Directional low-pass filtering for improved accuracy and reproducibility of stenosis quantification in coronary arteriograms

Coronary artery center-line extraction using second order local features

Of interest is the accurate and robust delineation of vessel center-lines for complete arterial tree structure in coronary angiograms which is an imperative step towards 3D reconstruction of coronary tree and feature-based registration of multiple view angiograms. Most existing center-line tracking methods encounter limitations in coping with abrupt variations in local artery direction and sudden changes of lumen diameter that occur in the vicinity of arterial lesions. This paper presents an improved center-line tracing algorithm for automatic extraction of coronary arterial tree based on robust local features. The algorithm employs an improved scanning schema based on eigenvalues of Hessian matrix for reliable identification of true vessel points as well as an adaptive look-ahead distance schema for calculating the magnitude of scanning profile. In addition to a huge variety of clinical examples, a well-established vessel simulation tool was used to create several synthetic angiograms for objective comparison and performance evaluation. The experimental results on the accuracy and robustness of the proposed algorithm and its counterparts under difficult situations such as poor image quality and complicated vessel geometry are presented.

Automated neurite extraction using dynamic programming for high-throughput screening of neuron-based assays

High-throughput screening (HTS) of cell-based assays has recently emerged as an important tool of drug discovery. The analysis and modeling of HTS microscopy neuron images, however, is particularly challenging. In this paper we present a novel algorithm for extraction and quantification of neurite segments from HTS neuron images. The algorithm is designed to be able to detect and link neurites even with complex neuronal structures and of poor imaging quality. Our proposed algorithm automatically detects initial seed points on a set of grid lines and estimates the ending points of the neurite by iteratively tracing the centerline points along the line path representing the neurite segment. The live-wire method is then applied to link the seed points and the corresponding ending points using dynamic programming techniques, thus enabling the extraction of the centerlines of the neurite segments accurately and robustly against noise, discontinuity, and other image artifacts. A fast implementation of our algorithm using dynamic programming is also provided in the paper. Any thin neurite and its segments with low intensity contrast can be well preserved by detecting the starting and ending points of the neurite. All these properties make the proposed algorithm attractive for high-throughput screening of neuron-based assays.

A novel tracing algorithm for high throughput imaging Screening of neuron-based assays

High throughput neuron image processing is an important method for drug screening and quantitative neurobiological studies. The method usually includes detection of neurite structures, feature extraction, quantification, and statistical analysis. In this paper, we present a new algorithm for fast and automatic extraction of neurite structures in microscopy neuron images. The algorithm is based on novel methods for soma segmentation, seed point detection, recursive center-line detection, and 2D curve smoothing. The algorithm is fully automatic without any human interaction, and robust enough for usage on images with poor quality, such as those with low contrast or low signal-to-noise ratio. It is able to completely and accurately extract neurite segments in neuron images with highly complicated neurite structures. Robustness comes from the use of 2D smoothening techniques and the idea of center-line extraction by estimating the surrounding edges. Efficiency is achieved by processing only pixels that are close enough to the line structures, and by carefully chosen stopping conditions. These make the proposed approach suitable for demanding image processing tasks in high throughput screening of neuron-based assays. Detailed results on experimental validation of the proposed method and on its comparative performance with other proposed schemes are included.

Automated image analysis methods for 3-D quantification of the neurovascular unit from multichannel confocal microscope images

BACKGROUND

There is a need for integrative and quantitative methods to investigate the structural and functional relations among elements of complex systems, such as the neurovascular unit (NVU), that involve multiple cell types, microvasculatures, and various genomic/proteomic/ionic functional entities.

METHODS

Vascular casting and selective labeling enabled simultaneous three-dimensional imaging of the microvasculature, cell nuclei, and cytoplasmic stains. Multidimensional segmentation was achieved by (i) bleed-through removal and attenuation correction; (ii) independent segmentation and morphometry for each corrected channel; and (iii) spatially associative feature computation across channels. The combined measurements enabled cell classification based on nuclear morphometry, cytoplasmic signals, and distance from vascular elements. Specific spatial relations among the NVU elements could be quantified.

RESULTS

A software system combining nuclear and vessel segmentation codes and associative features was constructed and validated. Biological variability contributed to misidentified nuclei (9.3%), undersegmentation of nuclei (3.7%), hypersegmentation of nuclei (14%), and missed nuclei (4.7%). Microvessel segmentation errors occurred rarely, mainly due to nonuniform lumen staining.

CONCLUSIONS

Associative features across fluorescence channels, in combination with standard features, enable integrative structural and functional analysis of the NVU. By labeling additional structural and functional entities, this method can be scaled up to larger-scale systems biology studies that integrate spatial and molecular information.

Volumetric flow mapping for microvascular networks by bimodality imaging with light microscope and Laser Doppler imager

A method was developed to produce a composite image of microvascular networks with grayscales proportional to volumetric flows. Velocities in arterioles and venules were assessed with a high-resolution laser Doppler imager (LDI). The vascular structures were quantified from the micrograph with a computerized vessel detection algorithm. After registering the detected vascular network with the LDI scan, volumetric flows were calculated along the centerlines of the vessels. In vivo data were obtained from the hamster cheek pouch in 6 studies. Flow continuity of the flow map was evaluated by comparing the main flow (Q) with the sum of branch flows (Qs), averaging over the respective vessel segments incident to each bifurcation. The method was reproducible across the 6 studies with the correlation coefficient (r) between Qs and Q ranging from 0.913 to 0.986. In all, over 20,000 flow estimates from 360 vessel segments (24-160 microm in diameter) at 166 bifurcations were analyzed. With flow normalized between 0 and 1, the linear regression yielded: Qs = 1.03 Q + 0.006; r = 0.952, n = 166, P < 0.0005. The bimodality imaging method exploits a large amount of velocity and diameter data, and therefore should be useful for studying heterogeneous flows in the microvasculature.

Median-based robust algorithms for tracing neurons from noisy confocal microscope images

This paper presents a method to exploit rank statistics to improve fully automatic tracing of neurons from noisy digital confocal microscope images. Previously proposed exploratory tracing (vectorization) algorithms work by recursively following the neuronal topology, guided by responses of multiple directional correlation kernels. These algorithms were found to fail when the data was of lower quality (noisier, less contrast, weak signal, or more discontinuous structures). This type of data is commonly encountered in the study of neuronal growth on microfabricated surfaces. We show that by partitioning the correlation kernels in the tracing algorithm into multiple subkernels, and using the median of their responses as the guiding criterion improves the tracing precision from 41% to 89% for low-quality data, with a 5% improvement in recall. Improved handling was observed for artifacts such as discontinuities and/or hollowness of structures. The new algorithms require slightly higher amounts of computation, but are still acceptably fast, typically consuming less than 2 seconds on a personal computer (Pentium III, 500 MHz, 128 MB). They produce labeling for all somas present in the field, and a graph-theoretic representation of all dendritic/axonal structures that can be edited. Topological and size measurements such as area, length, and tortuosity are derived readily. The efficiency, accuracy, and fully-automated nature of the proposed method makes it attractive for large-scale applications such as high-throughput assays in the pharmaceutical industry, and study of neuron growth on nano/micro-fabricated structures. A careful quantitative validation of the proposed algorithms is provided against manually derived tracing, using a performance measure that combines the precision and recall metrics.

Topographically modified surfaces affect orientation and growth of hippocampal neurons

Extracellular matrix molecules provide biochemical and topographical cues that influence cell growth in vivo and in vitro. Effects of topographical cues on hippocampal neuron growth were examined after 14 days in vitro. Neurons from hippocampi of rat embryos were grown on poly-L-lysine-coated silicon surfaces containing fields of pillars with varying geometries. Photolithography was used to fabricate 1 microm high pillar arrays with different widths and spacings. Beta(III)-tubulin and MAP-2 immunocytochemistry and scanning electron microscopy were used to describe neuronal processes. Automated two-dimensional tracing software quantified process orientation and length. Process growth on smooth surfaces was random, while growth on pillared surfaces exhibited the most faithful alignment to pillar geometries with smallest gap sizes. Neurite lengths were significantly longer on pillars with the smallest inter-pillar spacings (gaps) and 2 microm pillar widths. These data indicate that physical cues affect neuron growth, suggesting that extracellular matrix topography may contribute to cell growth and differentiation. These results demonstrate new strategies for directing and promoting neuronal growth that will facilitate studies of synapse formation and function and provide methods to establish defined neural networks.

Efficient Migration of Complex Off-Line Computer Vision Software to Real-Time System Implementation on Generic Computer Hardware

This paper addresses the problem of migrating large and complex computer vision code bases that have been developed off-line, into efficient real-time implementations avoiding the need for rewriting the software, and the associated costs. Creative linking strategies based on Linux loadable kernel modules are presented to create a simultaneous realization of real-time and off-line frame rate computer vision systems from a single code base. In this approach, systemic predictability is achieved by inserting time-critical components of a user-level executable directly into the kernel as a virtual device driver. This effectively emulates a single process space model that is nonpreemptable, nonpageable, and that has direct access to a powerful set of system-level services. This overall approach is shown to provide the basis for building a predictable frame-rate vision system using commercial off-the-shelf hardware and a standard uniprocessor Linux operating system. Experiments on a frame-rate vision system designed for computer-assisted laser retinal surgery show that this method reduces the variance of observed per-frame central processing unit cycle counts by two orders of magnitude. The conclusion is that when predictable application algorithms are used, it is possible to efficiently migrate to a predictable frame-rate computer vision system.

Predictive Scheduling Algorithms for Real-Time Feature Extraction and Spatial Referencing: Application to Retinal Image Sequences

Real-time spatial referencing is an important alternative to tracking for designing spatially aware ophthalmic instrumentation for procedures such as laser photocoagulation and perimetry. It requires independent, fast registration of each image frame from a digital video stream (1024 x 1024 pixels) to a spatial map of the retina. Recently, we have introduced a spatial referencing algorithm that works in three primary steps: 1) tracing the retinal vasculature to extract image feature (landmarks); 2) invariant indexing to generate hypothesized landmark correspondences and initial transformations; and 3) alignment and verification steps to robustly estimate a 12-parameter quadratic spatial transformation between the image frame and the map. The goal of this paper is to introduce techniques to minimize the amount of computation for successful spatial referencing. The fundamental driving idea is to make feature extraction subservient to registration and, therefore, only produce the information needed for verified, accurate transformations. To this end, the image is analyzed along one-dimensional, vertical and horizontal grid lines to produce a regular sampling of the vasculature, needed for step 3) and to initiate step 1). Tracing of the vascular is then prioritized hierarchically to quickly extract landmarks and groups (constellations) of landmarks for indexing. Finally, the tracing and spatial referencing computations are integrated so that landmark constellations found by tracing are tested immediately. The resulting implementation is an order-of-magnitude faster with the same success rate. The average total computation time is 31.2 ms per image on a 2.2-GHz Pentium Xeon processor.

Automated detection and delineation of mitochondria in electron micrographs of human skeletal muscles

Morphometric measurements of mitochondria in human skeletal muscles provide useful information relating to tissue oxidative energy production, nutrition, exercise, and aging. Morphometric data such as area, perimeter, long axis, and short axis can be obtained by delineating individual mitochondria in electron micrographs. However, manual counting and delineating of individual mitochondria is a formidable task. The purpose of this study was to develop a fully automated computer algorithm for quantifying mitochondrial morphometry in electron micrographs. The algorithm locates mitochondria with a two-dimensional matched filter and then traces the borders of individual mitochondria. The delineation is accomplished by edge detection along radial lines launched outwards from the center of each mitochondrion. Shape descriptors applied to delineated mitochondria are used to reject likely false-positive selections. The results show that the fully automated algorithm detects mitochondria with a false-positive rate of 2% and a false-negative rate of 36%. The errors are easily and rapidly corrected by user intervention using a second semiautomated delineation algorithm. Morphometric measurements collected with the automated algorithm are equivalent to those obtained manually by human experts. The algorithm significantly improves the speed of image analysis and it also provides copious quantities of high-quality mitochondrial morphometric data.

Automated tracing and change analysis of angiogenic vasculature from in vivo multiphoton confocal image time series

Automated methods are described for tracing and analysis of changes in angiogenic vasculature imaged by a multiphoton laser-scanning confocal microscope. Utilizing chronic animal window models, time series of in vivo 3-D images were acquired on approximately the same target volume of the same specimen while undergoing angiogenic change (typically every 24 h for 7 days). Objective, precise, 3-D, rapid, and fully automated vessel morphometry was performed using an adaptive tracing algorithm that is based on a generalized irregular cylinder model of the vasculature. This algorithm was found to be not only adaptive enough for tracing angiogenic vasculature, but also very efficient in its use of computer memory, and fast, taking less than 1 min to trace a 768 x 512 x 32, 8-bit/pixel 3-D image stack on a Dell Pentium III 1-GHz computer. The automatically traced centerlines were manually validated on six image stacks and the average spatial error was measured to be 2 pixels, with an average concordance of 81% between manual and automated traces on a voxel basis. The tracing output includes geometrical statistics of traced vasculature and serves as the basis of statistical change analysis. The computer methods described here are designed to be scalable to much larger hypothesis testing studies involving quantitative measurements of tumor angiogenesis, gene expression relative to known vascular structures, and impact of drug delivery.

Rapid automated three-dimensional tracing of neurons from confocal image stacks

Algorithms are presented for fully automatic three-dimensional (3-D) tracing of neurons that are imaged by fluorescence confocal microscopy. Unlike previous voxel-based skeletonization methods, the present approach works by recursively following the neuronal topology, using a set of 4 x N2 directional kernels (e.g., N = 32), guided by a generalized 3-D cylinder model. This method extends our prior work on exploratory tracing of retinal vasculature to 3-D space. Since the centerlines are of primary interest, the 3-D extension can be accomplished by four rather than six sets of kernels. Additional modifications, such as dynamic adaptation of the correlation kernels, and adaptive step size estimation, were introduced for achieving robustness to photon noise, varying contrast, and apparent discontinuity and/or hollowness of structures. The end product is a labeling of all somas present, graph-theoretic representations of all dendritic/axonal structures, and image statistics such as soma volume and centroid, soma interconnectivity, the longest branch, and lengths of all graph branches originating from a soma. This method is able to work directly with unprocessed confocal images, without expensive deconvolution or other preprocessing. It is much faster that skeletonization, typically consuming less than a minute to trace a 70-MB image on a 500-MHz computer. These properties make it attractive for large-scale automated tissue studies that require rapid on-line image analysis, such as high-throughput neurobiology/angiogenesis assays, and initiatives such as the Human Brain Project.

Acquisition, segmentation and tracking of the cerebral vascular tree on 3D magnetic resonance angiography images

This paper presents a method for the detection, representation and visualisation of the cerebral vascular tree and its application to magnetic resonance angiography (MRA) images. The detection method is an iterative tracking of the vessel centreline with subvoxel accuracy and precise orientation estimation. This tracking algorithm deals with forks. Centrelines of the vessels are modelled by second-order B-spline. This method is used to obtain a high-level description of the whole vascular network. Applications to real angiographic data are presented. An MRA sequence has been designed, and a global segmentation of the whole vascular tree is realised in three steps. Applications of this work are accurate 3D representation of the vessel centreline and of the vascular tree, and visualisation. The tracking process is also successfully applied to 3D contrast enhanced MR digital subtracted angiography (3D-CE-MRA) of the inferior member vessels. In addition, detection of artery stenosis for routine clinical use is possible due to the high precision of the tracking algorithm.

Three-dimensional adaptive filtering in magnetic resonance angiography

In order to enhance 3D image data from magnetic resonance angiography (MRA), a novel method based on the theory of multidimensional adaptive filtering has been developed. The purpose of the technique is to suppress image noise while enhancing important structures. The method is based on local structure estimation using six 3D orientation selective filters, followed by an adaptive filtering step controlled by the local structure information. The complete filtering procedure requires approximately 3 minutes of computational time on a standard workstation for a 256 x 256 x 64 data set. The method has been evaluated using a mathematical vessel model and in vivo MRA data (both phase contrast and time of flight (TOF)). 3D adaptive filtering results in a better delineation of small blood vessels and efficiently reduces the high-frequency noise. Depending on the data acquisition and the original data type, contrast-to-noise ratio (CNR) improvements of up to 179% (8.9 dB) were observed. 3D adaptive filtering may provide an alternative to prolonging the scan time or using contrast agents in MRA when the CNR is low.

Rapid automated tracing and feature extraction from retinal fundus images using direct exploratory algorithms

Algorithms are presented for rapid, automatic, robust, adaptive, and accurate tracing of retinal vasculature and analysis of intersections and crossovers. This method improves upon prior work in several ways: 1) automatic adaptation from frame to frame without manual initialization/adjustment, with few tunable parameters; 2) robust operation on image sequences exhibiting natural variability, poor and varying imaging conditions, including over/under-exposure, low contrast, and artifacts such as glare; 3) does not require the vasculature to be connected, so it can handle partial views; and 4) operation is efficient enough for use on unspecialized hardware, and amenable to deadline-driven computing, being able to produce a rapidly and monotonically improving sequence of usable partial results. Increased computation can be traded for superior tracing performance. Its efficiency comes from direct processing on gray-level data without any preprocessing, and from processing only a minimally necessary fraction of pixels in an exploratory manner, avoiding low-level image-wide operations such as thresholding, edge detection, and morphological processing. These properties make the algorithm suited to real-time, on-line (live) processing and is being applied to computer-assisted laser retinal surgery.

A fuzzy vessel tracking algorithm for retinal images based on fuzzy clustering

In this paper we present a new unsupervised fuzzy algorithm for vessel tracking that is applied to the detection of the ocular fundus vessels. The proposed method overcomes the problems of initialization and vessel profile modeling that are encountered in the literature and automatically tracks fundus vessels using linguistic descriptions like "vessel" and "nonvessel." The main tool for determining vessel and nonvessel regions along a vessel profile is the fuzzy C-means clustering algorithm that is fed with properly preprocessed data. Additional procedures for checking the validity of the detected vessels and handling junctions and forks are also presented. The application of the proposed algorithm to fundus images and simulated vessels resulted in very good overall performance and consistent estimation of vessel parameters.