Registration of real-time 3-D ultrasound images of the heart for novel 3-D stress echocardiography

M3VR-A multi-stage, multi-resolution, and multi-volumes-of-interest volume registration method applied to 3D endovaginal ultrasound

Heterogeneity of echo-texture and lack of sharply delineated tissue boundaries in diagnostic ultrasound images make three-dimensional (3D) registration challenging, especially when the volumes to be registered are considerably different due to local changes. We implemented a novel computational method that optimally registers volumetric ultrasound image data containing significant and local anatomical differences. It is A Multi-stage, Multi-resolution, and Multi-volumes-of-interest Volume Registration Method. A single region registration is optimized first for a close initial alignment to avoid convergence to a locally optimal solution. Multiple sub-volumes of interest can then be selected as target alignment regions to achieve confident consistency across the volume. Finally, a multi-resolution rigid registration is performed on these sub-volumes associated with different weights in the cost function. We applied the method on 3D endovaginal ultrasound image data acquired from patients during biopsy procedure of the pelvic floor muscle. Systematic assessment of our proposed method through cross validation demonstrated its accuracy and robustness. The algorithm can also be applied on medical imaging data of other modalities for which the traditional rigid registration methods would fail.

Synchronization and Registration of Cine Magnetic Resonance and Dynamic Computed Tomography Images of the Heart

The synchronization and registration of dynamic computed tomography (CT) and magnetic resonance images (MRI) of the heart is required to perform a combined analysis of their complementary information. We propose a novel method that synchronizes and registers intrapatient dynamic CT and cine-MRI short axis view (SAX). For the synchronization step, a normalized cross-correlation curve is computed from each image sequence to describe the global cardiac dynamics. The time axes of these curves are then warped using an adapted dynamic time warping (DTW) procedure. The adaptation constrains the time deformation to obtain a coherent warping function. The registration step then computes the rigid transformation that maximizes the multiimage normalized mutual information of DTW-synchronized images. The DTW synchronization and the multiimage registration were evaluated using dynamic CT and cine-SAX acquisitions from nine patients undergoing cardiac resynchronization therapy. The distance between the end-systolic phases after DTW was used to evaluate the synchronization. Mean errors, expressed as a percentage of the RR-intervals, were 3.9% and 3.7% after adapted DTW synchronization against 10.8% and 11.3% after linear synchronization, for dynamic CT and cine-SAX, respectively. This suggests that the adapted DTW synchronization leads to a coherent warping of cardiac dynamics. The multiimage registration was evaluated using fiducial points. Compared to a monoimage and a two-image registration, the multiimage registration of DTW-synchronized images obtained the lowest mean fiducial error showing that the use of dynamic voxel intensity information improves the registration.

Multiframe registration of real-time three-dimensional echocardiography time series

Mosaicing of real-time three-dimensional echocardiography (RT3-DE) images aims at extending the field-of-view of overlapping images. Currently available methods discard most of the temporal information available in the time series. We investigate the added value of simultaneous registration of multiple temporal frames using common similarity metrics. We combine RT3-DE images of the left and right ventricles by registration and fusion. The standard approach of registering single frames, either end-diastolic (ED) or end-systolic (ES), is compared with simultaneous registration of multiple time frames, to evaluate the effect of using the information from all images in the metric. A transformation estimating the protocol-specific misalignment is used to initialize the registration. It is shown that multiframe registration can be as accurate as alignment of the images based on manual annotations. Multiframe registration using normalized cross-correlation outperforms any of the single-frame methods. As opposed to expectations, extending the multiframe registration beyond simultaneous use of ED and ES frames does not further improve registration results.

Medical image registration: a review

This paper presents a review of automated image registration methodologies that have been used in the medical field. The aim of this paper is to be an introduction to the field, provide knowledge on the work that has been developed and to be a suitable reference for those who are looking for registration methods for a specific application. The registration methodologies under review are classified into intensity or feature based. The main steps of these methodologies, the common geometric transformations, the similarity measures and accuracy assessment techniques are introduced and described.

Real-time image-based rigid registration of three-dimensional ultrasound

Registration of three-dimensional ultrasound (3DUS) volumes is necessary in several applications, such as when stitching volumes to expand the field of view or when stabilizing a temporal sequence of volumes to cancel out motion of the probe or anatomy. Current systems that register 3DUS volumes either use external tracking systems (electromagnetic or optical), which add expense and impose limitations on acquisitions, or are image-based methods that operate offline and are incapable of providing immediate feedback to clinicians. This paper presents a real-time image-based algorithm for rigid registration of 3DUS volumes designed for acquisitions in which small probe displacements occur between frames. Described is a method for feature detection and descriptor formation that takes into account the characteristics of 3DUS imaging. Volumes are registered by determining a correspondence between these features. A global set of features is maintained and integrated into the registration, which limits the accumulation of registration error. The system operates in real-time (i.e. volumes are registered as fast or faster than they are acquired) by using an accelerated framework on a graphics processing unit. The algorithm's parameter selection and performance is analyzed and validated in studies which use both water tank and clinical images. The resulting registration accuracy is comparable to similar feature-based registration methods, but in contrast to these methods, can register 3DUS volumes in real-time.

A 3D freehand ultrasound system for multi-view reconstructions from sparse 2D scanning planes

Background

A significant limitation of existing 3D ultrasound systems comes from the fact that the majority of them work with fixed acquisition geometries. As a result, the users have very limited control over the geometry of the 2D scanning planes.

Methods

We present a low-cost and flexible ultrasound imaging system that integrates several image processing components to allow for 3D reconstructions from limited numbers of 2D image planes and multiple acoustic views. Our approach is based on a 3D freehand ultrasound system that allows users to control the 2D acquisition imaging using conventional 2D probes.

For reliable performance, we develop new methods for image segmentation and robust multi-view registration. We first present a new hybrid geometric level-set approach that provides reliable segmentation performance with relatively simple initializations and minimum edge leakage. Optimization of the segmentation model parameters and its effect on performance is carefully discussed. Second, using the segmented images, a new coarse to fine automatic multi-view registration method is introduced. The approach uses a 3D Hotelling transform to initialize an optimization search. Then, the fine scale feature-based registration is performed using a robust, non-linear least squares algorithm. The robustness of the multi-view registration system allows for accurate 3D reconstructions from sparse 2D image planes.

Results

Volume measurements from multi-view 3D reconstructions are found to be consistently and significantly more accurate than measurements from single view reconstructions. The volume error of multi-view reconstruction is measured to be less than 5% of the true volume. We show that volume reconstruction accuracy is a function of the total number of 2D image planes and the number of views for calibrated phantom. In clinical in-vivo cardiac experiments, we show that volume estimates of the left ventricle from multi-view reconstructions are found to be in better agreement with clinical measures than measures from single view reconstructions.

Conclusions

Multi-view 3D reconstruction from sparse 2D freehand B-mode images leads to more accurate volume quantification compared to single view systems. The flexibility and low-cost of the proposed system allow for fine control of the image acquisition planes for optimal 3D reconstructions from multiple views.

Rapid image stitching and computer-aided detection for multipass automated breast ultrasound

PURPOSE

Breast ultrasound (US) is recently becoming more and more popular for detecting breast lesions. However, screening results in hundreds of US images for each subject. This magnitude of images can lead to fatigue in radiologist, causing failure in the detection of lesions of a subtle nature. In this study, an image stitching technique is proposed for combining multipass images of the whole breast into a series of full-view images, and a fully automatic screening system that works off these images is also presented.

METHODS

Using the registration technique based on the simple sum of absolute block-mean difference (SBMD) measure, three-pass images were merged into full-view US images. An automatic screening system was then developed for detecting tumors from these full-view images. The preprocessing step was used to reduce the tumor detection time of the system and to improve image quality. The gray-level slicing method was then used to divide images into numerous regions. Finally, seven computerized features--darkness, uniformity, width-height ratio, area size, nonpersistence, coronal area size, and region continuity--were defined and used to determine whether or not each region was a part of a tumor.

RESULTS

In the experiment, there was a total of 25 experimental cases with 26 lesions, and each case was composed of 252 images (three passes, 84 images/pass). The processing time of the proposed stitching procedure for each case was within 30 s with a Pentium IV 2.0 processor, and the detection sensitivity of the proposed CAD system was 92.3% with 1.76 false positives per case.

CONCLUSIONS

The proposed automatic screening system can be applied to the whole breast images stitched together via SBMD-based registration in order to detect tumors.

Initial experience using contrast enhanced real-time three-dimensional exercise stress echocardiography in a low-risk population

Although emerging data support the utility of real-time three-dimensional echocardiography (RT3DE) during dobutamine stress testing, the feasibility of performing contrast enhanced RT3DE during exercise treadmill stress has not been explored. Two-dimensional (2D) and three-dimensional (3D) acquisition were performed in 39 patients at rest and peak exercise. Contrast was used in 29 patients (74%). Reconstruction was performed manually by generating short axis cut planes at the base, mid-ventricle and apex, and automatically by generating 9 short axis slices. Three-dimensional acquisition was feasible during rest and stress regardless of the use of contrast. Time to acquire stress images was reduced using 3D (35.2±17.9 s) as compared to 2D acquisition (51.6±14.7 s; P<0.05). Using a 17-segment model, of all 663 segments, 588 resting (88.6%) and 563 stress segments (84.9%) were adequately visualized using manually reconstructed 3D data, compared with 618 resting (93.2%) and 606 stress segments (91.4%) using 2D data (P rest=0.06; P stress=0.07). We concluded that contrast enhanced RT3DE is feasible during treadmill stress echocardiography.

Rapid dynamic image registration of the beating heart for diagnosis and surgical navigation

Dynamic cardiac magnetic resonance imaging (MR) and computed tomography (CT) provide cardiologists and cardiac surgeons with high-quality 4-D images for diagnosis and therapy, yet the effective use of these high-quality anatomical models remains a challenge. Ultrasound (US) is a flexible imaging tool, but the US images produced are often difficult to interpret unless they are placed within their proper 3-D anatomical context. The ability to correlate real-time 3-D US volumes (RT3D US) with dynamic MR/CT images would offer a significant contribution to improve the quality of cardiac procedures. In this paper, we present a rapid two-step method for registering RT3D US to high-quality dynamic 3-D MR/CT images of the beating heart. This technique overcomes some major limitations of image registration (such as the correct registration result not necessarily occurring at the maximum of the mutual information (MI) metric) using the MI metric. We demonstrate the effectiveness of our method in a dynamic heart phantom (DHP) study and a human subject study. The achieved mean target registration error of CT+US images in the phantom study is 2.59 mm. Validation using human MR/US volumes shows a target registration error of 1.76 mm. We anticipate that this technique will substantially improve the quality of cardiac diagnosis and therapies.

A real-time intrasubject elastic registration algorithm for dynamic 2-D ultrasound images

A new dynamic registration technique is designed to elastically align a sequence of 2-D ultrasound (US) images. The proposed algorithm tracks features over an image sequence in real-time, as opposed to our previous technique which registers images without utilizing prior information. The registration results were evaluated using a customized validation framework for elastic US registration algorithms. Experiments were performed on 600 simulated images as well as 20 image sequences obtained from 10 volunteer subjects, each sequence containing 50 images. Strategies for qualitative and quantitative evaluation consisted of visual assessment, feature overlap, similarity measures, and simulation experiments. The registration method has comparable performance to our previous registration technique; however, has the advantage of lower computational requirements and hence, is potentially more suitable for clinical applications. Rigorous performance evaluations attest to the fast speed of registration at an average of 5.5 frames per second on a conventional computing platform.

Sparse registration for three-dimensional stress echocardiography

Three-dimensional (3-D) stress echocardiography is a novel technique for diagnosing cardiac dysfunction. It involves evaluating wall motion of the left ventricle, by visually analyzing ultrasound images obtained in rest and in different stages of stress. Since the acquisitions are performed minutes apart, variabilities may exist in the visualized cross-sections. To improve anatomical correspondence between rest and stress, aligning the images is essential. We developed a new intensity-based, sparse registration method to retrieve standard anatomical views from 3-D stress images that were equivalent to the manually selected views in the rest images. Using sparse image planes, the influence of common image artifacts could be reduced. We investigated different similarity measures and different levels of sparsity. The registration was tested using data of 20 patients and quantitatively evaluated based on manually defined anatomical landmarks. Alignment was best using sparse registration with two long-axis and two short-axis views; registration errors were reduced significantly, to the range of interobserver variabilities. In 91% of the cases, the registration result was qualitatively assessed as better than or equal to the manual alignment. In conclusion, sparse registration improves the alignment of rest and stress images, with a performance similar to manual alignment. This is an important step towards objective quantification in 3-D stress echocardiography.

Cardiac Image Registration

Long procedure time and somewhat suboptimal results hinder the widespread use of catheter ablation of complex arrhythmias such as atrial fibrillation (AF). Due to lack of contrast differentiation between the area of interest and surrounding structures in a moving organ like heart, there is a lack of proper intraprocedural guidance using current imaging techniques for ablation. Cardiac image registration is currently under investigation and is in clinical use for AF ablation. Cardiac image registration, which involves integration of two images in the context of the left atrium (LA), is intermodal, with the acquired image and the real-time reference image residing in different image spaces, and involves optimization, where one image space is transformed into the other. Unlike rigid body registration, cardiac image registration is unique and challenging due to cardiac motion during the cardiac cycle and due to respiration. This review addresses the basic principles of the emerging technique of registration and the inherent limitations as they relate to cardiac imaging and registration.

Registration of multiview real-time 3-D echocardiographic sequences

Real-time 3-D echocardiography opens up the possibility of interactive, fast 3-D analysis of cardiac anatomy and function. However, at the present time its quantitative power cannot be fully exploited due to the limited quality of the images. In this paper, we present an algorithm to register apical and parasternal echocardiographic datasets that uses a new similarity measure, based on local orientation and phase differences. By using phase and orientation to guide registration, the effect of artifacts intrinsic to ultrasound images is minimized. The presented method is fully automatic except for initialization. The accuracy of the method was validated qualitatively, resulting in 85% of the cardiac segments estimated having a registration error smaller than 2 mm, and no segments with an error larger than 5 mm. Robustness with respect to landmark initialization was validated quantitatively, with average errors smaller than 0.2 mm and 0.5 degrees for initialization landmarks rotations of up to 15 degrees and translations of up to 10 mm.

Left ventricular deformation recovery from cine MRI using an incompressible model

This paper presents a method for 3-D deformation recovery of the left ventricular (LV) wall from anatomical cine magnetic resonance imaging (MRI). The method is based on a deformable model that is incompressible, a desired property since the myocardium has been shown to be nearly incompressible. The LV wall needs to be segmented in an initial frame after which the method automatically determines the deformation everywhere in the LV wall throughout the cardiac cycle. Two studies were conducted to validate the method. In the first study, the deformation recovered from a 3-D anatomical cine MRI of a healthy volunteer was compared against the manual segmentation of the LV wall and against the corresponding 3-D tagged cine MRI. The average volume agreement between the model and the manual segmentation had a false positive rate of 3%, false negative rate of 3%, and true positive rate of 93%. The average distance between the model and manually determined intersections of perpendicular tag planes was 1.6 mm (1.1 pixel). Another set of 3-D anatomical and tagged MRI scans was taken of the same volunteer four months later. The method was applied to the second set and the recovered deformation was very similar to the one obtained from the first set. In the second study, the method was applied to 3-D anatomical cine MRI scans of three patients with ventricular dyssynchrony and three age-matched healthy volunteers. The LV wall deformations recovered for the three normals agreed well and the recovered strains were similar to those reported by other researchers for normal subjects. Strains and displacements of the three patients were clearly smaller than those of the three normals indicating reduced cardiac function. The deformation recovered for the three normals and the three patients was validated against manual segmentation and corresponding tag cine MRI scans and the agreement was similar to that of the first validation study.

Quantitative Real-time 3-Dimensional Stress Echocardiography: A Preliminary Investigation of Feasibility and Effectiveness

BACKGROUND

Use of rapidly emerging real-time 3-dimensional (3D) echocardiography promises to improve the diagnostic accuracy of stress echocardiography (SE). However, widespread acceptance of 3D-SE, based on real-time 3D echocardiography, is hampered in part by lack of efficient, accurate, and objective analysis tools.

METHODS

We propose novel algorithms for interactive visualization, registration (alignment), and quantitative analysis of prestress and poststress real-time 3D echocardiography to facilitate an objective diagnosis. In a preliminary evaluation, two experts independently performed wall-motion analysis in 15 patients with known/suspected coronary artery disease, using the novel quantitative 3D-SE methods.

RESULTS

Compared with previously reported values for conventional 2-dimensional SE, improved interexpert agreement (kappa = 0.85) was observed for segment-wise classification of normal/abnormal wall motion using the novel 3D-SE methods. Overall, 6 of 6 patients with abnormal myocardial segments were correctly identified by both experts with 3D-SE, compared with 4 of 6 with conventional 2-dimensional SE.

CONCLUSION

Initial results are promising and indicate the feasibility and potential of our proposed quantitative 3D-SE methodologies for improving diagnosis of wall-motion abnormalities.

2-D ultrasound strain images for breast cancer diagnosis using nonrigid subregion registration

Tissue elasticity of a lesion is a useful criterion for the diagnosis of breast ultrasound (US). Elastograms are created by comparing ultrasonic radio-frequency waveforms before and after a light-tissue compression. In this study, we evaluate the accuracy of continuous US strain image in the classification of benign from malignant breast tumors. A series of B-mode US images is applied and each case involves 60 continuous images obtained by using the steady artificial pressure of the US probe. In general, after compression by the US probe, a soft benign tumor will become flatter than a stiffened malignant tumor. We proposed a computer-aided diagnostic (CAD) system by utilizing the nonrigid image registration modality on the analysis of tumor deformation. Furthermore, we used some image preprocessing methods, which included the level set segmentation, to improve the performance. One-hundred pathology-proven cases, including 60 benign breast tumors and 40 malignant tumors, were used in the experiments to test the classification accuracy of the proposed method. Four characteristic values--normalized slope of metric value (NSM), normalized area difference (NAD), normalized standard deviation (NSD) and normalized center translation (NCT)--were computed for all cases. By using the support vector machine, the accuracy, sensitivity, specificity and positive and negative predictive values of the classification of continuous US strain images were satisfactory. The A(z) value of the support vector machine based on the four characteristic values used for the classification of solid breast tumors was 0.9358.

Elastic registration of 3D ultrasound images

3D registration of ultrasound images is an important and fast-growing research area with various medical applications, such as image-guided radiotherapy and surgery. However, this registration process is extremely challenging due to the deformation of soft tissue and the existence of speckles in these images. This paper presents a novel intra-modality elastic registration technique for 3D ultrasound images. It uses the general concept of attribute vectors to find the corresponding voxels in the fixed and moving images. The method does not require any pre-segmentation and does not employ any numerical optimization procedure. Therefore, the computational requirements are very low and it has the potential to be used for real-time applications. The technique is implemented and tested for 3D ultrasound images of liver, captured by a 3D ultrasound transducer. The results show that the method is sufficiently accurate and robust and does not easily get trapped with local minima.