Optimization for customized trajectories in cone beam computed tomography

Universal non-circular cone beam CT orbits for metal artifact reduction imaging during image-guided procedures

Innovation in image-guided procedures has been driven by advances in robotic Cone Beam Computed Tomography (CBCT) systems. A fundamental challenge for CBCT imaging is metal artifacts arising from surgical tools and implanted hardware. Here, we outline how two universal non-circular imaging orbits, optimized for metal artifact reduction, can be implemented in real-time on clinical robotic CBCT systems. Demonstrating potential clinical utility, the universal orbits were implemented during a pedicle screw cervical spine fixation and hip arthroplasty performed on a porcine and ovine cadaver respectively. In both procedures, the universal non-circular orbits noticeably reduced the metal artifacts surrounding the implanted orthopedic hardware, revealing anatomy and soft tissue obscured in current conventional CBCT imaging. This work represents a key step in clinically translating universal orbits, unlocking high quality in-room procedural verification to increase broader use of robotic CBCT systems and reduce the occurrence of secondary corrective surgeries.

Source-detector trajectory optimization for CBCT metal artifact reduction based on PICCS reconstruction

Precise instrument placement plays a critical role in all interventional procedures, especially percutaneous procedures such as needle biopsies, to achieve successful tumor targeting and increased diagnostic accuracy. C-arm cone beam computed tomography (CBCT) has the potential to precisely visualize the anatomy in direct vicinity of the needle and evaluate the adequacy of needle placement during the intervention, allowing for instantaneous adjustment in case of misplacement. However, even with the most advanced C-arm CBCT devices, it can be difficult to identify the exact needle position on CBCT images due to the strong metal artifacts around the needle. In this study, we proposed a framework for customized trajectory design in CBCT imaging based on Prior Image Constrained Compressed Sensing (PICCS) reconstruction with the goal of reducing metal artifacts in needle-based procedures. We proposed to optimize out-of-plane rotations in three-dimensional (3D) space and minimize projection views while reducing metal artifacts at specific volume of interests (VOIs). An anthropomorphic thorax phantom with a needle inserted inside and two tumor models as the imaging targets were used to validate the proposed approach. The performance of the proposed approach was also evaluated for CBCT imaging under kinematic constraints by simulating some collision areas on the geometry of the C-arm. We compared the result of optimized 3D trajectories using the PICCS algorithm and 20 projections with the result of a circular trajectory with sparse view using PICCS and Feldkamp, Davis, and Kress (FDK), both using 20 projections, and the circular FDK method with 313 projections. For imaging targets 1 and 2, the highest values of structural similarity index measure (SSIM) and universal quality index (UQI) between the reconstructed image from the optimized trajectories and the initial CBCT image at the VOI was calculated 0.7521, 0.7308 and 0.7308, 0.7248 respectively. These results significantly outperformed the FDK method (with 20 and 313 projections) and the PICCS method (20 projections) both using the circular trajectory. Our results showed that the proposed optimized trajectories not only significantly reduce metal artifacts but also suggest a dose reduction for needle-based CBCT interventions, considering the small number of projections used. Furthermore, our results showed that the optimized trajectories are compatible with spatially constrained situations and enable CBCT imaging under kinematic constraints when the standard circular trajectory is not feasible.

Cone-beam CT with a noncircular (sine-on-sphere) orbit: imaging performance of a clinical system for image-guided interventions

Purpose

We aim to compare the imaging performance of a cone-beam CT (CBCT) imaging system with noncircular scan protocols (sine-on-sphere) to a conventional circular orbit.

Approach

A biplane C-arm system (ARTIS Icono; Siemens Healthineers) capable of circular and noncircular CBCT acquisition was used, with the latter orbit (sine-on-sphere, "Sine Spin") executing a sinusoidal motion with ± 10    deg tilt amplitude over the half-scan orbit. A test phantom was used for the characterization of image uniformity, noise, noise-power spectrum (NPS), spatial resolution [modulation transfer function (MTF) in axial and oblique directions], and cone-beam artifacts. Findings were interpreted using an anthropomorphic head phantom with respect to pertinent tasks in skull base neurosurgery.

Results

The noncircular scan protocol exhibited several advantages associated with improved 3D sampling-evident in the NPS as filling of the null cone about thef z spatial frequency axis and reduction of cone-beam artifacts. The region of support at the longitudinal extrema was reduced from 16 to ∼ 12    cm at a radial distance of 6.5 cm. Circular and noncircular orbits exhibited nearly identical image uniformity and quantum noise, demonstrating cupping of - 16.7 % and overall noise of ∼ 27    HU . Although both the radially averaged axial MTF (f x , y ) and 45 deg oblique MTF (f x , y , z ) were ∼ 20 % lower for the noncircular orbit compared with the circular orbit at the default full reconstruction field of view (FOV), there was no difference in spatial resolution for the medium reconstruction FOV (smaller voxel size). Differences in the perceptual image quality for the anthropomorphic phantom reinforced the objective, quantitative findings, including reduced beam-hardening and cone-beam artifacts about structures of interest in the skull base.

Conclusions

Image quality differences between circular and noncircular CBCT orbits were quantitatively evaluated on a clinical system in the context of neurosurgery. The primary performance advantage for the noncircular orbit was the improved sampling and elimination of cone-beam artifacts.

Fully automatic online geometric calibration for non-circular cone-beam CT orbits using fiducials with unknown placement

BACKGROUND

Cone-beam CT (CBCT) with non-circular scanning orbits can improve image quality for 3D intraoperative image guidance. However, geometric calibration of such scans can be challenging. Existing methods typically require a prior image, specialized phantoms, presumed repeatable orbits, or long computation time.

PURPOSE

We propose a novel fully automatic online geometric calibration algorithm that does not require prior knowledge of fiducial configuration. The algorithm is fast, accurate, and can accommodate arbitrary scanning orbits and fiducial configurations.

METHODS

The algorithm uses an automatic initialization process to eliminate human intervention in fiducial localization and an iterative refinement process to ensure robustness and accuracy. We provide a detailed explanation and implementation of the proposed algorithm. Physical experiments on a lab test bench and a clinical robotic C-arm scanner were conducted to evaluate spatial resolution performance and robustness under realistic constraints.

RESULTS

Qualitative and quantitative results from the physical experiments demonstrate high accuracy, efficiency, and robustness of the proposed method. The spatial resolution performance matched that of our existing benchmark method, which used a 3D-2D registration-based geometric calibration algorithm.

CONCLUSIONS

We have demonstrated an automatic online geometric calibration method that delivers high spatial resolution and robustness performance. This methodology enables arbitrary scan trajectories and should facilitate translation of such acquisition methods in a clinical setting.

A nonconvex model-based combined geometric calibration scheme for micro cone-beam CT with irregular trajectories

BACKGROUND

Many dedicated cone-beam CT (CBCT) systems have irregular scanning trajectories. Compared with the standard CBCT calibration, accurate calibration for CBCT systems with irregular trajectories is a more complex task, since the geometric parameters for each scanning view are variable. Most of the existing calibration methods assume that the intrinsic geometric relationship of the fiducials in the phantom is precisely known, and rarely delve deeper into the issue of whether the phantom accuracy is adapted to the calibration model.

PURPOSE

A high-precision phantom and a highly robust calibration model are interdependent and mutually supportive, and they are both important for calibration accuracy, especially for the high-resolution CBCT. Therefore, we propose a calibration scheme that considers both accurate phantom measurement and robust geometric calibration.

METHODS

Our proposed scheme consists of two parts: (1) introducing a measurement model to acquire the accurate intrinsic geometric relationship of the fiducials in the phantom; (2) developing a highly noise-robust nonconvex model-based calibration method. The measurement model in the first part is achieved by extending our previous high-precision geometric calibration model suitable for CBCT with circular trajectories. In the second part, a novel iterative method with optimization constraints based on a back-projection model is developed to solve the geometric parameters of each view.

RESULTS

The simulations and real experiments show that the measurement errors of the fiducial ball bearings (BBs) are within the subpixel level. With the help of the geometric relationship of the BBs obtained by our measurement method, the classic calibration method can achieve good calibration based on far fewer BBs. All metrics obtained in simulated experiments as well as in real experiments on Micro CT systems with resolutions of 9 and 4.5 μm show that the proposed calibration method has higher calibration accuracy than the competing classic method. It is particularly worth noting that although our measurement model proves to be very accurate, the classic calibration method based on this measurement model can only achieve good calibration results when the resolution of the measurement system is close to that of the system to be calibrated, but our calibration scheme enables high-accuracy calibration even when the resolution of the system to be calibrated is twice that of the measurement system.

CONCLUSIONS

The proposed combined geometrical calibration scheme does not rely on a phantom with an intricate pattern of fiducials, so it is applicable in Micro CT with high resolution. The two parts of the scheme, the "measurement model" and the "calibration model," prove to be of high accuracy. The combination of these two models can effectively improve the calibration accuracy, especially in some extreme cases.

A filament 3D printing approach for CT-compatible bone tissues replication

PURPOSE

The aim of this study is the development of a methodology for manufacturing 3D printed anthropomorphic structures, which mimic the X-ray properties of the human bone tissue.

METHODS

A mixing approach of two different materials is proposed for the fabrication of a radiologically equivalent hip bone for an anthropomorphic abdominal phantom. The materials employed for the phantom were polylactic acid (PLA) and Stonefil, while a custom-made dual motor filament extrusion setup and a custom-made software associating medical images directly with the 3D printing process were employed.

RESULTS

Three phantoms representing the hip bone were 3D printed utilizing two filaments under three different printing scenarios. The phantoms are based on a patient's abdominal CT scan images. Histograms of CT scans of the printed hip bone phantoms were calculated and compared to the original patient's hip bone histogram, demonstrating that a constant mixing composition of 30% Stonefil and 70% PLA with 0.0375 extrusion rate per voxel (93.75% flow for fulfilling a single voxel) for the cancellous bone, and using 100% Stonefil with 0.04 extrusion rate per voxel (100% flow) for the cortical bone results in a realistic anatomy replication of the hip bone. Reproduced HU varied between 700 and 800, which are close to those of the hip bone.

CONCLUSIONS

The study demonstrated that it is possible to mix two different filaments in real-time during the printing process to obtain phantoms with realistic and radiographically bone tissue equivalent attenuation. The results will be explored for manufacturing a CT-compatible abdominal phantom.

Source-detector trajectory optimization in cone-beam computed tomography: a comprehensive review on today’s state-of-the-art

Cone-beam computed tomography (CBCT) imaging is becoming increasingly important for a wide range of applications such as image-guided surgery, image-guided radiation therapy as well as diagnostic imaging such as breast and orthopaedic imaging. The potential benefits of non-circular source-detector trajectories was recognized in early work to improve the completeness of CBCT sampling and extend the field of view (FOV). Another important feature of interventional imaging is that prior knowledge of patient anatomy such as a preoperative CBCT or prior CT is commonly available. This provides the opportunity to integrate such prior information into the image acquisition process by customized CBCT source-detector trajectories. Such customized trajectories can be designed in order to optimize task-specific imaging performance, providing intervention or patient-specific imaging settings. The recently developed robotic CBCT C-arms as well as novel multi-source CBCT imaging systems with additional degrees of freedom provide the possibility to largely expand the scanning geometries beyond the conventional circular source-detector trajectory. This recent development has inspired the research community to innovate enhanced image quality by modifying image geometry, as opposed to hardware or algorithms. The recently proposed techniques in this field facilitate image quality improvement, FOV extension, radiation dose reduction, metal artifact reduction as well as 3D imaging under kinematic constraints. Because of the great practical value and the increasing importance of CBCT imaging in image-guided therapy for clinical and preclinical applications as well as in industry, this paper focuses on the review and discussion of the available literature in the CBCT trajectory optimization field. To the best of our knowledge, this paper is the first study that provides an exhaustive literature review regarding customized CBCT algorithms and tries to update the community with the clarification of in-depth information on the current progress and future trends.

Considerations for Upright Particle Therapy Patient Positioning and Associated Image Guidance

Particle therapy is a rapidly growing field in cancer therapy. Worldwide, over 100 centers are in operation, and more are currently in construction phase. The interest in particle therapy is founded in the superior target dose conformity and healthy tissue sparing achievable through the particles’ inverse depth dose profile. This physical advantage is, however, opposed by increased complexity and cost of particle therapy facilities. Particle therapy, especially with heavier ions, requires large and costly equipment to accelerate the particles to the desired treatment energy and steer the beam to the patient. A significant portion of the cost for a treatment facility is attributed to the gantry, used to enable different beam angles around the patient for optimal healthy tissue sparing. Instead of a gantry, a rotating chair positioning system paired with a fixed horizontal beam line presents a suitable cost-efficient alternative. Chair systems have been used already at the advent of particle therapy, but were soon dismissed due to increased setup uncertainty associated with the upright position stemming from the lack of dedicated image guidance systems. Recently, treatment chairs gained renewed interest due to the improvement in beam delivery, commercial availability of vertical patient CT imaging and improved image guidance systems to mitigate the problem of anatomical motion in seated treatments. In this review, economical and clinical reasons for an upright patient positioning system are discussed. Existing designs targeted for particle therapy are reviewed, and conclusions are drawn on the design and construction of chair systems and associated image guidance. Finally, the different aspects from literature are channeled into recommendations for potential upright treatment layouts, both for retrofitting and new facilities.

Additively manufactured test phantoms for mimicking soft tissue radiation attenuation in CBCT using Polyjet technology

OBJECTIVES

To develop and validate a simple approach for building cost-effective imaging phantoms for Cone Beam Computed Tomography (CBCT) using a modified Polyjet additive manufacturing technology where a single material can mimic a range of human soft-tissue radiation attenuation.

MATERIALS AND METHODS

Single material test phantoms using a cubic lattice were designed in 3-Matic 15.0 software . Keeping the individual cubic lattice volume constant, eight different percentage ratio (R) of air: material from 0% to 70% with a 10% increment were assigned to each sample. The phantoms were printed in three materials, namely Vero PureWhite, VeroClear and TangoPlus using Polyjet technology. The CT value analysis, non-contact profile measurement and microCT-based volumetric analysis was performed for all the samples.

RESULTS

The printed test phantoms produced a grey value spectrum equivalent to the radiation attenuation of human soft tissues in the range of -757 to +286 HU on CT. The results from dimensional comparison analysis of the printed phantoms with the digital test phantoms using non-contact profile measurement showed a mean accuracy of 99.07 % and that of micro-CT volumetric analysis showed mean volumetric accuracy of 84.80-94.91%. The material and printing costs of developing 24 test phantoms was 83.00 Euro.

CONCLUSIONS

The study shows that additive manufacturing-guided macrostructure manipulation modifies successfully the radiographic visibility of a material in CBCT imaging with 1 mm³ resolution, helping customization of imaging phantoms.

Universal orbit design for metal artifact elimination

Objective.Metal artifacts are a persistent problem in CT and cone-beam CT. In this work, we propose to reduce or even eliminate metal artifacts by providing better sampling of data using non-circular orbits.Approach.We treat any measurements intersecting metal as missing data, and aim to design a universal orbit that can generally accommodate arbitrary metal shapes and locations. We adapted a local sampling completeness metric based on Tuy's condition to quantify the extent of sampling in the presence of metal. A maxi-min objective over all possible metal locations was used for orbit design. A simple class of sinusoidal orbits was evaluated as a function of frequencies, maximum tilt angles, and orbital extents. Experimental implementation of these orbits were performed on an imaging bench and evaluated on two phantoms, one containing metal balls and the other containing a pedicle screw assembly for spine fixation. Metal artifact reduction (MAR) performance was compared amongst three approaches: non-circular orbits only, algorithmic correction only, and a combined approach.Main results.Theoretical evaluations of the objective favor sinusoidal orbits with large tilt angles and large orbital extents. Furthermore, orbits that leverage redundant azimuthal angles to sample non-redundant data have better performance, e.g. even or non-integer frequency sinusoids for a 360° acquisition. Experimental data support the trends observed in theoretical evaluations. Reconstructions using even or non-integer frequency orbits present less streaking artifacts and background details with finer resolution, even when multiple metal objects are present and even in the absence of MAR algorithms. The combined approach of non-circular orbits and MAR algorithm yields the best performance. The observed trend in image quality is supported by quantitative measures of sampling and severity of streaking artifact.Significance.This work demonstrates that sinusoidal orbits are generally robust against metal artifacts and can provide an avenue for improved image quality in interventional imaging.

3D printed patient-specific thorax phantom with realistic heterogenous bone radiopacity using filament printer technology

Current medical imaging phantoms are usually limited by simplified geometry and radiographic skeletal homogeneity, which confines their usage for image quality assessment. In order to fabricate realistic imaging phantoms, replication of the entire tissue morphology and the associated CT numbers, defined as Hounsfield Unit (HU) is required. 3D printing is a promising technology for the production of medical imaging phantoms with accurate anatomical replication. So far, the majority of the imaging phantoms using 3D printing technologies tried to mimic the average HU of soft tissue human organs. One important aspect of the anthropomorphic imaging phantoms is also the replication of realistic radiodensities for bone tissues. In this study, we used filament printing technology to develop a CT-derived 3D printed thorax phantom with realistic bone-equivalent radiodensity using only one single commercially available filament. The generated thorax phantom geometry closely resembles a patient and includes direct manufacturing of bone structures while creating life-like heterogeneity within bone tissues. A HU analysis as well as a physical dimensional comparison were performed in order to evaluate the density and geometry agreement between the proposed phantom and the corresponding CT data. With the achieved density range (-482 to 968 HU) we could successfully mimic the realistic radiodensity of the bone marrow as well as the cortical bone for the ribs, vertebral body and dorsal vertebral column in the thorax skeleton. In addition, considering the large radiodensity range achieved a full thorax imaging phantom mimicking also soft tissues can become feasible. The physical dimensional comparison using both Extrema Analysis and Collision Detection methods confirmed a mean surface overlap of 90% and a mean volumetric overlap of 84,56% between the patient and phantom model. Furthermore, the reproducibility analyses revealed a good geometry and radiodensity duplicability in 24 printed cylinder replicas. Thus, according to our results, the proposed additively manufactured anthropomorphic thorax phantom has the potential to be efficiently used for validation of imaging- and radiation-based procedures in precision medicine.

Deep Learning-Based Internal Target Volume (ITV) Prediction Using Cone-Beam CT Images in Lung Stereotactic Body Radiotherapy

Purpose:This study aims to develop a deep learning (DL)-based (Mask R-CNN) method to predict the internal target volume (ITV) in cone beam computed tomography (CBCT) images for lung stereotactic body radiotherapy (SBRT) patients and to evaluate the prediction accuracy of the model using 4DCT as ground truth. Methods and Materials: This study enrolled 78 phantom cases and 156 patient cases who received SBRT treatment. We used a novel DL model (Mask R-CNN) to identify and delineate lung tumor ITV in CBCT images. The results of the DL-based method were compared quantitatively with the ground truth (4DCT) using 4 metrics, including Dice Similarity Coefficient (DSC), Relative Volume Index (RVI), 3D Motion Range (R3D), and Hausdorff Surface Distance (HD). Paired t-tests were used to determine the differences between the DL-based method and manual contouring. Results: The DSC value for 4DCTMIP versus CBCT is 0.86 ± 0.16 and for 4DCTAVG versus CBCT is 0.83 ± 0.18, indicating a high similarity of tumor delineation in CBCT and 4DCT. The mean Accuracy Precision (mAP), R3D, RVI, and HD values for phantom evaluation are 0.94 ± 0.04, 1.37 ± 0.36, 0.79 ± 0.02, and 6.79 ± 0.68, respectively. For patient evaluation, the mAP, R3D, RVI, and HD achieved averaged values of 0.74 ± 0.23, 2.39 ± 1.59, 1.27 ± 0.47, and 17.00 ± 19.89, respectively. These results showed a good correlation between predicted ITV and manually contoured ITV. The phantom p-value for RVI, R3D, and HD are 0.75, 0.08, 0.86, and patient p-value are 0.53, 0.07, 0.28, respectively. These p-values for phantom and patient showed no significant difference between the predicted ITV and physician's manual contouring. Conclusion:The current improved method (Mask R-CNN) yielded a good similarity between predicted ITV in CBCT and the manual contouring in 4DCT, thus indicating great potential for using CBCT for patient ITV contouring.

Selection and evaluation of spherical acquisition trajectories for industrial computed tomography

In conventional industrial computed tomography, the source–detector system rotates in equiangular steps in-plane relative to the part of investigation. While being by far the most frequently used acquisition trajectory today, this method has several drawbacks like the formation of cone beam artefacts or limited usability in case of geometrical restrictions. In such cases, the usage of alternative spherical trajectories can be beneficial to improve image quality and defect visibility. While investigations have been performed to relate the influence of the trajectory choice in the typical metrological case of a high number of available projections, so far barely any work has been done for the case of few source–detector poses, which is more relevant in the field of non-destructive testing. In this work, we provide an overview of quantitative metrics that can be used to assess the image quality of reconstructed computed tomography volumes, discuss their advantages and drawbacks and propose a framework to investigate the performance of several non-standard trajectories with respect to previously defined regions of interest. Inspired by pseudorandom sampling methods for Monte–Carlo-algorithms, we also suggest an entirely new trajectory design, the low-discrepancy spherical trajectory, which extends the concept of equiangular planar trajectories into three dimensions and can be used for benchmarking and comparison with other spherical trajectories. Last, we use an optimization method to calculate task-specific acquisition trajectories and relate their performance to other spherical designs.

First application of the GPU-based software framework TIGRE for proton CT image reconstruction

In proton therapy, the knowledge of the proton stopping power, i.e. the energy deposition per unit length within human tissue, is essential for accurate treatment planning. One suitable method to directly measure the stopping power is proton computed tomography (pCT). Due to the proton interaction mechanisms in matter, pCT image reconstruction faces some challenges: the unique path of each proton has to be considered separately in the reconstruction process adding complexity to the reconstruction problem. This study shows that the GPU-based open-source software toolkit TIGRE, which was initially intended for X-ray CT reconstruction, can be applied to the pCT image reconstruction problem using a straight line approach for the proton path. This simplified approach allows for reconstructions within seconds. To validate the applicability of TIGRE to pCT, several Monte Carlo simulations modeling a pCT setup with two Catphan® modules as phantoms were performed. Ordered-Subset Simultaneous Algebraic Reconstruction Technique (OS-SART) and Adaptive-Steepest-Descent Projection Onto Convex Sets (ASD-POCS) were used for image reconstruction. Since the accuracy of the approach is limited by the straight line approximation of the proton path, requirements for further improvement of TIGRE for pCT are addressed.

Design of a Computed Tomography Automation Architecture

This paper presents a literature review on techniques related to the computed tomography procedure that incorporate automation elements in their research investigations or industrial applications. Computed tomography (CT) is a non-destructive testing (NDT) technique in that the imaging and inspection are performed without damaging the sample, allowing for additional or repeated analysis if necessary. The reviewed literature is organized based on the steps associated with a general NDT task in order to define an end-to-end computed tomography automation architecture. The process steps include activities prior to image collection, during the scan, and after the data are collected. It further reviews efforts related to repeating this process based on a previous scan result. By analyzing the multiple existing but disparate efforts found in the literature, we present a framework for fully automating NDT procedures and discuss the remaining technical gaps in the developed framework.

Toward on-the-fly trajectory optimization for C-arm CBCT under strong kinematic constraints

Cone beam computed tomography (CBCT) has become a vital tool in interventional radiology. Usually, a circular source-detector trajectory is used to acquire a three-dimensional (3D) image. Kinematic constraints due to the patient size or additional medical equipment often cause collisions with the imager while performing a full circular rotation. In a previous study, we developed a framework to design collision-free, patient-specific trajectories for the cases in which circular CBCT is not feasible. Our proposed trajectories included enough information to appropriately reconstruct a particular volume of interest (VOI), but the constraints had to be defined before the intervention. As most collisions are unpredictable, performing an on-the-fly trajectory optimization is desirable. In this study, we propose a search strategy that explores a set of trajectories that cover the whole collision-free area and subsequently performs a search locally in the areas with the highest image quality. Selecting the best trajectories is performed using simulations on a prior diagnostic CT volume which serves as a digital phantom for simulations. In our simulations, the Feature SIMilarity Index (FSIM) is used as the objective function to evaluate the imaging quality provided by different trajectories. We investigated the performance of our methods using three different anatomical targets inside the Alderson-Rando phantom. We used FSIM and Universal Quality Image (UQI) to evaluate the final reconstruction results. Our experiments showed that our proposed trajectories could achieve a comparable image quality in the VOI compared to the standard C-arm circular CBCT. We achieved a relative deviation less than 10% for both FSIM and UQI metrics between the reconstructed images from the optimized trajectories and the standard C-arm CBCT for all three targets. The whole trajectory optimization took approximately three to four minutes.