Initialization, noise, singularities, and scale in height ridge traversal for tubular object centerline extraction

New Vessel Analysis Tool for Morphometric Quantification and Visualization of Vessels in CT and MR Imaging Data Sets

Image processing algorithms and a prototypical research software tool have been developed for visualization and quantitative analysis of vessels in data sets from computed tomography and magnetic resonance imaging. The software is based on a sequence of processing steps, which are as follows: (a) vessel segmentation based on a region growing algorithm, (b) interactive "premasking" to optionally exclude interfering structures close to the vessels of interest, (c) distance transform-based skeletonization, (d) multiplanar reformation orthogonal to the vessel path, (e) identification of the lumen boundary on the orthogonal cross-section images, and (f) morphometric measurements. The development of the algorithmic components and the application user interface has been carried out in close cooperation with clinical users to achieve a high degree of usability and flexible support of work flow. The software has been successfully applied to the intracranial arteries, carotid arteries, and abdominal and thoracic aorta, as well as the renal, coronary, and peripheral arteries.

Multiscale vessel tracking

A method is presented that uses a vectorial multiscale feature image for wave front propagation between two or more user defined points to retrieve the central axis of tubular objects in digital images. Its implicit scale selection mechanism makes the method more robust to overlap and to the presence of adjacent structures than conventional techniques that propagate a wave front over a scalar image representing the maximum of a range of filters. The method is shown to retain its potential to cope with severe stenoses or imaging artifacts and objects with varying widths in simulated and actual two-dimensional angiographic images.

The dual-bootstrap iterative closest point algorithm with application to retinal image registration

Motivated by the problem of retinal image registration, this paper introduces and analyzes a new registration algorithm called Dual-Bootstrap Iterative Closest Point (Dual-Bootstrap ICP). The approach is to start from one or more initial, low-order estimates that are only accurate in small image regions, called bootstrap regions. In each bootstrap region, the algorithm iteratively: 1) refines the transformation estimate using constraints only from within the bootstrap region; 2) expands the bootstrap region; and 3) tests to see if a higher order transformation model can be used, stopping when the region expands to cover the overlap between images. Steps 1): and 3), the bootstrap steps, are governed by the covariance matrix of the estimated transformation. Estimation refinement [Step 2)] uses a novel robust version of the ICP algorithm. In registering retinal image pairs, Dual-Bootstrap ICP is initialized by automatically matching individual vascular landmarks, and it aligns images based on detected blood vessel centerlines. The resulting quadratic transformations are accurate to less than a pixel. On tests involving approximately 6000 image pairs, it successfully registered 99.5% of the pairs containing at least one common landmark, and 100% of the pairs containing at least one common landmark and at least 35% image overlap.

Practical consideration for 3T imaging

In the past 10 to 15 years, 1.5T has been one of the most commonly used field strengths for day-to-day clinical operations. However, recent advances in high field technology and the increased availability of high field (> 1.5T) human scanners have opened the doors for a variety of exciting improvements in clinical and research applications of MR imaging. In particular, 3T has continued to gain wide acceptance as one of the main field strengths for clinical and research studies. Therefore, in this article the authors focus on the pros and cons of 3T imaging and comparisons between results obtained at 3T and 1.5T.

Level-set-based artery-vein separation in blood pool agent CE-MR angiograms

Blood pool agents (BPAs) for contrast-enhanced (CE) magnetic-resonance angiography (MRA) allow prolonged imaging times for higher contrast and resolution. Imaging is performed during the steady state when the contrast agent is distributed through the complete vascular system. However, simultaneous venous and arterial enhancement in this steady state hampers interpretation. In order to improve visualization of the arteries and veins from steady-state BPA data, a semiautomated method for artery-vein separation is presented. In this method, the central arterial axis and central venous axis are used as initializations for two surfaces that simultaneously evolve in order to capture the arterial and venous parts of the vasculature using the level-set framework. Since arteries and veins can be in close proximity of each other, leakage from the evolving arterial (venous) surface into the venous (arterial) part of the vasculature is inevitable. In these situations, voxels are labeled arterial or venous based on the arrival time of the respective surface. The evolution is steered by external forces related to feature images derived from the image data and by internal forces related to the geometry of the level sets. In this paper, the robustness and accuracy of three external forces (based on image intensity, image gradient, and vessel-enhancement filtering) and combinations of them are investigated and tested on seven patient datasets. To this end, results with the level-set-based segmentation are compared to the reference-standard manually obtained segmentations. Best results are achieved by applying a combination of intensity- and gradient-based forces and a smoothness constraint based on the curvature of the surface. By applying this combination to the seven datasets, it is shown that, with minimal user interaction, artery-vein separation for improved arterial and venous visualization in BPA CE-MRA can be achieved.

Measuring tortuosity of the intracerebral vasculature from MRA images

The clinical recognition of abnormal vascular tortuosity, or excessive bending, twisting, and winding, is important to the diagnosis of many diseases. Automated detection and quantitation of abnormal vascular tortuosity from three-dimensional (3-D) medical image data would, therefore, be of value. However, previous research has centered primarily upon two-dimensional (2-D) analysis of the special subset of vessels whose paths are normally close to straight. This report provides the first 3-D tortuosity analysis of clusters of vessels within the normally tortuous intracerebral circulation. We define three different clinical patterns of abnormal tortuosity. We extend into 3-D two tortuosity metrics previously reported as useful in analyzing 2-D images and describe a new metric that incorporates counts of minima of total curvature. We extract vessels from MRA data, map corresponding anatomical regions between sets of normal patients and patients with known pathology, and evaluate the three tortuosity metrics for ability to detect each type of abnormality within the region of interest. We conclude that the new tortuosity metric appears to be the most effective in detecting several types of abnormalities. However, one of the other metrics, based on a sum of curvature magnitudes, may be more effective in recognizing tightly coiled, "corkscrew" vessels associated with malignant tumors.

Localization and segmentation of aortic endografts using marker detection

A method for localization and segmentation of bifurcated aortic endografts in computed tomographic angiography (CTA) images is presented. The graft position is determined by detecting radiopaque markers sewn on the outside of the graft. The user indicates the first and the last marker, whereupon the remaining markers are automatically detected. This is achieved by first detecting marker-like structures through second-order scaled derivative analysis, which is combined with prior knowledge of graft shape and marker configuration. The identified marker centers approximate the graft sides and, derived from these, the central axis. The graft boundary is determined by maximizing the local gradient in the radial direction along a deformable contour passing through both sides. Three segmentation methods were tested. The first performs graft contour detection in the initial CT-slices, the second in slices that were reformatted to be orthogonal to the approximated graft axis, and the third uses the segmentation from the second method to find a more reliable approximation of the axis and subsequently performs contour detection. The methods have been applied to ten CTA images and the results were compared to manual marker indication by one observer and region growing aided segmentation by three observers. Out of a total of 266 markers, 262 were detected. Adequate approximations of the graft sides were obtained in all cases. The best segmentation results were obtained using a second iteration orthogonal to the axis determined from the first segmentation, yielding an average relative volume of overlap with the expert segmentations of 92%, while the interexpert reproducibility is 95%. The averaged difference in volume measured by the automated method and by the experts equals the difference among the experts: 3.5%.

Volume rendering of segmented image objects

This paper describes a new method of combining ray-casting with segmentation. Volume rendering is performed at interactive rates on personal computers, and visualizations include both "superficial" ray-casting through a shell at each object's surface and "deep" ray-casting through the confines of each object. A feature of the approach is the option to smoothly and interactively dilate segmentation boundaries along all axes. This ability, when combined with selective "turning off" of extraneous image objects, can help clinicians detect and evaluate segmentation errors that may affect surgical planning. We describe both a method optimized for displaying tubular objects and a more general method applicable to objects of arbitrary geometry. In both cases, select three-dimensional points are projected onto a modified z buffer that records additional information about the projected objects. A subsequent step selectively volume renders only through the object volumes indicated by the z buffer. We describe how our approach differs from other reported methods for combining segmentation with ray-casting, and illustrate how our method can be useful in helping to detect segmentation errors.