Maximum likelihood, least squares, and penalized least squares for PET

Weighted least-squares reconstruction methods for positron emission tomography

We present unpenalized and penalized weighted least-squares (WLS) reconstruction methods for positron emission tomography (PET), where the weights are based on the covariance of a model error and depend on the unknown parameters. The penalty function for the latter method is chosen so that certain a priori information is incorporated. The algorithms used to minimize the WLS objective functions guarantee nonnegative estimates and, experimentally, they converged faster than the maximum likelihood expectation-maximization (ML-EM) algorithm and produced images that had significantly better resolution and contrast. Although simulations suggest that the proposed algorithms are globally convergent, a proof of convergence has not yet been found. Nevertheless, we are able to show that the unpenalized method produces estimates that decrease the objective function monotonically with increasing iterations.

Grouped-coordinate ascent algorithms for penalized-likelihood transmission image reconstruction

This paper presents a new class of algorithms for penalized-likelihood reconstruction of attenuation maps from low-count transmission scans. We derive the algorithms by applying to the transmission log-likelihood a version of the convexity technique developed by De Pierro for emission tomography. The new class includes the single-coordinate ascent (SCA) algorithm and Lange's convex algorithm for transmission tomography as special cases. The new grouped-coordinate ascent (GCA) algorithms in the class overcome several limitations associated with previous algorithms. 1) Fewer exponentiations are required than in the transmission maximum likelihood-expectation maximization (ML-EM) algorithm or in the SCA algorithm. 2) The algorithms intrinsically accommodate nonnegativity constraints, unlike many gradient-based methods. 3) The algorithms are easily parallelizable, unlike the SCA algorithm and perhaps line-search algorithms. We show that the GCA algorithms converge faster than the SCA algorithm, even on conventional workstations. An example from a low-count positron emission tomography (PET) transmission scan illustrates the method.

A focus-of-attention preprocessing scheme for EM-ML PET reconstruction

The expectation-maximization maximum-likelihood (EM-ML) algorithm belongs to a family of algorithms that compute positron emission tomography (PET) reconstructions by iteratively solving a large linear system of equations. We describe a preprocessing scheme for automatically focusing the attention, and thus the computational resources, on a subset of the equations and unknowns. Experimental work with a CM-5 parallel computer implementation using a simulated phantom as well as real data obtained from an ECAT 921 PET scanner indicates that quite significant savings can be obtained with respect to both time and space requirements of the EM-ML algorithm without compromising the quality of the reconstructed images.

Bayesian image reconstruction for emission tomography based on median root prior

The aim of the present study was to investigate a new type of Bayesian one-step late reconstruction method which utilizes a median root prior (MRP). The method favours images which have locally monotonous radioactivity concentrations. The new reconstruction algorithm was applied to ideal simulated data, phantom data and some patient examinations with PET. The same projection data were reconstructed with filtered back-projection (FBP) and maximum likelihood-expectation maximization (ML-EM) methods for comparison. The MRP method provided good-quality images with a similar resolution to the FBP method with a ramp filter, and at the same time the noise properties were as good as with Hann-filtered FBP images. The typical artefacts seen in FBP reconstructed images outside of the object were completely removed, as was the grainy noise inside the object. Quantitatively, the resulting average regional radioactivity concentrations in a large region of interest in images produced by the MRP method corresponded to the FBP and ML-EM results but at the pixel by pixel level the MRP method proved to be the most accurate of the tested methods. In contrast to other iterative reconstruction methods, e.g. ML-EM, the MRP method was not sensitive to the number of iterations nor to the adjustment of reconstruction parameters. Only the Bayesian parameter beta had to be set. The proposed MRP method is much more simple to calculate than the methods described previously, both with regard to the parameter settings and in terms of general use. The new MRP reconstruction method was shown to produce high-quality quantitative emission images with only one parameter setting in addition to the number of iterations.

A general class of preconditioners for statistical iterative reconstruction of emission computed tomography

A major drawback of statistical iterative image reconstruction for emission computed tomography is its high computational cost. The ill-posed nature of tomography leads to slow convergence for standard gradient-based iterative approaches such as the steepest descent or the conjugate gradient algorithm. In this paper new theory and methods for a class of preconditioners are developed for accelerating the convergence rate of iterative reconstruction. To demonstrate the potential of this class of preconditioners, a preconditioned conjugate gradient (PCG) iterative algorithm for weighted least squares reconstruction (WLS) was formulated for emission tomography. Using simulated positron emission tomography (PET) data of the Hoffman brain phantom, it was shown that the convergence rate of the PCG can reduce the number of iterations of the standard conjugate gradient algorithm by a factor of 2-8 times depending on the convergence criterion.

Bayesian reconstruction of PET images: methodology and performance analysis

We describe a practical statistical methodology for the reconstruction of PET images. Our approach is based on a Bayesian formulation of the imaging problem. The data are modelled as independent Poisson random variables and the image is modelled using a Markov random field smoothing prior. We describe a sequence of calibration procedures which are performed before reconstruction: (i) calculation of accurate attenuation correction factors from re-projected Bayesian reconstructions of the transmission image; (ii) estimation of the mean of the randoms component in the data; and (iii) computation of the scatter component in the data using a Klein-Nishina-based scatter estimation method. The Bayesian estimate of the PET image is then reconstructed using a pre-conditioned conjugate gradient method. We performed a quantitation study with a multi-compartment chest phantom in a Siemens/CTI ECAT931 system. Using 40 1 min frames, we computed the ensemble mean and variance over several regions of interest from images reconstructed using the Bayesian and a standard filtered backprojection (FBP) protocol. The values for the region of interest were compared with well counter data for each compartment. These results show that the Bayesian protocol can produce substantial improvements in relative quantitation over the standard FBP protocol, particularly when short transmission scans are used. An example showing the application of the method to a clinical chest study is also given.

PET regularization by envelope guided conjugate gradients

The authors propose a new way to iteratively solve large scale ill-posed problems and in particular the image reconstruction problem in positron emission tomography by exploiting the relation between Tikhonov regularization and multiobjective optimization to obtain iteratively approximations to the Tikhonov L-curve and its corner. Monitoring the change of the approximate L-curves allows the authors to adjust the regularization parameter adaptively during a preconditioned conjugate gradient iteration, so that the desired solution can be reconstructed with a small number of iterations.

Mean and variance of implicitly defined biased estimators (such as penalized maximum likelihood): applications to tomography

Many estimators in signal processing problems are defined implicitly as the maximum of some objective function. Examples of implicitly defined estimators include maximum likelihood, penalized likelihood, maximum a posteriori, and nonlinear least squares estimation. For such estimators, exact analytical expressions for the mean and variance are usually unavailable. Therefore, investigators usually resort to numerical simulations to examine the properties of the mean and variance of such estimators. This paper describes approximate expressions for the mean and variance of implicitly defined estimators of unconstrained continuous parameters. We derive the approximations using the implicit function theorem, the Taylor expansion, and the chain rule. The expressions are defined solely in terms of the partial derivatives of whatever objective function one uses for estimation. As illustrations, we demonstrate that the approximations work well in two tomographic imaging applications with Poisson statistics. We also describe a "plug-in" approximation that provides a remarkably accurate estimate of variability even from a single noisy Poisson sinogram measurement. The approximations should be useful in a wide range of estimation problems.

Transmission maximum-likelihood reconstruction with ordered subsets for cone beam CT

An iterative algorithm is presented for accelerated reconstruction of cone beam transmission CT data (CBCT). CBCT supplies an attenuation map for SPECT attenuation compensation and anatomical correlation. Iterative algorithms are necessary to reduce truncation artifacts and 3D reconstruction artifacts. An existing transmission maximum-likelihood algorithm (TRML) is accurate but the reconstruction time is too long. The new algorithm is a modified EM algorithm, based on ordered subsets (OSEM). OSEM was evaluated in comparison to TRML using a thorax phantom and a 3D Defrise phantom. A wide range of image measures were evaluated, including spatial resolution, noise, log likelihood, region quantification, truncation artifact removal, and 3D artifact removal. For appropriate subset size, OSEM produced essentially the same image as TRML, but required only one-tenth as many iterations. Thus, adequate images were available in two to four iterations (20-30 min on a SPARC 2 workstation). Further, OSEM still approximately maximizes likelihood: divergence occurs only for very high (and clinically irrelevant) iterations. Ordered subsets are likely to be useful in other geometries (fan and parallel) and for emission CT as well. Therefore, with ordered subsets, high-quality iterative reconstruction is now available in clinically practical reconstructions times.