Evaluation of targeting errors in ultrasound-assisted radiotherapy.

A method for validating the start-to-end accuracy of a 3-D ultrasound (US)-based patient positioning system for radiotherapy is described. A radiosensitive polymer gel is used to record the actual dose delivered to a rigid phantom after being positioned using 3-D US guidance. Comparison of the delivered dose with the treatment plan allows accuracy of the entire radiotherapy treatment process, from simulation to 3-D US guidance, and finally delivery of radiation, to be evaluated. The 3-D US patient positioning system has a number of features for achieving high accuracy and reducing operator dependence. These include using tracked 3-D US scans of the target anatomy acquired using a dedicated 3-D ultrasound probe during both the simulation and treatment sessions, automatic 3-D US-to-US registration and use of infrared LED (IRED) markers of the optical position-sensing system for registering simulation computed tomography to US data. The mean target localization accuracy of this system was 2.5 mm for four target locations inside the phantom, compared with 1.6 mm obtained using the conventional patient positioning method of laser alignment. Because the phantom is rigid, this represents the best possible set-up accuracy of the system. Thus, these results suggest that 3-D US-based target localization is practically feasible and potentially capable of increasing the accuracy of patient positioning for radiotherapy in sites where day-to-day organ shifts are greater than 1 mm in magnitude.

Compensation of geometric distortion effects on intraoperative magnetic resonance imaging for enhanced visualization in image-guided neurosurgery.

OBJECTIVE: Preoperative magnetic resonance imaging (MRI), functional MRI, diffusion tensor MRI, magnetic resonance spectroscopy, and positron-emission tomographic scans may be aligned to intraoperative MRI to enhance visualization and navigation during image-guided neurosurgery. However, several effects (both machine- and patient-induced distortions) lead to significant geometric distortion of intraoperative MRI. Therefore, a precise alignment of these image modalities requires correction of the geometric distortion. We propose and evaluate a novel method to compensate for the geometric distortion of intraoperative 0.5-T MRI in image-guided neurosurgery. METHODS: In this initial pilot study, 11 neurosurgical procedures were prospectively enrolled. The scheme used to correct the geometric distortion is based on a nonrigid registration algorithm introduced by our group. This registration scheme uses image features to establish correspondence between images. It estimates a smooth geometric distortion compensation field by regularizing the displacements estimated at the correspondences. A patient-specific linear elastic material model is used to achieve the regularization. The geometry of intraoperative images (0.5 T) is changed so that the images match the preoperative MRI scans (3 T). RESULTS: We compared the alignment between preoperative and intraoperative imaging using 1) only rigid registration without correction of the geometric distortion, and 2) rigid registration and compensation for the geometric distortion. We evaluated the success of the geometric distortion correction algorithm by measuring the Hausdorff distance between boundaries in the 3-T and 0.5-T MRIs after rigid registration alone and with the addition of geometric distortion correction of the 0.5-T MRI. Overall, the mean magnitude of the geometric distortion measured on the intraoperative images is 10.3 mm with a minimum of 2.91 mm and a maximum of 21.5 mm. The measured accuracy of the geometric distortion compensation algorithm is 1.93 mm. There is a statistically significant difference between the accuracy of the alignment of preoperative and intraoperative images, both with and without the correction of geometric distortion (P < 0.001). CONCLUSION: The major contributions of this study are 1) identification of geometric distortion of intraoperative images relative to preoperative images, 2) measurement of the geometric distortion, 3) application of nonrigid registration to compensate for geometric distortion during neurosurgery, 4) measurement of residual distortion after geometric distortion correction, and 5) phantom study to quantify geometric distortion.

A validation framework for brain tumor segmentation.

RATIONALE AND OBJECTIVES: We introduce a validation framework for the segmentation of brain tumors from magnetic resonance (MR) images. A novel unsupervised semiautomatic brain tumor segmentation algorithm is also presented. MATERIALS AND METHODS: The proposed framework consists of 1) T1-weighted MR images of patients with brain tumors, 2) segmentation of brain tumors performed by four independent experts, 3) segmentation of brain tumors generated by a semiautomatic algorithm, and 4) a software tool that estimates the performance of segmentation algorithms. RESULTS: We demonstrate the validation of the novel segmentation algorithm within the proposed framework. We show its performance and compare it with existent segmentation. The image datasets and software are available at http://www.brain-tumor-repository.org/. CONCLUSIONS: We present an Internet resource that provides access to MR brain tumor image data and segmentation that can be openly used by the research community. Its purpose is to encourage the development and evaluation of segmentation methods by providing raw test and image data, human expert segmentation results, and methods for comparing segmentation results.

Non-rigid alignment of pre-operative MRI, fMRI, and DT-MRI with intra-operative MRI for enhanced visualization and navigation in image-guided neurosurgery.

OBJECTIVE: The usefulness of neurosurgical navigation with current visualizations is seriously compromised by brain shift, which inevitably occurs during the course of the operation, significantly degrading the precise alignment between the pre-operative MR data and the intra-operative shape of the brain. Our objectives were (i) to evaluate the feasibility of non-rigid registration that compensates for the brain deformations within the time constraints imposed by neurosurgery, and (ii) to create augmented reality visualizations of critical structural and functional brain regions during neurosurgery using pre-operatively acquired fMRI and DT-MRI. MATERIALS AND METHODS: Eleven consecutive patients with supratentorial gliomas were included in our study. All underwent surgery at our intra-operative MR imaging-guided therapy facility and have tumors in eloquent brain areas (e.g. precentral gyrus and cortico-spinal tract). Functional MRI and DT-MRI, together with MPRAGE and T2w structural MRI were acquired at 3 T prior to surgery. SPGR and T2w images were acquired with a 0.5 T magnet during each procedure. Quantitative assessment of the alignment accuracy was carried out and compared with current state-of-the-art systems based only on rigid registration. RESULTS: Alignment between pre-operative and intra-operative datasets was successfully carried out during surgery for all patients. Overall, the mean residual displacement remaining after non-rigid registration was 1.82 mm. There is a statistically significant improvement in alignment accuracy utilizing our non-rigid registration in comparison to the currently used technology (p<0.001). CONCLUSIONS: We were able to achieve intra-operative rigid and non-rigid registration of (1) pre-operative structural MRI with intra-operative T1w MRI; (2) pre-operative fMRI with intra-operative T1w MRI, and (3) pre-operative DT-MRI with intra-operative T1w MRI. The registration algorithms as implemented were sufficiently robust and rapid to meet the hard real-time constraints of intra-operative surgical decision making. The validation experiments demonstrate that we can accurately compensate for the deformation of the brain and thus can construct an augmented reality visualization to aid the surgeon.

Anatomical structure modeling from medical images.

Some clinical applications, such as surgical planning, require volumetric models of anatomical structures represented as a set of tetrahedra. A practical method of constructing anatomical models from medical images is presented. The method starts with a set of contours segmented from the medical images by a clinician and produces a model that has high fidelity with the contours. Unlike most modeling methods, the contours are not restricted to lie on parallel planes. The main steps are a 3D Delaunay tetrahedralization, culling of non-object tetrahedra, and refinement of the tetrahedral mesh. The result is a high-quality set of tetrahedra whose surface points are guaranteed to match the original contours. The key is to use the distance map and bit volume structures that were created along with the contours. The method is demonstrated on computed tomography, MRI and 3D ultrasound data. Models of 170,000 tetrahedra are constructed on a standard workstation in approximately 10s. A comparison with related methods is also provided.

Ultrasound image segmentation using spectral clustering.

Segmentation of ultrasound images is necessary in a variety of clinical applications, but the development of automatic techniques is still an open problem. Spectral clustering techniques have recently become popular for data and image analysis. In particular, image segmentation has been proposed via the normalized cut (NCut) criterion. This article describes an initial investigation to determine the suitability of such segmentation techniques for ultrasound images. The adaptation of the NCut technique to ultrasound is described first. Segmentation is then performed on simulated ultrasound images. Tests are also performed on abdominal and fetal images with the segmentation results compared to manual segmentation. The success of the segmentation on these test cases warrants further research into NCut-based segmentation of ultrasound images.

Automatic detection of fiducial markers in fluoroscopy images for on-line calibration.

Calibrated C-arm fluoroscopy is used for a variety of medical procedures where objects and anatomical structures need to be located in space. Calibration is often based on imaging a grid of fiducial markers and using the C-arm image's geometrical measurements (radius and center) together with the positions of the markers. An on-line technique is developed to automatically locate the fiducial markers and validated on 97 images. The success rate of the detection algorithm is 96.28% with an average error of 0.46 mm and a standard deviation of 0.32 mm.

Spectral clustering algorithms for ultrasound image segmentation.

Image segmentation algorithms derived from spectral clustering analysis rely on the eigenvectors of the Laplacian of a weighted graph obtained from the image. The NCut criterion was previously used for image segmentation in supervised manner. We derive a new strategy for unsupervised image segmentation. This article describes an initial investigation to determine the suitability of such segmentation techniques for ultrasound images. The extension of the NCut technique to the unsupervised clustering is first described. The novel segmentation algorithm is then performed on simulated ultrasound images. Tests are also performed on abdominal and fetal images with the segmentation results compared to manual segmentation. Comparisons with the classical NCut algorithm are also presented. Finally, segmentation results on other types of medical images are shown.

Automatic measurements of image geometry for online calibration of C-arm fluoroscopy.

Calibrated C-arm fluoroscopy is used for a variety of surgical procedures where surgical tools and anatomical structures need to be located in space. Calibration can be performed online by combining measurements of the geometry of the image (center and radius) with measurements of a grid of fiducial markers. This article focuses on the first aspect--image geometry--and describes a method to perform the geometry measurements automatically. The accuracy, robustness, and speed of the method are validated on 100 images obtained from several hospitals with different C-arm scanners. All 100 images were successfully measured with an average error of 0.8 mm for the center and 0.8 mm for the radius. The execution time is less than one second per image.

Volumetric anatomical modeling from medical images.

Many clinical applications, such as surgical planning, require volumetric models of anatomical structures represented as a set of tetrahedra. A method of constructing anatomical models from medical images is presented. The method starts with a set of contours segmented from the medical images by a clinician and produces a model that has high fidelity with the contours. Unlike most modeling methods, the contours are not restricted to lie on parallel planes. The main steps are a 3D Delaunay tetrahedralization, culling of non-object tetrahedra, and refinement of the tetrahedral mesh. The result is a high-quality set of tetrahedra whose surface points are guaranteed to match the original contours. The key is to use the distance-map and bit-volume structures that were created along with the contours. The method is demonstrated on both computed tomography and 3D ultrasound data. Models of 170,000 tetrahedra are constructed on a standard workstation in approximately ten seconds.

A knowledge-based approach to automatic detection of the spinal cord in CT images.

Accurate planning of radiation therapy entails the definition of treatment volumes and a clear delimitation of normal tissue of which unnecessary exposure should be prevented. The spinal cord is a radiosensitive organ, which should be precisely identified because an overexposure to radiation may lead to undesired complications for the patient such as neuronal disfunction or paralysis. In this paper, a knowledge-based approach to identifying the spinal cord in computed tomography images of the thorax is presented. The approach relies on a knowledge-base which consists of a so-called anatomical structures map (ASM) and a task-oriented architecture called the plan solver. The ASM contains a frame-like knowledge representation of the macro-anatomy in the human thorax. The plan solver is responsible for determining the position, orientation and size of the structures of interest to radiation therapy. The plan solver relies on a number of image processing operators. Some are so-called atomic (e.g., thresholding and snakes) whereas others are composite. The whole system has been implemented on a standard PC. Experiments performed on the image material from 23 patients show that the approach results in a reliable recognition of the spinal cord (92% accuracy) and the spinal canal (85% accuracy). The lamina is more problematic to locate correctly (accuracy 72%). The position of the outer thorax is always determined correctly.

A computer aided diagnostic system for radiotherapy planning.

Planning for radiation therapy intervention implies the definition of treatment volumes as well as a clear delimitation of normal tissue. This paper presents a Computer Aided Diagnostic system for the automatic CT image analysis. Two important problems are solved: the spinal cord segmentation and the detection of lung metastases. Some subordinate problems are also solved: the detection of spinal canal, lamina, lungs, and ribs, as well as the identification of thorax contour. The developed methodologies use a knowledge-driven image processing based on Anatomical Structures Maps and task-oriented architecture. Experiments were performed on CT images from La Chaux de Fonds Hospital (Switzerland). Evaluations were performed using a visual inspection of the contours projected on the CT image slices. The radiologist decided whether each of the contours obtained with our system was acceptable or not. The accuracy of the method was defined as the fraction of CT slices in which the particular contour was correctly located. In the case of spinal cord segmentation, the procedure was tested on 23 patients (1051 images), resulting in an accuracy of 91%. In the case of lung tumors detection, the method showed an accuracy of > 90%, with testing performed on 20 patients for a total of 988 images. The experiments performed show that the method is reliable, with possible future application in an oncology department.