclidean-sum of gross-GNSD_i) and gross-B₀ISD for MP-RAGE was 2.77 mm and 0.57 mm, respectively. For this scanner, the mean and maximum of gross-HRSD_overall for IR-PETRA were 0.63 ± 0.38 mm and 1.91 mm, respectively. In 1.5 T, maximum of gross-GNSD_overall and gross-B₀ISD for MP-RAGE was 3.41 mm and 0.78 mm, respectively. The mean and maximum of gross-HRSD_overall for IR-PETRA were 1.02 ± 0.50 mm and 3.12 mm, respectively.

DISCUSSION

The spatial accuracy of MR images, besides being impacted by hardware performance, scanner capabilities, and imaging parameters, is mainly affected by its imaging strategy and data acquisition scheme. In 3.0 T, even without applying vendor correction algorithms, spatial accuracy of IR-PETRA image is sufficient for generating pseudo-CTs. In 1.5 T, distortion-correction is required to provide this accuracy.

Measuring geometric accuracy in magnetic resonance imaging with 3D-printed phantom and nonrigid image registration

Objective

We aimed to develop a vendor-neutral and interaction-free quality assurance protocol for measuring geometric accuracy of head and brain magnetic resonance (MR) images. We investigated the usability of nonrigid image registration in the analysis and looked for the optimal registration parameters.

Materials and methods

We constructed a 3D-printed phantom and imaged it with 12 MR scanners using clinical sequences. We registered a geometric-ground-truth computed tomography (CT) acquisition to the MR images using an open-source nonrigid-registration-toolbox with varying parameters. We applied the transforms to a set of control points in the CT image and compared their locations to the corresponding visually verified reference points in the MR images.

Results

With optimized registration parameters, the mean difference (and standard deviation) of control point locations when compared to the reference method was (0.17 ± 0.02) mm for the 12 studied scanners. The maximum displacements varied from 0.50 to 1.35 mm or 0.89 to 2.30 mm, with vendors’ distortion correction on or off, respectively.

Discussion

Using nonrigid CT–MR registration can provide a robust and relatively test-object-agnostic method for estimating the intra- and inter-scanner variations of the geometric distortions.

Quality assurance measurements of geometric accuracy for magnetic resonance imaging-based radiotherapy treatment planning

BACKGROUND

Using magnetic resonance imaging (MRI) as the only imaging method for radiotherapy treatment planning (RTP) is becoming more common as MRI-only RTP solutions have evolved. The geometric accuracy of MR images is an essential factor of image quality when determining the suitability of MRI for RTP. The need is therefore clear for clinically feasible quality assurance (QA) methods for the geometric accuracy measurement.

MATERIALS AND METHODS

This work evaluates long-term stability of geometric accuracy and the validity of a 2D geometric accuracy QA method compared to a prototype 3D method and analysis software in routine QA. The long-term follow-up measurements were conducted on one of the 1.5 T scanners over a period of 19 months using both methods. Inter-scanner variability of geometric distortions was also evaluated in three 1.5 T and three 3 T MRI scanners from a single vendor by using the prototype 3D QA method.

RESULTS

The geometric accuracy of the magnetic resonance for radiotherapy (MR-RT) platform remained stable within 2 mm at distances of <250 mm from isocenter. All scanners achieved good geometric accuracy with mean geometric distortions of <1 mm at <150 mm and <2 mm at <250 mm from the isocenter. Both measurement methods provided relevant information about geometric distortions.

CONCLUSIONS

Geometric distortions are often considered a limitation of MRI-only RTP. Results indicate that geometric accuracy of modern scanners remain within acceptable limits by default even after many years of clinical use based on the 3D QA evaluation.

Characterizing geometrical accuracy in clinically optimised 7T and 3T magnetic resonance images for high-precision radiation treatment of brain tumours

Background and purpose

In neuro-oncology, high spatial accuracy is needed for clinically acceptable high-precision radiation treatment planning (RTP). In this study, the clinical applicability of anatomically optimised 7-Tesla (7T) MR images for reliable RTP is assessed with respect to standard clinical imaging modalities.

Materials and methods

System- and phantom-related geometrical distortion (GD) were quantified on clinically-relevant MR sequences at 7T and 3T, and on CT images using a dedicated anthropomorphic head phantom incorporating a 3D grid-structure, creating 436 points-of-interest. Global GD was assessed by mean absolute deviation (MAD_Global). Local GD relative to the magnetic isocentre was assessed by MAD_Local. Using 3D displacement vectors of individual points-of-interest, GD maps were created. For clinically acceptable radiotherapy, 7T images need to meet the criteria for accurate dose delivery (GD < 1 mm) and present comparable GD as tolerated in clinically standard 3T MR/CT-based RTP.

Results

MAD_Global in 7T and 3T images ranged from 0.3 to 2.2 mm and 0.2-0.8 mm, respectively. MAD_Local increased with increasing distance from the isocentre, showed an anisotropic distribution, and was significantly larger in 7T MR sequences (MAD_Local = 0.2-1.2 mm) than in 3T (MAD_Local = 0.1-0.7 mm) (p < 0.05). Significant differences in GD were detected between 7T images (p < 0.001). However, maximum MAD_Local remained ≤1 mm within 68.7 mm diameter spherical volume. No significant differences in GD were found between 7T and 3T protocols near the isocentre.

Conclusions

System- and phantom-related GD remained ≤1 mm in central brain regions, suggesting that 7T MR images could be implemented in radiotherapy with clinically acceptable spatial accuracy and equally tolerated GD as in 3T MR/CT-based RTP. For peripheral regions, GD should be incorporated in safety margins for treatment uncertainties. Moreover, the effects of sequence-related factors on GD needs further investigation to obtain RTP-specific MR protocols.

Technical challenges of quantitative chest MRI data analysis in a large cohort pediatric study

Objectives

This study was conducted in order to evaluate the effect of geometric distortion (GD) on MRI lung volume quantification and evaluate available manual, semi-automated, and fully automated methods for lung segmentation.

Methods

A phantom was scanned with MRI and CT. GD was quantified as the difference in phantom’s volume between MRI and CT, with CT as gold standard. Dice scores were used to measure overlap in shapes. Furthermore, 11 subjects from a prospective population-based cohort study each underwent four chest MRI acquisitions. The resulting 44 MRI scans with 2D and 3D Gradwarp were used to test five segmentation methods. Intraclass correlation coefficient, Bland–Altman plots, Wilcoxon, Mann–Whitney U, and paired t tests were used for statistics.

Results

Using phantoms, volume differences between CT and MRI varied according to MRI positions and 2D and 3D Gradwarp correction. With the phantom located at the isocenter, MRI overestimated the volume relative to CT by 5.56 ± 1.16 to 6.99 ± 0.22% with body and torso coils, respectively. Higher Dice scores and smaller intraobject differences were found for 3D Gradwarp MR images. In subjects, semi-automated and fully automated segmentation tools showed high agreement with manual segmentations (ICC = 0.971–0.993 for end-inspiratory scans; ICC = 0.992–0.995 for end-expiratory scans). Manual segmentation time per scan was approximately 3–4 h and 2–3 min for fully automated methods.

Conclusions

Volume overestimation of MRI due to GD can be quantified. Semi-automated and fully automated segmentation methods allow accurate, reproducible, and fast lung volume quantification. Chest MRI can be a valid radiation-free imaging modality for lung segmentation and volume quantification in large cohort studies.

Key Points

• Geometric distortion varies according to MRI setting and patient positioning.

• Automated segmentation methods allow fast and accurate lung volume quantification.

• MRI is a valid radiation-free alternative to CT for quantitative data analysis.

Electronic supplementary material

The online version of this article (10.1007/s00330-018-5863-7) contains supplementary material, which is available to authorized users.

Assessment of MR stereotactic imaging and image co-registration accuracy for 3 different MR scanners by 3 different methods/phantoms: phantom and patient study

OBJECTIVE

The aim of this study was to compare 3 different methods to assess the geometrical distortion of two 1.5-T and one 3-T magnetic resonance (MR) scanners and to evaluate co-registration accuracy. The overall uncertainty of each particular method was also evaluated.

METHODS

Three different MR phantoms were used: 2 commercial CIRS skull phantoms and PTGR known target phantom and 1 custom cylindrical Perspex phantom made in-house. All phantoms were fixed in the Leksell stereotactic frame and examined by a Siemens Somatom CT unit, two 1.5-T Siemens (Avanto and Symphony) MRI systems, and one 3-T Siemens (Skyra) MRI system. The images were evaluated using Leksell GammaPlan software, and geometrical deviation of the selected points from the reference values were determined. The deviations were further investigated for both definitions including fiducial-based and co-registration–based in the case of the CIRS phantom images. The same co-registration accuracy assessment was also performed for a clinical case. Patient stereotactic imaging was done on 3-T Skyra, 1.5-T Avanto, and CT scanners.

RESULTS

The accuracy of the CT scanner was determined as 0.10, 0.30, and 0.30 mm for X, Y, and Z coordinates, respectively. The total estimated uncertainty in distortion measurement in one coordinate was determined to be 0.32 mm and 0.14 mm, respectively, for methods using and not using CT as reference imaging. Slightly more significant distortions were observed when using the 3-T than either 1.5-T MR units. However, all scanners were comparable within the estimated measurement error. Observed deviation/distortion for individual X, Y, and Z stereotactic coordinates was typically within 0.50 mm for all 3 scanners and all 3 measurement methods employed. The total radial deviation/distortion was typically within 1.00 mm. Maximum total radial distortion was observed when the CIRS phantom was used; 1.08 ± 0.49 mm, 1.15 ± 0.48 mm, and 1.35 ± 0.49 mm for Symphony, Avanto, and Skyra, respectively. The co-registration process improved image stereotactic definition in a clinical case in which fiducial-based stereotactic definition was not accurate; this was demonstrated for 3-T stereotactic imaging in this study. The best results were shown for 3-T MR image co-registration with CT images improving image stereotactic definition by about 0.50 mm. The results obtained with patient data provided a similar trend of improvement in stereotactic definition by co-registration.

CONCLUSIONS

All 3 methods/phantoms used were evaluated as satisfactory for the image distortion measurement. The method using the PTGR phantom had the lowest uncertainty as no reference CT imaging was needed. Image co-registration can improve stereotactic image definition when fiducial-based definition is not accurate.

Technical Note: Harmonic analysis applied to MR image distortion fields specific to arbitrarily shaped volumes

PURPOSE

Magnetic resonance imaging is expected to play a more important role in radiation therapy given the recent developments in MR-guided technologies. MR images need to consistently show high spatial accuracy to facilitate RT-specific tasks such as treatment planning and in-room guidance. The present study investigates a new harmonic analysis method for the characterization of complex three-dimensional (3D) fields derived from MR images affected by system-related distortions.

METHODS

An interior Dirichlet problem based on solving the Laplace equation with boundary conditions (BCs) was formulated for the case of a 3D distortion field. The second-order boundary value problem (BVP) was solved using a finite elements method (FEM) for several quadratic geometries - that is, sphere, cylinder, cuboid, D-shaped, and ellipsoid. To stress-test the method and generalize it, the BVP was also solved for more complex surfaces such as a Reuleaux 9-gon and the MR imaging volume of a scanner featuring a high degree of surface irregularities. The BCs were formatted from reference experimental data collected with a linearity phantom featuring a volumetric grid structure. The method was validated by comparing the harmonic analysis results with the corresponding experimental reference fields.

RESULTS

The harmonic fields were found to be in good agreement with the baseline experimental data for all geometries investigated. In the case of quadratic domains, the percentage of sampling points with residual values larger than 1 mm was 0.5% and 0.2% for the axial components and vector magnitude, respectively. For the general case of a domain defined by the available MR imaging field of view, the reference data showed a peak distortion of about 1 mm and 79% of the sampling points carried a distortion magnitude larger than 1 mm (tolerance intrinsic to the experimental data). The upper limits of the residual values after comparison with the harmonic fields showed max and mean of 1.4 and 0.25 mm, respectively, with only 1.5% of sampling points exceeding 1 mm.

CONCLUSIONS

A novel harmonic analysis approach relying on finite element methods was introduced and validated for multiple volumes with surface shape functions ranging from simple to highly complex. Since a boundary value problem is solved the method requires input data from only the surface of the desired domain of interest. It is believed that the harmonic method will facilitate (a) the design of new phantoms dedicated for the quantitation of MR image distortions in large volumes and (b) an integrative approach of combining multiple imaging tests specific to radiotherapy into a single test object for routine imaging quality control.

A methodology to investigate the impact of image distortions on the radiation dose when using magnetic resonance images for planning

We developed a novel technique to study the impact of geometric distortion of magnetic resonance imaging (MRI) on intensity-modulated radiation therapy treatment planning. The measured 3D datasets of residual geometric distortion (a 1.5 T MRI component of an MRI linear accelerator system) was fitted with a second-order polynomial model to map the spatial dependence of geometric distortions. Then the geometric distortion model was applied to computed tomography (CT) image and structure data to simulate the distortion of MRI data and structures. Fourteen CT-based treatment plans were selected from patients treated for gastrointestinal, genitourinary, thoracic, head and neck, or spinal tumors. Plans based on the distorted CT and structure data were generated (as the distorted plans). Dose deviations of the distorted plans were calculated and compared with the original plans to study the dosimetric impact of MRI distortion. The MRI geometric distortion led to notable dose deviations in five of the 14 patients, causing loss of target coverage of up to 3.68% and dose deviations to organs at risk in three patients, increasing the mean dose to the chest wall by up to 6.19 Gy in a gastrointestinal patient, and increases the maximum dose to the lung by 5.17 Gy in a thoracic patient.

Geometric accuracy of the MR imaging techniques in the presence of motion

Magnetic Resonance Imaging (MRI) is increasingly being used for improving tumor delineation and tumor tracking in the presence of respiratory motion. The purpose of this work is to design and build an MR compatible motion platform and to use it for evaluating the geometric accuracy of MR imaging techniques during respiratory motion. The motion platform presented in this work is composed of a mobile base made up of a flat plate and four wheels. The mobile base is attached from one end and through a rigid rod to a synchrony motion table by Accuray^® placed at the end of the MRI table and from the other end to an elastic rod. The geometric accuracy was measured by placing a control point‐based phantom on top of the mobile base.

In‐house software module was used to automatically assess the geometric distortion. The blurring artifact was also assessed by measuring the Full Width Half Maximum (FWHM) of each control point. Our results were assessed for 50, 100, and 150 mm radial distances, with a mean geometric distortion during the superior–inferior motion of 0.27, 0.41, and 0.55 mm, respectively. Adding the anterior–posterior motion, the mean geometric distortions increased to 0.4, 0.6, and 0.8 mm. Blurring was observed during motion causing an increase in the FWHM of ≈30%. The platform presented in this work provides a valuable tool for the assessment of the geometric accuracy and blurring artifact for MR during motion. Although the main objective was to test the spatial accuracy of an MR system during motion, the modular aspect of the presented platform enables the use of any commercially available phantom for a full quality control of the MR system during motion.

[The Novel Evaluation Method of Geometric Distortion for 3D-MRI]

Recently, many imaging methods are developed in magnetic resonance imaging and in particular, the release of the 3D acquisition method is remarkable. The image distortion often becomes the problem by the gradient echo method and the echo planar imaging (EPI) -based method, but the image distortion of the 3D acquisition is not established. A purpose of this study is to examine the utility of the novel evaluation method of the image distortion for the 3D acquisition image. The spin echo image was used as a criteria image, and EPI was used as a target image for 3D acquisition imaging. Image J was used for the image processing. The value that divided the volume of the different shape of criteria image and the target image by the volume of the criteria image was defined as a distortion rate. Hence, we refer this method to the volume method. It is reported that the distortion rate of the EPI is proportional to a rectangle rate of rectangular field of view (RFOV). The distortion rate of the volume method for 50-100% of rectangle ratio was compared with the theoretical value. In addition, the dependence by the threshold of the binarization was considered. Furthermore, the comparison with the NEMA (National Electrical Manufacturers Association) method was carried out. As a result, the distortion rate decreased according to a rectangular rate of RFOV by the volume method, and the numerical value was equal with a theoretical value. In addition, the distortion rate did not have the effect by the thresholding of binarizing. The volume method had less error of measurement than the NEMA method.

MRI-Related Geometric Distortions in Stereotactic Radiotherapy Treatment Planning: Evaluation and Dosimetric Impact

In view of their superior soft tissue contrast compared to computed tomography, magnetic resonance images are commonly involved in stereotactic radiosurgery/radiotherapy applications for target delineation purposes. It is known, however, that magnetic resonance images are geometrically distorted, thus deteriorating dose delivery accuracy. The present work focuses on the assessment of geometric distortion inherent in magnetic resonance images used in stereotactic radiosurgery/radiotherapy treatment planning and attempts to quantitively evaluate the consequent impact on dose delivery. The geometric distortions for 3 clinical magnetic resonance protocols (at both 1.5 and 3.0 T) used for stereotactic radiosurgery/radiotherapy treatment planning were evaluated using a recently proposed phantom and methodology. Areas of increased distortion were identified at the edges of the imaged volume which was comparable to a brain scan. Although mean absolute distortion did not exceed 0.5 mm on any spatial axis, maximum detected control point disposition reached 2 mm. In an effort to establish what could be considered as acceptable geometric uncertainty, highly conformal plans were utilized to irradiate targets of different diameters (5-50 mm). The targets were mispositioned by 0.5 up to 3 mm, and dose–volume histograms and plan quality indices clinically used for plan evaluation and acceptance were derived and used to investigate the effect of geometrical uncertainty (distortion) on dose delivery accuracy and plan quality. The latter was found to be strongly dependent on target size. For targets less than 20 mm in diameter, a spatial disposition of the order of 1 mm could significantly affect (>5%) plan acceptance/quality indices. For targets with diameter greater than 2 cm, the corresponding disposition was found greater than 1.5 mm. Overall results of this work suggest that efficacy of stereotactic radiosurgery/radiotherapy applications could be compromised in case of very small targets lying distant from the scanner’s isocenter (eg, the periphery of the brain).

Investigation of the 4D composite MR image distortion field associated with tumor motion for MR-guided radiotherapy

PURPOSE

Magnetic resonance (MR) images are affected by geometric distortions due to the specifics of the MR scanner and patient anatomy. Quantifying the distortions associated with mobile tumors is particularly challenging due to real anatomical changes in the tumor's volume, shape, and relative location within the MR imaging volume. In this study, the authors investigate the 4D composite distortion field, which combines the effects of the susceptibility-induced and system-related distortion fields, experienced by mobile lung tumors.

METHODS

The susceptibility (χ) effects were numerically simulated for two specific scenarios: (a) a full motion cycle of a lung tumor due to breathing as depicted on ten phases of a 4D CBCT data set and (b) varying the tumor size and location in lung tissue via a synthetically generated sphere with variable diameter (4-80 mm). The χ simulation procedure relied on the segmentation and generation of 3D susceptibility (χ) masks and computation of the magnetic field by means of finite difference methods. A system-related distortion field, determined with a phantom and image processing algorithm, was used as a reference. The 4D composite distortion field was generated as the vector summation of the χ-induced and system-related fields. The analysis was performed for two orientations of the main magnetic field (B0), which correspond to several MRIgRT system configurations. Specifically, B0 was set along the z-axis as in the case of a cylindrical-bore scanner and in the (x,y)-plane as for a biplanar MR. Computations were also performed for a full revolution at 15° increments in the case of a rotating biplanar magnet. Histograms and metrics such as maximum, mean, and range were used to evaluate the characteristics of the 4D distortion field.

RESULTS

The χ-induced field depends on the change in volume and shape of the moving tumor as well as the local surrounding anatomy. In the case of system-related distortions, the tumor experiences increased field perturbations as it moves further away from the MR isocenter. For a mobile lung tumor, the 4D composite field, corresponding to a 1.5 T field and a readout gradient of 5 mT/m, amounts to 3.0 and 2.8 mm for the MRIgRT system designs featuring B0 oriented along the z-axis (cylindrical-bore scanner) and in the (x,y)-plane (biplanar scanner), respectively. For a rotating biplanar scanner, the composite distortion field varied nonlinearly with the rotation angle. Overall, the dominant contribution to the composite field was from the system-related distortion field. The tumor centroid experienced a systematic shift of 2 mm and showed a negligible perturbation for different B0 values. The dependency on the tumor size was also investigated, namely the max values varied from 1.2 to 2.5 mm for spherical volumes with a diameter between 4 and 80 mm.

CONCLUSIONS

The composite distortion field requires adequate quantification for lung radiation therapy applications such as treatment planning, pretreatment patient setup verification, and real-time treatment delivery guidance. For certain scenarios such as small tumor volumes, the spatial distortions may be corrected by applying systematic shifts derived from a single tumor motion phase. In the case of high readout gradients common to fast imaging applications, the χ distortions were found to be less than 1 mm irrespective of scanner configuration.

Spatial Precision in Magnetic Resonance Imaging-Guided Radiation Therapy: The Role of Geometric Distortion

Because magnetic resonance imaging-guided radiation therapy (MRIgRT) offers exquisite soft tissue contrast and the ability to image tissues in arbitrary planes, the interest in this technology has increased dramatically in recent years. However, intrinsic geometric distortion stemming from both the system hardware and the magnetic properties of the patient affects MR images and compromises the spatial integrity of MRI-based radiation treatment planning, given that for real-time MRIgRT, precision within 2 mm is desired. In this article, we discuss the causes of geometric distortion, describe some well-known distortion correction algorithms, and review geometric distortion measurements from 12 studies, while taking into account relevant imaging parameters. Eleven of the studies reported phantom measurements quantifying system-dependent geometric distortion, while 2 studies reported simulation data quantifying magnetic susceptibility-induced geometric distortion. Of the 11 studies investigating system-dependent geometric distortion, 5 reported maximum measurements less than 2 mm. The simulation studies demonstrated that magnetic susceptibility-induced distortion is typically smaller than system-dependent distortion but still nonnegligible, with maximum distortion ranging from 2.1 to 2.6 mm at a field strength of 1.5 T. As expected, anatomic landmarks containing interfaces between air and soft tissue had the largest distortions. The evidence indicates that geometric distortion reduces the spatial integrity of MRI-based radiation treatment planning and likely diminishes the efficacy of MRIgRT. Better phantom measurement techniques and more effective distortion correction algorithms are needed to achieve the desired spatial precision.

Phantom-based characterization of distortion on a magnetic resonance imaging simulator for radiation oncology

One of the major issues potentially limiting treatment planning with solely MR images is the possibility of geometric distortion inherent in MR images. We designed a large distortion phantom containing a 3D array of spheres and proposed a three-dimensional (3D) approach to determine the distortion of MR image volume. The approach to overcome partially filled spheres is also presented. The phantom was assembled with a 3D array of spheres filled with contrast and was scanned with a 3T MRI simulator. A 3D whole-sphere or half-sphere template is used to match the image pattern. The half-sphere template is used when the normalized cross-correlation value for the whole-sphere template is below a predetermined threshold. Procrustes method was applied to remove the shift induced by rotation and translation of the phantom. Then the distortion map was generated. Accuracy of the method was verified using CT images of a small phantom of the same design. The analysis of the small phantom showed that the method is accurate with an average offset of estimated sphere center 0.12 ± 0.04 mm. The Procrustes analysis estimated the rotation angle to be 1.95° and 0.01°, respectively, when the phantom was placed at 2° and 0° from the ceiling laser. The analysis showed that on the central plane through the magnet center, the average displacement is less than 1 mm for all radii. At distal planes, when the radius is less than 18 cm, the average displacement is less than 1 mm. However, the average displacement is over 1 mm but still less than 1.5 mm for larger radii. A large distortion phantom was assembled and analysis software was developed to characterize distortions in MRI scans. The use of two templates helps reduce the potential impact of residual air bubbles in some of the spheres.

MRI simulation: end-to-end testing for prostate radiation therapy using geometric pelvic MRI phantoms

To clinically implement MRI simulation or MRI-alone treatment planning requires comprehensive end-to-end testing to ensure an accurate process. The purpose of this study was to design and build a geometric phantom simulating a human male pelvis that is suitable for both CT and MRI scanning and use it to test geometric and dosimetric aspects of MRI simulation including treatment planning and digitally reconstructed radiograph (DRR) generation.A liquid filled pelvic shaped phantom with simulated pelvic organs was scanned in a 3T MRI simulator with dedicated radiotherapy couch-top, laser bridge and pelvic coil mounts. A second phantom with the same external shape but with an internal distortion grid was used to quantify the distortion of the MR image. Both phantoms were also CT scanned as the gold-standard for both geometry and dosimetry. Deformable image registration was used to quantify the MR distortion. Dose comparison was made using a seven-field IMRT plan developed on the CT scan with the fluences copied to the MR image and recalculated using bulk electron densities. Without correction the maximum distortion of the MR compared with the CT scan was 7.5 mm across the pelvis, while this was reduced to 2.6 and 1.7 mm by the vendor's 2D and 3D correction algorithms, respectively. Within the locations of the internal organs of interest, the distortion was <1.5 and <1 mm with 2D and 3D correction algorithms, respectively. The dose at the prostate isocentre calculated on CT and MRI images differed by 0.01% (1.1 cGy). Positioning shifts were within 1 mm when setup was performed using MRI generated DRRs compared to setup using CT DRRs.The MRI pelvic phantom allows end-to-end testing of the MRI simulation workflow with comparison to the gold-standard CT based process. MRI simulation was found to be geometrically accurate with organ dimensions, dose distributions and DRR based setup within acceptable limits compared to CT.

Investigation on the performance of dedicated radiotherapy positioning devices for MR scanning for prostate planning

The purpose of this study was to investigate performance of the couch and coil mounts designed for MR‐simulation prostate scanning using data from ten volunteers. Volunteers were scanned using the standard MR scanning protocol with the MR coil directly strapped on the external body and the volunteer lying on the original scanner table. They also were scanned using a MR‐simulation table top and pelvic coil mounts. MR images from both setups were compared in terms of body contour variation and image quality effects within particular organs of interest. Six‐field conformal plans were generated on the two images with assigned bulk density for dose calculation. With the MR‐simulation devices, the anterior skin deformation was reduced by up to 1.7 cm. The hard tabletop minimizes the posterior body deformation which can be up to 2.3 cm on the standard table, depending on the weight of volunteer. The image signal‐to‐noise ratio reduced by 14% and 25% on large field of view (FOV) and small FOV images, respectively, after using the coil mount; the prostate volume contoured on two images showed difference of 1.05±0.66 cm3. The external body deformation caused a mean dose reduction of 0.6±0.3 Gy, while the coverage reduced by 22%±13% and 27%±6% in V98 and V100, respectively. A dedicated MR simulation setup for prostate radiotherapy is essential to ensure the agreement between planning anatomy and treatment anatomy. The image signal was reduced after applying the coil mount, but no significant effect was found on prostate contouring.

PACS numbers: 87.55.D‐, 87.61.‐c, 87.57.C‐

Is your system calibrated? MRI gradient system calibration for pre-clinical, high-resolution imaging

High-field, pre-clinical MRI systems are widely used to characterise tissue structure and volume in small animals, using high resolution imaging. Both applications rely heavily on the consistent, accurate calibration of imaging gradients, yet such calibrations are typically only performed during maintenance sessions by equipment manufacturers, and potentially with acceptance limits that are inadequate for phenotyping. To overcome this difficulty, we present a protocol for gradient calibration quality assurance testing, based on a 3D-printed, open source, structural phantom that can be customised to the dimensions of individual scanners and RF coils. In trials on a 9.4 T system, the gradient scaling errors were reduced by an order of magnitude, and displacements of greater than 100 µm, caused by gradient non-linearity, were corrected using a post-processing technique. The step-by-step protocol can be integrated into routine pre-clinical MRI quality assurance to measure and correct for these errors. We suggest that this type of quality assurance is essential for robust pre-clinical MRI experiments that rely on accurate imaging gradients, including small animal phenotyping and diffusion MR.

Characteristics of geometric distortion correction with increasing field-of-view in open-configuration MRI

Open-configuration magnetic resonance imaging (MRI) systems are becoming increasingly desirable for musculoskeletal imaging and image-guided radiotherapy because of their non-claustrophobic configuration. However, geometric image distortion in large fields-of-view (FOV) due to field inhomogeneity and gradient nonlinearity hinders the practical applications of open-type MRI. We demonstrated the use of geometric distortion correction for increasing FOV in open MRI. Geometric distortion was modeled and corrected as a global polynomial function. The appropriate polynomial order was identified as the minimum difference between the coordinates of control points in the distorted MR image space and those predicted by polynomial modeling. The sixth order polynomial function was found to give the optimal value for geometric distortion correction. The area of maximum distortion was<1 pixel with an FOV of 285mm. The correction performance error was increased at most 1.2% and 2.9% for FOVs of 340mm and~400mm compared with the FOV of 285mm. In particular, unresolved distortion was generated by local deformation near the gradient coil center.

Comparison of bulk electron density and voxel-based electron density treatment planning

The use of magnetic resonance imaging (MRI) alone for radiation planning is limited by the lack of electron density for dose calculations. The purpose of this work is to evaluate the dosimetric accuracy of using bulk electron density as a substitute for computed tomography (CT)‐derived electron density in intensity‐modulated radiation therapy (IMRT) treatment planning of head and neck (HN) cancers. Ten clinically‐approved, CT‐based IMRT treatment plans of HN cancer were used for this study. Three dose distributions were calculated and compared for each treatment plan. The first calculation used CT‐derived density and was assumed to be the most accurate. The second calculation used a homogeneous patient density of 1 g/cm3. For the third dose calculation, bone and air cavities were contoured and assigned a uniform density of 1.5 g/cm3 and 0 g/cm3, respectively. The remaining tissues were assigned a density of 1 g/cm3. The use of homogeneous anatomy resulted in up to 4%–5% deviations in dose distribution as compared to CT‐derived electron density calculations. Assigning bulk density to bone and air cavities significantly improved the accuracy of the dose calculations. All parameters used to describe planning target volume coverage were within 2% of calculations based on CT‐derived density. For organs at risk, most of the parameters were within 2%, with the few exceptions located in low‐dose regions. The data presented here show that if bone and air cavities are overridden with the proper density, it is feasible to use a bulk electron density approach for accurate dose calculation in IMRT treatment planning of HN cancers. This may overcome the problem of the lack of electron density information should MRI‐only simulation be performed.

PACS number: 87.55.D‐