Segmentation of ultrasound B-mode images with intensity inhomogeneity correction

Evaluating lesion segmentation on breast sonography as related to lesion type

Breast sonography currently provides a complementary diagnosis when other modalities are not conclusive. However, lesion segmentation on sonography is still a challenging problem due to the presence of artifacts. To solve these problems, Markov random fields and maximum a posteriori-based methods are used to estimate a distortion field while identifying regions of similar intensity inhomogeneity. In this study, different initialization approaches were exhaustively evaluated using a database of 212 B-mode breast sonograms and considering the lesion types. Finally, conclusions about the relationship between the segmentation results and lesions types are described.

Fully Automated Prostate Magnetic Resonance Imaging and Transrectal Ultrasound Fusion via a Probabilistic Registration Metric

In this work, we present a novel, automated, registration method to fuse magnetic resonance imaging (MRI) and transrectal ultrasound (TRUS) images of the prostate. Our methodology consists of: (1) delineating the prostate on MRI, (2) building a probabilistic model of prostate location on TRUS, and (3) aligning the MRI prostate segmentation to the TRUS probabilistic model. TRUS-guided needle biopsy is the current gold standard for prostate cancer (CaP) diagnosis. Up to 40% of CaP lesions appear isoechoic on TRUS, hence TRUS-guided biopsy cannot reliably target CaP lesions and is associated with a high false negative rate. MRI is better able to distinguish CaP from benign prostatic tissue, but requires special equipment and training. MRI-TRUS fusion, whereby MRI is acquired pre-operatively and aligned to TRUS during the biopsy procedure, allows for information from both modalities to be used to help guide the biopsy. The use of MRI and TRUS in combination to guide biopsy at least doubles the yield of positive biopsies. Previous work on MRI-TRUS fusion has involved aligning manually determined fiducials or prostate surfaces to achieve image registration. The accuracy of these methods is dependent on the reader's ability to determine fiducials or prostate surfaces with minimal error, which is a difficult and time-consuming task. Our novel, fully automated MRI-TRUS fusion method represents a significant advance over the current state-of-the-art because it does not require manual intervention after TRUS acquisition. All necessary preprocessing steps (i.e. delineation of the prostate on MRI) can be performed offline prior to the biopsy procedure. We evaluated our method on seven patient studies, with B-mode TRUS and a 1.5 T surface coil MRI. Our method has a root mean square error (RMSE) for expertly selected fiducials (consisting of the urethra, calcifications, and the centroids of CaP nodules) of 3.39 ± 0.85 mm.

An effective approach of lesion segmentation within the breast ultrasound image based on the cellular automata principle

In this paper, a novel lesion segmentation within breast ultrasound (BUS) image based on the cellular automata principle is proposed. Its energy transition function is formulated based on global image information difference and local image information difference using different energy transfer strategies. First, an energy decrease strategy is used for modeling the spatial relation information of pixels. For modeling global image information difference, a seed information comparison function is developed using an energy preserve strategy. Then, a texture information comparison function is proposed for considering local image difference in different regions, which is helpful for handling blurry boundaries. Moreover, two neighborhood systems (von Neumann and Moore neighborhood systems) are integrated as the evolution environment, and a similarity-based criterion is used for suppressing noise and reducing computation complexity. The proposed method was applied to 205 clinical BUS images for studying its characteristic and functionality, and several overlapping area error metrics and statistical evaluation methods are utilized for evaluating its performance. The experimental results demonstrate that the proposed method can handle BUS images with blurry boundaries and low contrast well and can segment breast lesions accurately and effectively.

Segmentation of ultrasonic breast tumors based on homogeneous patch

PURPOSE

Accurately segmenting breast tumors in ultrasound (US) images is a difficult problem due to their specular nature and appearance of sonographic tumors. The current paper presents a variant of the normalized cut (NCut) algorithm based on homogeneous patches (HP-NCut) for the segmentation of ultrasonic breast tumors.

METHODS

A novel boundary-detection function is defined by combining texture and intensity information to find the fuzzy boundaries in US images. Subsequently, based on the precalculated boundary map, an adaptive neighborhood according to image location referred to as a homogeneous patch (HP) is proposed. HPs are guaranteed to spread within the same tissue region; thus, the statistics of primary features within the HPs is more reliable in distinguishing the different tissues and benefits subsequent segmentation. Finally, the fuzzy distribution of textons within HPs is used as final image features, and the segmentation is obtained using the NCut framework.

RESULTS

The HP-NCut algorithm was evaluated on a large dataset of 100 breast US images (50 benign and 50 malignant). The mean Hausdorff distance measure, the mean minimum Euclidean distance measure and similarity measure achieved 7.1 pixels, 1.58 pixels, and 86.67%, respectively, for benign tumors while those achieved 10.57 pixels, 1.98 pixels, and 84.41%, respectively, for malignant tumors.

CONCLUSIONS

The HP-NCut algorithm provided the improvement in accuracy and robustness compared with state-of-the-art methods. A conclusion that the HP-NCut algorithm is suitable for ultrasonic tumor segmentation problems can be drawn.

Ultrasound confidence maps using random walks

Advances in ultrasound system development have led to a substantial improvement of image quality and to an increased use of ultrasound in clinical practice. Nevertheless, ultrasound attenuation and shadowing artifacts cannot be entirely avoided and continue to challenge medical image computing algorithms. We introduce a method for estimating a per-pixel confidence in the information depicted by ultrasound images, referred to as an ultrasound confidence map, which emphasizes uncertainty in attenuated and/or shadow regions. Our main novelty is the modeling of the confidence estimation problem within a random walks framework by taking into account ultrasound specific constraints. The solution to the random walks equilibrium problem is global and takes the entire image content into account. As a result, our method is applicable to a variety of ultrasound image acquisition setups. We demonstrate the applicability of our confidence maps for ultrasound shadow detection, 3D freehand ultrasound reconstruction, and multi-modal image registration.

Segmentation of skin lesions in 2-D and 3-D ultrasound images using a spatially coherent generalized Rayleigh mixture model

This paper addresses the problem of jointly estimating the statistical distribution and segmenting lesions in multiple-tissue high-frequency skin ultrasound images. The distribution of multiple-tissue images is modeled as a spatially coherent finite mixture of heavy-tailed Rayleigh distributions. Spatial coherence inherent to biological tissues is modeled by enforcing local dependence between the mixture components. An original Bayesian algorithm combined with a Markov chain Monte Carlo method is then proposed to jointly estimate the mixture parameters and a label-vector associating each voxel to a tissue. More precisely, a hybrid Metropolis-within-Gibbs sampler is used to draw samples that are asymptotically distributed according to the posterior distribution of the Bayesian model. The Bayesian estimators of the model parameters are then computed from the generated samples. Simulation results are conducted on synthetic data to illustrate the performance of the proposed estimation strategy. The method is then successfully applied to the segmentation of in vivo skin tumors in high-frequency 2-D and 3-D ultrasound images.

A robust graph-based segmentation method for breast tumors in ultrasound images

OBJECTIVES

This paper introduces a new graph-based method for segmenting breast tumors in US images.

BACKGROUND AND MOTIVATION

Segmentation for breast tumors in ultrasound (US) images is crucial for computer-aided diagnosis system, but it has always been a difficult task due to the defects inherent in the US images, such as speckles and low contrast.

METHODS

The proposed segmentation algorithm constructed a graph using improved neighborhood models. In addition, taking advantages of local statistics, a new pair-wise region comparison predicate that was insensitive to noises was proposed to determine the mergence of any two of adjacent subregions.

RESULTS AND CONCLUSION

Experimental results have shown that the proposed method could improve the segmentation accuracy by 1.5-5.6% in comparison with three often used segmentation methods, and should be capable of segmenting breast tumors in US images.

Completely automated segmentation approach for breast ultrasound images using multiple-domain features

Lesion segmentation is a challenging task for computer aided diagnosis systems. In this article, we propose a novel and fully automated segmentation approach for breast ultrasound (BUS) images. The major contributions of this work are: an efficient region-of-interest (ROI) generation method is developed and new features to characterize lesion boundaries are proposed. After a ROI is located automatically, two newly proposed lesion features (phase in max-energy orientation and radial distance), combined with a traditional intensity-and-texture feature, are utilized to detect the lesion by a trained artificial neural network. The proposed features are tested on a database of 120 images and the experimental results prove their strong distinguishing ability. Compared with other breast ultrasound segmentation methods, the proposed method improves the TP rate from 84.9% to 92.8%, similarity rate from 79.0% to 83.1% and reduces the FP rate from 14.1% to 12.0%, using the same database. In addition, sensitivity analysis demonstrates the robustness of the proposed method.

A statistical model of retinal optical coherence tomography image data

Optical coherence tomography (OCT) is an important mode of biomedical imaging for the diagnosis and management of ocular disease. Here we report on the construction of a synthetic retinal OCT image data set that may be used for quantitative analysis of image processing methods. Synthetic image data were generated from statistical characteristics of real images (n = 14). Features include: multiple stratified layers with representative thickness, boundary gradients, contour, and intensity distributions derived from real data. The synthetic data also include retinal vasculature with typical signal obscuration beneath vessels. This synthetic retinal image can provide a realistic simulated data set to help quantify the performance of image processing algorithms.

Ultrasonic image analysis and image-guided interventions

The fields of medical image analysis and computer-aided interventions deal with reducing the large volume of digital images (X-ray, computed tomography, magnetic resonance imaging (MRI), positron emission tomography and ultrasound (US)) to more meaningful clinical information using software algorithms. US is a core imaging modality employed in these areas, both in its own right and used in conjunction with the other imaging modalities. It is receiving increased interest owing to the recent introduction of three-dimensional US, significant improvements in US image quality, and better understanding of how to design algorithms which exploit the unique strengths and properties of this real-time imaging modality. This article reviews the current state of art in US image analysis and its application in image-guided interventions. The article concludes by giving a perspective from clinical cardiology which is one of the most advanced areas of clinical application of US image analysis and describing some probable future trends in this important area of ultrasonic imaging research.

Oriented Markov random field based dendritic spine segmentation for fluorescence microscopy images

Dendritic spines have been shown to be closely related to various functional properties of the neuron. Usually dendritic spines are manually labeled to analyze their morphological changes, which is very time-consuming and susceptible to operator bias, even with the assistance of computers. To deal with these issues, several methods have been recently proposed to automatically detect and measure the dendritic spines with little human interaction. However, problems such as degraded detection performance for images with larger pixel size (e.g. 0.125 μm/pixel instead of 0.08 μm/pixel) still exist in these methods. Moreover, the shapes of detected spines are also distorted. For example, the "necks" of some spines are missed. Here we present an oriented Markov random field (OMRF) based algorithm which improves spine detection as well as their geometric characterization. We begin with the identification of a region of interest (ROI) containing all the dendrites and spines to be analyzed. For this purpose, we introduce an adaptive procedure for identifying the image background. Next, the OMRF model is discussed within a statistical framework and the segmentation is solved as a maximum a posteriori estimation (MAP) problem, whose optimal solution is found by a knowledge-guided iterative conditional mode (KICM) algorithm. Compared with the existing algorithms, the proposed algorithm not only provides a more accurate representation of the spine shape, but also improves the detection performance by more than 50% with regard to reducing both the misses and false detection.

Intensity inhomogeneity correction for the breast sonogram: constrained fuzzy cell-based bipartitioning and polynomial surface modeling

PURPOSE

To develop an intensity inhomogeneity algorithm for breast sonograms in order to assist visual identification and automatic delineation of lesion boundaries.

METHODS

The proposed algorithm was composed of two essential ideas. One was decomposing the region of interest (ROI) into foreground and background regions by a cell-based segmentation algorithm, called constrained fuzzy cell-based bipartition-EM (CFCB-EM) algorithm. The CFCB-EM algorithm deformed the contour in a fuzzy cell-based deformation fashion with the cell structures derived by the fuzzy cell competition (FCC) algorithm as the deformation unit and the boundary estimated by the normalized cut (NC) algorithm as the reference contour. The other was modeling the intensity inhomogeneity in an ROI as a spatially variant normal distribution with a constant variance and spatially variant means, which formed a polynomial surface of order n. The proposed algorithm was formulated as a nested EM algorithm comprising the outer-layer EM algorithm, i.e., the intensity inhomogeneity correction-EM (IIC-EM) algorithm, and the inner-layer EM algorithm, i.e., the CFCB-EM algorithm. The E step of the IIC-EM algorithm was to provide a reasonably good bipartition separating the ROI into foreground and background regions, which included three major component algorithms, namely, the FCC, the NC, and the CFCB-EM. The M step of the IIC-EM algorithm was to estimate and correct the intensity inhomogeneity field by least-squared fitting the intensity inhomogeneity to an nth order polynomial surface. Forty-nine breast sonograms with intensity inhomogeneity, each from a different subject, were randomly selected for performance analysis. Three assessments were carried out to evaluate the effectiveness of the proposed algorithm.

RESULTS

Based on the visual evaluation of two experienced radiologists, in the first assessment, 46 out of 49 breast lesions were considered to have better contrasts on the inhomogeneity-corrected images by both radiologists. The interrater reliability for the radiologists was found to be kappa = 0.479 (p = 0.001). In the second assessment, the mean gradients of the low-gradient boundary points before and after correction of the intensity inhomogeneity were compared by the paired t-test, yielding a p-value of 0.000, which suggested the proposed intensity inhomogeneity algorithm may enhance the mean gradient of the low-gradient boundary points. By using the paired t-test, the third assessment further showed that the Chan and Vese level set method could derive a much better lesion boundary on the inhomogeneity-corrected image than on the original image (p = 0.000).

CONCLUSIONS

The proposed intensity inhomogeneity correction algorithm could not only augment the visibility of lesion boundary but also improve the segmentation result on a breast sonogram.

Automated segmentation of ultrasonic breast lesions using statistical texture classification and active contour based on probability distance

Because of its complicated structure, low signal/noise ratio, low contrast and blurry boundaries, fully automated segmentation of a breast ultrasound (BUS) image is a difficult task. In this paper, a novel segmentation method for BUS images without human intervention is proposed. Unlike most published approaches, the proposed method handles the segmentation problem by using a two-step strategy: ROI generation and ROI segmentation. First, a well-trained texture classifier categorizes the tissues into different classes, and the background knowledge rules are used for selecting the regions of interest (ROIs) from them. Second, a novel probability distance-based active contour model is applied for segmenting the ROIs and finding the accurate positions of the breast tumors. The active contour model combines both global statistical information and local edge information, using a level set approach. The proposed segmentation method was performed on 103 BUS images (48 benign and 55 malignant). To validate the performance, the results were compared with the corresponding tumor regions marked by an experienced radiologist. Three error metrics, true-positive ratio (TP), false-negative ratio (FN) and false-positive ratio (FP) were used for measuring the performance of the proposed method. The final results (TP = 91.31%, FN = 8.69% and FP = 7.26%) demonstrate that the proposed method can segment BUS images efficiently, quickly and automatically.

Medical feature based evaluation of structuring elements for morphological enhancement of ultrasonic images

This paper investigates the use of morphology-based nonlinear filters, and performs deterministic and statistical analysis of the linear combinations of the filters for the image quality enhancement of B-mode ultrasound images. The fact that the structuring element shape greatly influences the output of the filter, is one of the most important features of mathematical morphology. The present reported work comparatively evaluates the structuring elements for morphological liver image enhancement and verifies the hypothesis that the speckles visible in US images are short, slightly 'banana-shaped' white lines. Initially, five different liver images were morphologically filtered using 10 different structuring elements and then the filtered images were assessed quantitatively. Image quality parameters such as peak signal-to-noise ratio, mean square error and correlation coefficient have been used to evaluate the performance of the morphological filters with different structuring elements. To endorse the observation of the quantitative analysis, the filtered images were then evaluated qualitatively, based on the image features looked into by the medical fraternity. The evaluation parameters have been taken on the basis of the suggestions made by a group of radiologists. The results of the processed images were then evaluated by a different group of radiologists. A multi-point rank order method has been used to identify small differences or trends in observation. The subjective analysis by radiologists indicates that morphological filter using line shaped structuring element with length 2 performs better than the other structuring elements. These observations were found to be in line with the observations of quantitative analysis.

Segmentation of white matter flaring areas in ultrasound images of very-low-birth-weight preterm infants

In this article, we present an interactive algorithm segmenting white brain matter, visible as hyperechoic flaring areas in ultrasound (US) images of preterm infants with periventricular leukomalacia (PVL). The algorithm combines both the textural properties of pathological brain tissue and mathematical morphology operations. An initial flaring area estimate is derived from a multifeature multiclassifier tissue texture classifier. This area is refined based on the structural properties of the choroid plexus, a brain feature known to have characteristics similar to flaring. Subsequently, a combination of a morphological closing, gradient and opening by reconstruction operation determines the final flaring area boundaries. Experimental results are compared with a gold standard constructed from manual flaring area delineations of 12 medical experts. In addition, we compared our algorithm to an existing active contour method. The results show our technique agrees to the gold standard with statistical significance and outperforms the existing method in accuracy. Finally, using the flaring area as a criterion we improve the sensitivity of PVL detection up to 98% as compared with the state of the art.

Detection and measurement of fetal anatomies from ultrasound images using a constrained probabilistic boosting tree

We propose a novel method for the automatic detection and measurement of fetal anatomical structures in ultrasound images. This problem offers a myriad of challenges, including: difficulty of modeling the appearance variations of the visual object of interest, robustness to speckle noise and signal dropout, and large search space of the detection procedure. Previous solutions typically rely on the explicit encoding of prior knowledge and formulation of the problem as a perceptual grouping task solved through clustering or variational approaches. These methods are constrained by the validity of the underlying assumptions and usually are not enough to capture the complex appearances of fetal anatomies. We propose a novel system for fast automatic detection and measurement of fetal anatomies that directly exploits a large database of expert annotated fetal anatomical structures in ultrasound images. Our method learns automatically to distinguish between the appearance of the object of interest and background by training a constrained probabilistic boosting tree classifier. This system is able to produce the automatic segmentation of several fetal anatomies using the same basic detection algorithm. We show results on fully automatic measurement of biparietal diameter (BPD), head circumference (HC), abdominal circumference (AC), femur length (FL), humerus length (HL), and crown rump length (CRL). Notice that our approach is the first in the literature to deal with the HL and CRL measurements. Extensive experiments (with clinical validation) show that our system is, on average, close to the accuracy of experts in terms of segmentation and obstetric measurements. Finally, this system runs under half second on a standard dual-core PC computer.

Quantification of thyroid volume using 3-D ultrasound imaging

Ultrasound (US) is among the most popular diagnostic techniques today. It is non-invasive, fast, comparably cheap, and does not require ionizing radiation. US is commonly used to examine the size, and structure of the thyroid gland. In clinical routine, thyroid imaging is usually performed by means of 2-D US. Conventional approaches for measuring the volume of the thyroid gland or its nodules may therefore be inaccurate due to the lack of 3-D information. This work reports a semi-automatic segmentation approach for the classification, and analysis of the thyroid gland based on 3-D US data. The images are scanned in 3-D, pre-processed, and segmented. Several pre-processing methods, and an extension of a commonly used geodesic active contour level set formulation are discussed in detail. The results obtained by this approach are compared to manual interactive segmentations by a medical expert in five representative patients. Our work proposes a novel framework for the volumetric quantification of thyroid gland lobes, which may also be expanded to other parenchymatous organs.

Evaluation of a cardiac ultrasound segmentation algorithm using a phantom

This paper evaluates the performance of a level set algorithm for segmenting the endocardium in short-axis ultrasound images. The evaluation is carried out using an anthropomorphic ultrasound phantom. Details of the phantom design, including comparison of the ultrasound parameters with in-vitro measurements, are included. In addition to measuring segmentation accuracy, the effectiveness of the energy minimization scheme is also determined. It is argued that using the phantom along with global minimization algorithms (simulated annealing and random search) makes is possible to assess the minimization strategy.

Statistical segmentation of surgical instruments in 3-D ultrasound images

The recent development of real-time 3-D ultrasound (US) enables intracardiac beating-heart procedures, but the distorted appearance of surgical instruments is a major challenge to surgeons. In addition, tissue and instruments have similar gray levels in US images and the interface between instruments and tissue is poorly defined. We present an algorithm that automatically estimates instrument location in intracardiac procedures. Expert-segmented images are used to initialize the statistical distributions of blood, tissue and instruments. Voxels are labeled through an iterative expectation-maximization algorithm using information from the neighboring voxels through a smoothing kernel. Once the three classes of voxels are separated, additional neighboring information is combined with the known shape characteristics of instruments to correct for misclassifications. We analyze the major axis of segmented data through their principal components and refine the results by a watershed transform, which corrects the results at the contact between instrument and tissue. We present results on 3-D in-vitro data from a tank trial and 3-D in-vivo data from cardiac interventions on porcine beating hearts, using instruments of four types of materials. The comparison of algorithm results to expert-annotated images shows the correct segmentation and position of the instrument shaft.

Texture analysis of perimenopausal and post-menopausal endometrial tissue in grayscale transvaginal ultrasonography

The aim of this study was to investigate the feasibility of texture analysis in characterizing endometrial tissue as depicted in two-dimensional (2D) grayscale transvaginal ultrasonography. Digital transvaginal ultrasound endometrial images were acquired from 65 perimenopausal and post-menopausal women prior to gynaecological operations; histology revealed 15 malignant and 50 benign cases. Images were processed with a wavelet-based contrast enhancement technique. Three regions of interest (ROIs) were identified (endometrium, endometrium plus adjacent myometrium, layer containing endometrial-myometrial interface) on each original and processed image. 32 textural features were extracted from each ROI employing first and second order statistics texture analysis algorithms. Textural features-based models were generated for differentiating benign from malignant endometrial tissue using stepwise logistic regression analysis. Models' performance was evaluated by means of receiver operating characteristic (ROC) analysis. The best logistic regression model comprised seven textural features extracted from the ROIs determined on the processed images; three features were extracted from the endometrium, while four features were extracted from the layer containing the endometrial-myometrial interface. The area under the ROC curve (A(z)) was 0.956+/-0.038, providing 86.0% specificity at 93.3% sensitivity using the cut-off level of 0.5 for probability of malignancy. Texture analysis of 2D grayscale transvaginal ultrasound images can effectively differentiate malignant from benign endometrial tissue and may contribute to computer-aided diagnosis of endometrial cancer.

Snakes based segmentation of the common carotid artery intima media

Ultrasound measurements of the human carotid artery walls are conventionally obtained by manually tracing interfaces between tissue layers. In this study we present a snakes segmentation technique for detecting the intima-media layer of the far wall of the common carotid artery (CCA) in longitudinal ultrasound images, by applying snakes, after normalization, speckle reduction, and normalization and speckle reduction. The proposed technique utilizes an improved snake initialization method, and an improved validation of the segmentation method. We have tested and clinically validated the segmentation technique on 100 longitudinal ultrasound images of the carotid artery based on manual measurements by two vascular experts, and a set of different evaluation criteria based on statistical measures and univariate statistical analysis. The results showed that there was no significant difference between all the snakes segmentation measurements and the manual measurements. For the normalized despeckled images, better snakes segmentation results with an intra-observer error of 0.08, a coefficient of variation of 12.5%, best Bland-Altman plot with smaller differences between experts (0.01, 0.09 for Expert1 and Expert 2, respectively), and a Hausdorff distance of 5.2, were obtained. Therefore, the pre-processing of ultrasound images of the carotid artery with normalization and speckle reduction, followed by the snakes segmentation algorithm can be used successfully in the measurement of IMT complementing the manual measurements. The present results are an expansion of data published earlier as an extended abstract in IFMBE Proceedings (Loizou et al. IEEE Int X Mediterr Conf Medicon Med Biol Eng POS-03 499:1-4, 2004).

LV segmentation through the analysis of radio frequency ultrasonic images

LV segmentation is often an important part of many automated cardiac diagnosis strategies. However, the segmentation of echocardiograms is a difficult task because of poor image quality. In echocardiography, we note that radio-frequency (RF) signal is a rich source of information about the moving LV as well. In this paper, first, we will investigate currently used, important RF derived parameters: integrated backscatter coefficient (IBS), mean central frequency (MCF) and the maximum correlation coefficients (MCC) from speckle tracking. Second, we will develop a new segmentation algorithm for the segmentation of the LV boundary, which can avoid local minima and leaking through uncompleted boundary. Segmentations are carried out on the RF signal acquired from a Sonos7500 ultrasound system. The results are validated by comparing to manual segmentation results.

Evaluation of four probability distribution models for speckle in clinical cardiac ultrasound images

Segmenting cardiac ultrasound images requires a model for the statistics of speckle in the images. Although the statistics of speckle are well understood for the raw transducer signal, the statistics of speckle in the image are not. This paper evaluates simple empirical models for first-order statistics for the distribution of gray levels in speckle. The models are created by analyzing over 100 images obtained from commercial ultrasound machines in clinical settings. The data in the images suggests a unimodal scalable family of distributions as a plausible model. Four families of distributions (Gamma, Weibull, Normal, and Log-normal) are compared with the data using goodness-of-fit and misclassification tests. Attention is devoted to the analysis of artifacts in images and to the choice of goodness-of-fit and misclassification tests. The distribution of parameters of one of the models is investigated and priors for the distribution are suggested.

Ultrasound image segmentation: a survey

This paper reviews ultrasound segmentation paper methods, in a broad sense, focusing on techniques developed for medical B-mode ultrasound images. First, we present a review of articles by clinical application to highlight the approaches that have been investigated and degree of validation that has been done in different clinical domains. Then, we present a classification of methodology in terms of use of prior information. We conclude by selecting ten papers which have presented original ideas that have demonstrated particular clinical usefulness or potential specific to the ultrasound segmentation problem.

Segmentation of elastographic images using a coarse-to-fine active contour model

Delineation of radiofrequency-ablation-induced coagulation (thermal lesion) boundaries is an important clinical problem that is not well addressed by conventional imaging modalities. Elastography, which produces images of the local strain after small, externally applied compressions, can be used for visualization of thermal coagulations. This paper presents an automated segmentation approach for thermal coagulations on 3-D elastographic data to obtain both area and volume information rapidly. The approach consists of a coarse-to-fine method for active contour initialization and a gradient vector flow, active contour model for deformable contour optimization with the help of prior knowledge of the geometry of general thermal coagulations. The performance of the algorithm has been shown to be comparable to manual delineation of coagulations on elastograms by medical physicists (r = 0.99 for volumes of 36 radiofrequency-induced coagulations). Furthermore, the automatic algorithm applied to elastograms yielded results that agreed with manual delineation of coagulations on pathology images (r = 0.96 for the same 36 lesions). This algorithm has also been successfully applied on in vivo elastograms.

3D ultrasound in robotic surgery: performance evaluation with stereo displays

BACKGROUND

The recent advent of real-time 3D ultrasound (3DUS) imaging enables a variety of new surgical procedures. These procedures are hampered by the difficulty of manipulating tissue guided by the distorted, low-resolution 3DUS images. To lessen the effects of these limitations, we investigated stereo displays and surgical robots for 3DUS-guided procedures.

METHODS

By integrating real-time stereo rendering of 3DUS with the binocular display of a surgical robot, we compared stereo-displayed 3DUS with normally displayed 3DUS. To test the efficacy of stereo-displayed 3DUS, eight surgeons and eight non-surgeons performed in vitro tasks with the surgical robot.

RESULTS

Error rates dropped by 50% with a stereo display. In addition, subjects completed tasks faster with the stereo-displayed 3DUS as compared to normal-displayed 3DUS. A 28% decrease in task time was seen across all subjects.

CONCLUSIONS

The results highlight the importance of using a stereo display. By reducing errors and increasing speed, it is an important enhancement to 3DUS-guided robotics procedures.

Segmentation of real-time three-dimensional ultrasound for quantification of ventricular function: a clinical study on right and left ventricles

Among screening modalities, echocardiography is the fastest, least expensive and least invasive method for imaging the heart. A new generation of three-dimensional (3-D) ultrasound (US) technology has been developed with real-time 3-D (RT3-D) matrix phased-array transducers. These transducers allow interactive 3-D visualization of cardiac anatomy and fast ventricular volume estimation without tomographic interpolation as required with earlier 3-D US acquisition systems. However, real-time acquisition speed is performed at the cost of decreasing spatial resolution, leading to echocardiographic data with poor definition of anatomical structures and high levels of speckle noise. The poor quality of the US signal has limited the acceptance of RT3-D US technology in clinical practice, despite the wealth of information acquired by this system, far greater than with any other existing echocardiography screening modality. We present, in this work, a clinical study for segmentation of right and left ventricular volumes using RT3-D US. A preprocessing of the volumetric data sets was performed using spatiotemporal brushlet denoising, as presented in previous articles Two deformable-model segmentation methods were implemented in 2-D using a parametric formulation and in 3-D using an implicit formulation with a level set implementation for extraction of endocardial surfaces on denoised RT3-D US data. A complete and rigorous validation of the segmentation methods was carried out for quantification of left and right ventricular volumes and ejection fraction, including comparison of measurements with cardiac magnetic resonance imaging as the reference. Results for volume and ejection fraction measurements report good performance of quantification of cardiac function on RT3-D data compared with magnetic resonance imaging with better performance of semiautomatic segmentation methods than with manual tracing on the US data.

Combinative multi-scale level set framework for echocardiographic image segmentation

In the automatic segmentation of echocardiographic images, a priori shape knowledge has been used to compensate for poor features in ultrasound images. This shape knowledge is often learned via an off-line training process, which requires tedious human effort and is highly expertise-dependent. More importantly, a learned shape template can only be used to segment a specific class of images with similar boundary shape. In this paper, we present a multi-scale level set framework for segmentation of endocardial boundaries at each frame in a multiframe echocardiographic image sequence. We point out that the intensity distribution of an ultrasound image at a very coarse scale can be approximately modeled by Gaussian. Then we combine region homogeneity and edge features in a level set approach to extract boundaries automatically at this coarse scale. At finer scale levels, these coarse boundaries are used to both initialize boundary detection and serve as an external constraint to guide contour evolution. This constraint functions similar to a traditional shape prior. Experimental results validate this combinative framework.

Computerized characterization of breast masses on three-dimensional ultrasound volumes

We are developing computer vision techniques for the characterization of breast masses as malignant or benign on radiologic examinations. In this study, we investigated the computerized characterization of breast masses on three-dimensional (3-D) ultrasound (US) volumetric images. We developed 2-D and 3-D active contour models for automated segmentation of the mass volumes. The effect of the initialization method of the active contour on the robustness of the iterative segmentation method was studied by varying the contour used for its initialization. For a given segmentation, texture and morphological features were automatically extracted from the segmented masses and their margins. Stepwise discriminant analysis with the leave-one-out method was used to select effective features for the classification task and to combine these features into a malignancy score. The classification accuracy was evaluated using the area Az under the receiver operating characteristic (ROC) curve, as well as the partial area index Az(0.9), defined as the relative area under the ROC curve above a sensitivity threshold of 0.9. For the purpose of comparison with the computer classifier, four experienced breast radiologists provided malignancy ratings for the 3-D US masses. Our dataset consisted of 3-D US volumes of 102 biopsied masses (46 benign, 56 malignant). The classifiers based on 2-D and 3-D segmentation methods achieved test Az values of 0.87+/-0.03 and 0.92+/-0.03, respectively. The difference in the Az values of the two computer classifiers did not achieve statistical significance. The Az values of the four radiologists ranged between 0.84 and 0.92. The difference between the computer's Az value and that of any of the four radiologists did not achieve statistical significance either. However, the computer's Az(0.9) value was significantly higher than that of three of the four radiologists. Our results indicate that an automated and effective computer classifier can be designed for differentiating malignant and benign breast masses on 3-D US volumes. The accuracy of the classifier designed in this study was similar to that of experienced breast radiologists.

Segmentation of breast tumor in three-dimensional ultrasound images using three-dimensional discrete active contour model

In this paper, we apply the three-dimensional (3-D) active contour model to a 3-D ultrasonic data file for segmenting of the breast tumor. The 3-D ultrasonic file is composed of a series of two-dimensional (2-D) images. Most of traditional techniques of 2-D image segmentation will not use the information between adjacent images. To suit the property of the 3-D data, we introduce the concept of the 3-D stick, the 3-D morphologic process and the 3-D active contour model. The 3-D stick can get over the problem that the ultrasonic image is full of speckle noise and highlight the edge information in images. The 3-D morphologic process helps to determine the contour of the tumor and the resulting contour can be regarded as the initial contour of the active contour model. Finally, the 3-D active contour model will make the initial contour approach to the real contour of the tumor. However, there is emphasis on these 3-D techniques that they do not consist of a series of 2-D techniques. When they work, they will consider the horizontal, vertical and depth directions at the same time. The use of these 3-D techniques not only segments the 3-D shape but also obtains the volume of the tumor. The volume of the tumor calculated by the proposed method will be compared with the volume calculated by the VOCAL software with the physician's manually drawn shape and it shows that the performance of our method is satisfactory.

Combining low-, high-level and empirical domain knowledge for automated segmentation of ultrasonic breast lesions

Breast cancer is the most frequently diagnosed malignancy and the second leading cause of mortality in women. In the last decade, ultrasound along with digital mammography has come to be regarded as the gold standard for breast cancer diagnosis. Automatically detecting tumors and extracting lesion boundaries in ultrasound images is difficult due to their specular nature and the variance in shape and appearance of sonographic lesions. Past work on automated ultrasonic breast lesion segmentation has not addressed important issues such as shadowing artifacts or dealing with similar tumor like structures in the sonogram. Algorithms that claim to automatically classify ultrasonic breast lesions, rely on manual delineation of the tumor boundaries. In this paper, we present a novel technique to automatically find lesion margins in ultrasound images, by combining intensity and texture with empirical domain specific knowledge along with directional gradient and a deformable shape-based model. The images are first filtered to remove speckle noise and then contrast enhanced to emphasize the tumor regions. For the first time, a mathematical formulation of the empirical rules used by radiologists in detecting ultrasonic breast lesions, popularly known as the "Stavros Criteria" is presented in this paper. We have applied this formulation to automatically determine a seed point within the image. Probabilistic classification of image pixels based on intensity and texture is followed by region growing using the automatically determined seed point to obtain an initial segmentation of the lesion. Boundary points are found on the directional gradient of the image. Outliers are removed by a process of recursive refinement. These boundary points are then supplied as an initial estimate to a deformable model. Incorporating empirical domain specific knowledge along with low and high-level knowledge makes it possible to avoid shadowing artifacts and lowers the chance of confusing similar tumor like structures for the lesion. The system was validated on a database of breast sonograms for 42 patients. The average mean boundary error between manual and automated segmentation was 6.6 pixels and the normalized true positive area overlap was 75.1%. The algorithm was found to be robust to 1) variations in system parameters, 2) number of training samples used, and 3) the position of the seed point within the tumor. Running time for segmenting a single sonogram was 18 s on a 1.8-GHz Pentium machine.

Tunnelling Descent: A New Algorithm for Active Contour Segmentation of Ultrasound Images

The presence of speckle in ultrasound images makes it hard to segment them using active contours. Speckle causes the energy function of the active contours to have many local minima, and the gradient descent procedure used for evolving the contour gets trapped in these minima. A new algorithm, called tunnelling descent, is proposed in this paper for evolving active contours. Tunnelling descent can jump out of many of the local minima that gradient descent gets trapped in. Experimental results with 70 short axis cardiac ultrasound images show that tunnelling descent has no trouble finding the blood-tissue boundary (the endocardium). This holds irrespective of whether tunnelling descent is initialized in blood or tissue.

ROPES: a semiautomated segmentation method for accelerated analysis of three-dimensional echocardiographic data

Echocardiography (cardiac ultrasound) is today the predominant technique for quantitative assessment of cardiac function and valvular heart lesions. Segmentation of cardiac structures is required to determine many important diagnostic parameters. As the heart is a moving organ, reliable information can be obtained only from three-dimensional (3-D) data over time (3-D + time = 4-D). Due to their size, the resulting four-dimensional (4-D) data sets are not reasonably accessible to simple manual segmentation methods. Automatic segmentation often yields unsatisfactory results in a clinical environment, especially for ultrasonic images. We describe a semiautomated segmentation algorithm (ROPES) that is able to greatly reduce the time necessary for user interaction and its application to extract various parameters from 4-D echocardiographic data. After searching for candidate contour points, which have to fulfill a multiscale edge criterion, the candidates are connected by minimizing a cost function to line segments that then are connected to form a closed contour. The contour is automatically checked for plausibility. If necessary, two correction methods that can also be used interactively are applied (fitting of other line segments into the contour and searching for additional candidates with a relaxed criterion). The method is validated using in vivo transesophageal echocardiographic data sets.