Targeted prostate biopsy using statistical image analysis

A statistical, voxelised model of prostate cancer for biologically optimised radiotherapy

Background and purpose

Radiation therapy (RT) is commonly indicated for treatment of prostate cancer (PC). Biologicallyoptimised RT for PC may improve disease-free survival. This requires accurate spatial localisation and characterisation of tumour lesions. We aimed to generate a statistical, voxelised biological model to complement in vivomultiparametric MRI data to facilitate biologically-optimised RT.

Material and methods

Ex vivo prostate MRI and histopathological imaging were acquired for 63 PC patients. These data were co-registered to derive three-dimensional distributions of graded tumour lesions and cell density. Novel registration processes were used to map these data to a common reference geometry. Voxelised statistical models of tumour probability and cell density were generated to create the PC biological atlas. Cell density models were analysed using the Kullback-Leibler divergence to compare normal vs. lognormal approximations to empirical data.

Results

A reference geometry was constructed using ex vivo MRI space, patient data were deformably registered using a novel anatomy-guided process. Substructure correspondence was maintained using peripheral zone definitions to address spatial variability in prostate anatomy between patients. Three distinct approaches to interpolation were designed to map contours, tumour annotations and cell density maps from histology into ex vivo MRI space. Analysis suggests a log-normal model provides a more consistent representation of cell density when compared to a linear-normal model.

Conclusion

A biological model has been created that combines spatial distributions of tumour characteristics from a population into three-dimensional, voxelised, statistical models. This tool will be used to aid the development of biologically-optimised RT for PC patients.

Radiomics and radiogenomics of prostate cancer

Radiomics and radiogenomics are attractive research topics in prostate cancer. Radiomics mainly focuses on extraction of quantitative information from medical imaging, whereas radiogenomics aims to correlate these imaging features to genomic data. The purpose of this review is to provide a brief overview summarizing recent progress in the application of radiomics-based approaches in prostate cancer and to discuss the potential role of radiogenomics in prostate cancer.

Building a high-resolution T2-weighted MR-based probabilistic model of tumor occurrence in the prostate

PURPOSE

We present a method for generating a T2 MR-based probabilistic model of tumor occurrence in the prostate to guide the selection of anatomical sites for targeted biopsies and serve as a diagnostic tool to aid radiological evaluation of prostate cancer.

MATERIALS AND METHODS

In our study, the prostate and any radiological findings within were segmented retrospectively on 3D T2-weighted MR images of 266 subjects who underwent radical prostatectomy. Subsequent histopathological analysis determined both the ground truth and the Gleason grade of the tumors. A randomly chosen subset of 19 subjects was used to generate a multi-subject-derived prostate template. Subsequently, a cascading registration algorithm involving both affine and non-rigid B-spline transforms was used to register the prostate of every subject to the template. Corresponding transformation of radiological findings yielded a population-based probabilistic model of tumor occurrence. The quality of our probabilistic model building approach was statistically evaluated by measuring the proportion of correct placements of tumors in the prostate template, i.e., the number of tumors that maintained their anatomical location within the prostate after their transformation into the prostate template space.

RESULTS

Probabilistic model built with tumors deemed clinically significant demonstrated a heterogeneous distribution of tumors, with higher likelihood of tumor occurrence at the mid-gland anterior transition zone and the base-to-mid-gland posterior peripheral zones. Of 250 MR lesions analyzed, 248 maintained their original anatomical location with respect to the prostate zones after transformation to the prostate.

CONCLUSION

We present a robust method for generating a probabilistic model of tumor occurrence in the prostate that could aid clinical decision making, such as selection of anatomical sites for MR-guided prostate biopsies.

Accurate Segmentation of CT Male Pelvic Organs via Regression-Based Deformable Models and Multi-Task Random Forests

Segmenting male pelvic organs from CT images is a prerequisite for prostate cancer radiotherapy. The efficacy of radiation treatment highly depends on segmentation accuracy. However, accurate segmentation of male pelvic organs is challenging due to low tissue contrast of CT images, as well as large variations of shape and appearance of the pelvic organs. Among existing segmentation methods, deformable models are the most popular, as shape prior can be easily incorporated to regularize the segmentation. Nonetheless, the sensitivity to initialization often limits their performance, especially for segmenting organs with large shape variations. In this paper, we propose a novel approach to guide deformable models, thus making them robust against arbitrary initializations. Specifically, we learn a displacement regressor, which predicts 3D displacement from any image voxel to the target organ boundary based on the local patch appearance. This regressor provides a non-local external force for each vertex of deformable model, thus overcoming the initialization problem suffered by the traditional deformable models. To learn a reliable displacement regressor, two strategies are particularly proposed. 1) A multi-task random forest is proposed to learn the displacement regressor jointly with the organ classifier; 2) an auto-context model is used to iteratively enforce structural information during voxel-wise prediction. Extensive experiments on 313 planning CT scans of 313 patients show that our method achieves better results than alternative classification or regression based methods, and also several other existing methods in CT pelvic organ segmentation.

A Learning-Based CT Prostate Segmentation Method via Joint Transductive Feature Selection and Regression

In1 recent years, there has been a great interest in prostate segmentation, which is a important and challenging task for CT image guided radiotherapy. In this paper, a learning-based segmentation method via joint transductive feature selection and transductive regression is presented, which incorporates the physician's simple manual specification (only taking a few seconds), to aid accurate segmentation, especially for the case with large irregular prostate motion. More specifically, for the current treatment image, experienced physician is first allowed to manually assign the labels for a small subset of prostate and non-prostate voxels, especially in the first and last slices of the prostate regions. Then, the proposed method follows the two step: in prostate-likelihood estimation step, two novel algorithms: tLasso and wLapRLS, will be sequentially employed for transductive feature selection and transductive regression, respectively, aiming to generate the prostate-likelihood map. In multi-atlases based label fusion step, the final segmentation result will be obtained according to the corresponding prostate-likelihood map and the previous images of the same patient. The proposed method has been substantially evaluated on a real prostate CT dataset including 24 patients with 330 CT images, and compared with several state-of-the-art methods. Experimental results show that the proposed method outperforms the state-of-the-arts in terms of higher Dice ratio, higher true positive fraction, and lower centroid distances. Also, the results demonstrate that simple manual specification can help improve the segmentation performance, which is clinically feasible in real practice.

Analysis of topographical distribution of prostate cancer and related pathological findings in prostatectomy specimens using cMDX document architecture

INTRODUCTION

Understanding the topographical distribution of prostate cancer (PCa) foci is necessary to optimize the biopsy strategy. This study was done to develop a technical approach that facilitates the analysis of the topographical distribution of PCa foci and related pathological findings (i.e., Gleason score and foci dimensions) in prostatectomy specimens.

MATERIAL & METHODS

The topographical distribution of PCa foci and related pathologic evaluations were documented using the cMDX documentation system. The project was performed in three steps. First, we analyzed the document architecture of cMDX, including textual and graphical information. Second, we developed a data model supporting the topographic analysis of PCa foci and related pathologic parameters. Finally, we retrospectively evaluated the analysis model in 168 consecutive prostatectomy specimens of men diagnosed with PCa who underwent total prostate removal. The distribution of PCa foci were analyzed and visualized in a heat map. The color depth of the heat map was reduced to 6 colors representing the PCa foci frequencies, using an image posterization effect. We randomly defined 9 regions in which the frequency of PCa foci and related pathologic findings were estimated.

RESULTS

Evaluation of the spatial distribution of tumor foci according to Gleason score was enabled by using a filter function for the score, as defined by the user. PCa foci with Gleason score (Gls) 6 were identified in 67.3% of the patients, of which 55 (48.2%) also had PCa foci with Gls between 7 and 10. Of 1173 PCa foci, 557 had Gls 6, whereas 616 PCa foci had Gls>6. PCa foci with Gls 6 were mostly concentrated in the posterior part of the peripheral zone of the prostate, whereas PCa foci with Gls>6 extended toward the basal and anterior parts of the prostate. The mean size of PCa foci with Gls 6 was significantly lower than that of PCa with Gls>6 (P<0.0001).

CONCLUSION

The cMDX-based technical approach facilitates analysis of the topographical distribution of PCa foci and related pathologic findings in prostatectomy specimens.

Semi-automatic segmentation of prostate in CT images via coupled feature representation and spatial-constrained transductive lasso

Conventional learning-based methods for segmenting prostate in CT images ignore the relations among the low-level features by assuming all these features are independent. Also, their feature selection steps usually neglect the image appearance changes in different local regions of CT images. To this end, we present a novel semi-automatic learning-based prostate segmentation method in this article. For segmenting the prostate in a certain treatment image, the radiation oncologist will be first asked to take a few seconds to manually specify the first and last slices of the prostate. Then, prostate is segmented with the following two steps: (i) Estimation of 3D prostate-likelihood map to predict the likelihood of each voxel being prostate by employing the coupled feature representation, and the proposed Spatial-COnstrained Transductive LassO (SCOTO); (ii) Multi-atlases based label fusion to generate the final segmentation result by using the prostate shape information obtained from both planning and previous treatment images. The major contribution of the proposed method mainly includes: (i) incorporating radiation oncologist's manual specification to aid segmentation, (ii) adopting coupled features to relax previous assumption of feature independency for voxel representation, and (iii) developing SCOTO for joint feature selection across different local regions. The experimental result shows that the proposed method outperforms the state-of-the-art methods in a real-world prostate CT dataset, consisting of 24 patients with totally 330 images, all of which were manually delineated by the radiation oncologist for performance evaluation. Moreover, our method is also clinically feasible, since the segmentation performance can be improved by just requiring the radiation oncologist to spend only a few seconds for manual specification of ending slices in the current treatment CT image.

Locally-constrained boundary regression for segmentation of prostate and rectum in the planning CT images

Automatic and accurate segmentation of the prostate and rectum in planning CT images is a challenging task due to low image contrast, unpredictable organ (relative) position, and uncertain existence of bowel gas across different patients. Recently, regression forest was adopted for organ deformable segmentation on 2D medical images by training one landmark detector for each point on the shape model. However, it seems impractical for regression forest to guide 3D deformable segmentation as a landmark detector, due to large number of vertices in the 3D shape model as well as the difficulty in building accurate 3D vertex correspondence for each landmark detector. In this paper, we propose a novel boundary detection method by exploiting the power of regression forest for prostate and rectum segmentation. The contributions of this paper are as follows: (1) we introduce regression forest as a local boundary regressor to vote the entire boundary of a target organ, which avoids training a large number of landmark detectors and building an accurate 3D vertex correspondence for each landmark detector; (2) an auto-context model is integrated with regression forest to improve the accuracy of the boundary regression; (3) we further combine a deformable segmentation method with the proposed local boundary regressor for the final organ segmentation by integrating organ shape priors. Our method is evaluated on a planning CT image dataset with 70 images from 70 different patients. The experimental results show that our proposed boundary regression method outperforms the conventional boundary classification method in guiding the deformable model for prostate and rectum segmentations. Compared with other state-of-the-art methods, our method also shows a competitive performance.

Interactive prostate segmentation using atlas-guided semi-supervised learning and adaptive feature selection

PURPOSE

Accurate prostate segmentation is necessary for maximizing the effectiveness of radiation therapy of prostate cancer. However, manual segmentation from 3D CT images is very time-consuming and often causes large intra- and interobserver variations across clinicians. Many segmentation methods have been proposed to automate this labor-intensive process, but tedious manual editing is still required due to the limited performance. In this paper, the authors propose a new interactive segmentation method that can (1) flexibly generate the editing result with a few scribbles or dots provided by a clinician, (2) fast deliver intermediate results to the clinician, and (3) sequentially correct the segmentations from any type of automatic or interactive segmentation methods.

METHODS

The authors formulate the editing problem as a semisupervised learning problem which can utilize a priori knowledge of training data and also the valuable information from user interactions. Specifically, from a region of interest near the given user interactions, the appropriate training labels, which are well matched with the user interactions, can be locally searched from a training set. With voting from the selected training labels, both confident prostate and background voxels, as well as unconfident voxels can be estimated. To reflect informative relationship between voxels, location-adaptive features are selected from the confident voxels by using regression forest and Fisher separation criterion. Then, the manifold configuration computed in the derived feature space is enforced into the semisupervised learning algorithm. The labels of unconfident voxels are then predicted by regularizing semisupervised learning algorithm.

RESULTS

The proposed interactive segmentation method was applied to correct automatic segmentation results of 30 challenging CT images. The correction was conducted three times with different user interactions performed at different time periods, in order to evaluate both the efficiency and the robustness. The automatic segmentation results with the original average Dice similarity coefficient of 0.78 were improved to 0.865-0.872 after conducting 55-59 interactions by using the proposed method, where each editing procedure took less than 3 s. In addition, the proposed method obtained the most consistent editing results with respect to different user interactions, compared to other methods.

CONCLUSIONS

The proposed method obtains robust editing results with few interactions for various wrong segmentation cases, by selecting the location-adaptive features and further imposing the manifold regularization. The authors expect the proposed method to largely reduce the laborious burdens of manual editing, as well as both the intra- and interobserver variability across clinicians.

Robust Prostate Segmentation Using Intrinsic Properties of TRUS Images

Accurate segmentation is usually crucial in transrectal ultrasound (TRUS) image based prostate diagnosis; however, it is always hampered by heavy speckles. Contrary to the traditional view that speckles are adverse to segmentation, we exploit intrinsic properties induced by speckles to facilitate the task, based on the observations that sizes and orientations of speckles provide salient cues to determine the prostate boundary. Since the speckle orientation changes in accordance with a statistical prior rule, rotation-invariant texture feature is extracted along the orientations revealed by the rule. To address the problem of feature changes due to different speckle sizes, TRUS images are split into several arc-like strips. In each strip, every individual feature vector is sparsely represented, and representation residuals are obtained. The residuals, along with the spatial coherence inherited from biological tissues, are combined to segment the prostate preliminarily via graph cuts. After that, the segmentation is fine-tuned by a novel level sets model, which integrates (1) the prostate shape prior, (2) dark-to-light intensity transition near the prostate boundary, and (3) the texture feature just obtained. The proposed method is validated on two 2-D image datasets obtained from two different sonographic imaging systems, with the mean absolute distance on the mid gland images only 1.06±0.53 mm and 1.25±0.77 mm, respectively. The method is also extended to segment apex and base images, producing competitive results over the state of the art.

Prostatome: a combined anatomical and disease based MRI atlas of the prostate

PURPOSE

In this work, the authors introduce a novel framework, the anatomically constrained registration (AnCoR) scheme and apply it to create a fused anatomic-disease atlas of the prostate which the authors refer to as the prostatome. The prostatome combines a MRI based anatomic and a histology based disease atlas. Statistical imaging atlases allow for the integration of information across multiple scales and imaging modalities into a single canonical representation, in turn enabling a fused anatomical-disease representation which may facilitate the characterization of disease appearance relative to anatomic structures. While statistical atlases have been extensively developed and studied for the brain, approaches that have attempted to combine pathology and imaging data for study of prostate pathology are not extant. This works seeks to address this gap.

METHODS

The AnCoR framework optimizes a scoring function composed of two surface (prostate and central gland) misalignment measures and one intensity-based similarity term. This ensures the correct mapping of anatomic regions into the atlas, even when regional MRI intensities are inconsistent or highly variable between subjects. The framework allows for creation of an anatomic imaging and a disease atlas, while enabling their fusion into the anatomic imaging-disease atlas. The atlas presented here was constructed using 83 subjects with biopsy confirmed cancer who had pre-operative MRI (collected at two institutions) followed by radical prostatectomy. The imaging atlas results from mapping thein vivo MRI into the canonical space, while the anatomic regions serve as domain constraints. Elastic co-registration MRI and corresponding ex vivo histology provides "ground truth" mapping of cancer extent on in vivo imaging for 23 subjects.

RESULTS

AnCoR was evaluated relative to alternative construction strategies that use either MRI intensities or the prostate surface alone for registration. The AnCoR framework yielded a central gland Dice similarity coefficient (DSC) of 90%, and prostate DSC of 88%, while the misalignment of the urethra and verumontanum was found to be 3.45 mm, and 4.73 mm, respectively, which were measured to be significantly smaller compared to the alternative strategies. As might have been anticipated from our limited cohort of biopsy confirmed cancers, the disease atlas showed that most of the tumor extent was limited to the peripheral zone. Moreover, central gland tumors were typically larger in size, possibly because they are only discernible at a much later stage.

CONCLUSIONS

The authors presented the AnCoR framework to explicitly model anatomic constraints for the construction of a fused anatomic imaging-disease atlas. The framework was applied to constructing a preliminary version of an anatomic-disease atlas of the prostate, the prostatome. The prostatome could facilitate the quantitative characterization of gland morphology and imaging features of prostate cancer. These techniques, may be applied on a large sample size data set to create a fully developed prostatome that could serve as a spatial prior for targeted biopsies by urologists. Additionally, the AnCoR framework could allow for incorporation of complementary imaging and molecular data, thereby enabling their careful correlation for population based radio-omics studies.

Prostate segmentation: an efficient convex optimization approach with axial symmetry using 3-D TRUS and MR images

We propose a novel global optimization-based approach to segmentation of 3-D prostate transrectal ultrasound (TRUS) and T2 weighted magnetic resonance (MR) images, enforcing inherent axial symmetry of prostate shapes to simultaneously adjust a series of 2-D slice-wise segmentations in a "global" 3-D sense. We show that the introduced challenging combinatorial optimization problem can be solved globally and exactly by means of convex relaxation. In this regard, we propose a novel coherent continuous max-flow model (CCMFM), which derives a new and efficient duality-based algorithm, leading to a GPU-based implementation to achieve high computational speeds. Experiments with 25 3-D TRUS images and 30 3-D T2w MR images from our dataset, and 50 3-D T2w MR images from a public dataset, demonstrate that the proposed approach can segment a 3-D prostate TRUS/MR image within 5-6 s including 4-5 s for initialization, yielding a mean Dice similarity coefficient of 93.2%±2.0% for 3-D TRUS images and 88.5%±3.5% for 3-D MR images. The proposed method also yields relatively low intra- and inter-observer variability introduced by user manual initialization, suggesting a high reproducibility, independent of observers.

Psychological distress and adjustment to disease in patients before and after radical prostatectomy. Results of a prospective multi-centre study

The aim of this prospective multi-centre study was to evaluate the level of psychological distress (PD) and adjustment to disease in patients who underwent radical prostatectomy. Furthermore, the impact of urinary incontinence and erectile dysfunction on PD was assessed. Anxiety, depression and PD were evaluated using the Hospital Anxiety and Depression Scale in 329 prostate cancer patients before surgery as well as 3, 6 and 12 months after surgery. These results were compared with those of a male German general population reference group. Adjustment to disease was assessed using the Perceived Adjustment to Chronic Illness Scale. Patients reported low levels of PD at all points of assessment similar to population norms of age-matched German men. Persistent PD was seen in about 8% of the patients and 20% had PD at least two of the measurement points. Relevant predictors for PD after surgery were urinary symptoms and baseline PD. Adjustment to disease was highest before surgery and had significantly reduced at 3 and 6 months after surgery. In general, men are resilient to the experience of localised prostate cancer and adjust well psychologically after surgery. However, between 8% and 20% of patients could possibly benefit from mental health support.

Incremental learning with selective memory (ILSM): towards fast prostate localization for image guided radiotherapy

Image-guided radiotherapy (IGRT) requires fast and accurate localization of the prostate in 3-D treatment-guided radiotherapy, which is challenging due to low tissue contrast and large anatomical variation across patients. On the other hand, the IGRT workflow involves collecting a series of computed tomography (CT) images from the same patient under treatment. These images contain valuable patient-specific information yet are often neglected by previous works. In this paper, we propose a novel learning framework, namely incremental learning with selective memory (ILSM), to effectively learn the patient-specific appearance characteristics from these patient-specific images. Specifically, starting with a population-based discriminative appearance model, ILSM aims to "personalize" the model to fit patient-specific appearance characteristics. The model is personalized with two steps: backward pruning that discards obsolete population-based knowledge and forward learning that incorporates patient-specific characteristics. By effectively combining the patient-specific characteristics with the general population statistics, the incrementally learned appearance model can localize the prostate of a specific patient much more accurately. This work has three contributions: 1) the proposed incremental learning framework can capture patient-specific characteristics more effectively, compared to traditional learning schemes, such as pure patient-specific learning, population-based learning, and mixture learning with patient-specific and population data; 2) this learning framework does not have any parametric model assumption, hence, allowing the adoption of any discriminative classifier; and 3) using ILSM, we can localize the prostate in treatment CTs accurately (DSC  ∼ 0.89 ) and fast (  ∼ 4 s), which satisfies the real-world clinical requirements of IGRT.

Prostate Segmentation in CT Images via Spatial-Constrained Transductive Lasso

Accurate prostate segmentation in CT images is a significant yet challenging task for image guided radiotherapy. In this paper, a novel semi-automated prostate segmentation method is presented. Specifically, to segment the prostate in the current treatment image, the physician first takes a few seconds to manually specify the first and last slices of the prostate in the image space. Then, the prostate is segmented automatically by the proposed two steps: (i) The first step of prostate-likelihood estimation to predict the prostate likelihood for each voxel in the current treatment image, aiming to generate the 3-D prostate-likelihood map by the proposed Spatial-COnstrained Transductive LassO (SCOTO); (ii) The second step of multi-atlases based label fusion to generate the final segmentation result by using the prostate shape information obtained from the planning and previous treatment images. The experimental result shows that the proposed method outperforms several state-of-the-art methods on prostate segmentation in a real prostate CT dataset, consisting of 24 patients with 330 images. Moreover, it is also clinically feasible since our method just requires the physician to spend a few seconds on manual specification of the first and last slices of the prostate.

Statistical 3D Prostate Imaging Atlas Construction via Anatomically Constrained Registration

Statistical imaging atlases allow for integration of information from multiple patient studies collected across different image scales and modalities, such as multi-parametric (MP) MRI and histology, providing population statistics regarding a specific pathology within a single canonical representation. Such atlases are particularly valuable in the identification and validation of meaningful imaging signatures for disease characterization in vivo within a population. Despite the high incidence of prostate cancer, an imaging atlas focused on different anatomic structures of the prostate, i.e. an anatomic atlas, has yet to be constructed. In this work we introduce a novel framework for MRI atlas construction that uses an iterative, anatomically constrained registration (AnCoR) scheme to enable the proper alignment of the prostate (Pr) and central gland (CG) boundaries. Our current implementation uses endorectal, 1.5T or 3T, T2-weighted MRI from 51 patients with biopsy confirmed cancer; however, the prostate atlas is seamlessly extensible to include additional MRI parameters. In our cohort, radical prostatectomy is performed following MP-MR image acquisition; thus ground truth annotations for prostate cancer are available from the histological specimens. Once mapped onto MP-MRI through elastic registration of histological slices to corresponding T2-w MRI slices, the annotations are utilized by the AnCoR framework to characterize the 3D statistical distribution of cancer per anatomic structure. Such distributions are useful for guiding biopsies toward regions of higher cancer likelihood and understanding imaging profiles for disease extent in vivo. We evaluate our approach via the Dice similarity coefficient (DSC) for different anatomic structures (delineated by expert radiologists): Pr, CG and peripheral zone (PZ). The AnCoR-based atlas had a CG DSC of 90.36%, and Pr DSC of 89.37%. Moreover, we evaluated the deviation of anatomic landmarks, the urethra and veromontanum, and found 3.64 mm and respectively 4.31 mm. Alternative strategies that use only the T2-w MRI or the prostate surface to drive the registration were implemented as comparative approaches. The AnCoR framework outperformed the alternative strategies by providing the lowest landmark deviations.

Sparse patch-based label propagation for accurate prostate localization in CT images

In this paper, we propose a new prostate computed tomography (CT) segmentation method for image guided radiation therapy. The main contributions of our method lie in the following aspects. 1) Instead of using voxel intensity information alone, patch-based representation in the discriminative feature space with logistic sparse LASSO is used as anatomical signature to deal with low contrast problem in prostate CT images. 2) Based on the proposed patch-based signature, a new multi-atlases label fusion method formulated under sparse representation framework is designed to segment prostate in the new treatment images, with guidance from the previous segmented images of the same patient. This method estimates the prostate likelihood of each voxel in the new treatment image from its nearby candidate voxels in the previous segmented images, based on the nonlocal mean principle and sparsity constraint. 3) A hierarchical labeling strategy is further designed to perform label fusion, where voxels with high confidence are first labeled for providing useful context information in the same image for aiding the labeling of the remaining voxels. 4) An online update mechanism is finally adopted to progressively collect more patient-specific information from newly segmented treatment images of the same patient, for adaptive and more accurate segmentation. The proposed method has been extensively evaluated on a prostate CT image database consisting of 24 patients where each patient has more than 10 treatment images, and further compared with several state-of-the-art prostate CT segmentation algorithms using various evaluation metrics. Experimental results demonstrate that the proposed method consistently achieves higher segmentation accuracy than any other methods under comparison.

Prostate segmentation by sparse representation based classification

PURPOSE

The segmentation of prostate in CT images is of essential importance to external beam radiotherapy, which is one of the major treatments for prostate cancer nowadays. During the radiotherapy, the prostate is radiated by high-energy x rays from different directions. In order to maximize the dose to the cancer and minimize the dose to the surrounding healthy tissues (e.g., bladder and rectum), the prostate in the new treatment image needs to be accurately localized. Therefore, the effectiveness and efficiency of external beam radiotherapy highly depend on the accurate localization of the prostate. However, due to the low contrast of the prostate with its surrounding tissues (e.g., bladder), the unpredicted prostate motion, and the large appearance variations across different treatment days, it is challenging to segment the prostate in CT images. In this paper, the authors present a novel classification based segmentation method to address these problems.

METHODS

To segment the prostate, the proposed method first uses sparse representation based classification (SRC) to enhance the prostate in CT images by pixel-wise classification, in order to overcome the limitation of poor contrast of the prostate images. Then, based on the classification results, previous segmented prostates of the same patient are used as patient-specific atlases to align onto the current treatment image and the majority voting strategy is finally adopted to segment the prostate. In order to address the limitations of the traditional SRC in pixel-wise classification, especially for the purpose of segmentation, the authors extend SRC from the following four aspects: (1) A discriminant subdictionary learning method is proposed to learn a discriminant and compact representation of training samples for each class so that the discriminant power of SRC can be increased and also SRC can be applied to the large-scale pixel-wise classification. (2) The L1 regularized sparse coding is replaced by the elastic net in order to obtain a smooth and clear prostate boundary in the classification result. (3) Residue-based linear regression is incorporated to improve the classification performance and to extend SRC from hard classification to soft classification. (4) Iterative SRC is proposed by using context information to iteratively refine the classification results.

RESULTS

The proposed method has been comprehensively evaluated on a dataset consisting of 330 CT images from 24 patients. The effectiveness of the extended SRC has been validated by comparing it with the traditional SRC based on the proposed four extensions. The experimental results show that our extended SRC can obtain not only more accurate classification results but also smoother and clearer prostate boundary than the traditional SRC. Besides, the comparison with other five state-of-the-art prostate segmentation methods indicates that our method can achieve better performance than other methods under comparison.

CONCLUSIONS

The authors have proposed a novel prostate segmentation method based on the sparse representation based classification, which can achieve considerably accurate segmentation results in CT prostate segmentation.

Fusion of ultrasound B-mode and vibro-elastography images for automatic 3D segmentation of the prostate

Prostate segmentation in B-mode images is a challenging task even when done manually by experts. In this paper we propose a 3D automatic prostate segmentation algorithm which makes use of information from both ultrasound B-mode and vibro-elastography data.We exploit the high contrast to noise ratio of vibro-elastography images of the prostate, in addition to the commonly used B-mode images, to implement a 2D Active Shape Model (ASM)-based segmentation algorithm on the midgland image. The prostate model is deformed by a combination of two measures: the gray level similarity and the continuity of the prostate edge in both image types. The automatically obtained mid-gland contour is then used to initialize a 3D segmentation algorithm which models the prostate as a tapered and warped ellipsoid. Vibro-elastography images are used in addition to ultrasound images to improve boundary detection.We report a Dice similarity coefficient of 0.87±0.07 and 0.87±0.08 comparing the 2D automatic contours with manual contours of two observers on 61 images. For 11 cases, a whole gland volume error of 10.2±2.2% and 13.5±4.1% and whole gland volume difference of -7.2±9.1% and -13.3±12.6% between 3D automatic and manual surfaces of two observers is obtained. This is the first validated work showing the fusion of B-mode and vibro-elastography data for automatic 3D segmentation of the prostate.

A feature-based learning framework for accurate prostate localization in CT images

Automatic segmentation of prostate in CT images plays an important role in medical image analysis and image guided radiation therapy. It remains as a challenging problem mainly due to three issues: First, the image contrast between the prostate and its surrounding tissues is low in prostate CT images and no obvious boundaries can be observed. Second, the unpredictable prostate motion causes large position variations of the prostate in the treatment images scanned at different treatment days. Third, the uncertainty of the existence of bowel gas in treatment images significantly changes the image appearance even for images taken from the same patient. To address these issues, in this paper we are motivated to propose a feature based learning framework for accurate prostate localization in CT images. The main contributions of the proposed method lie in the following aspects: (1) Anatomical features are extracted from input images and adopted as signatures for each voxel. The most robust and informative features are identified by the feature selection process to help localize the prostate. (2) Regions with salient features but irrelevant to the localization of prostate, such as regions filled with bowel gas are automatically filtered out by the proposed method. (3) An online update mechanism is adopted in this paper to adaptively combine both population information and patient-specific information to localize the prostate. The proposed method is evaluated on a CT prostate dataset of 24 patients to localize the prostate, where each patient has more than 10 longitudinal images scanned at different treatment times. It is also compared with several state-of- the-art prostate localization algorithms in CT images, and the experimental results demonstrate that the proposed method achieves the highest localization accuracy among all the methods under comparison.

Learning image context for segmentation of the prostate in CT-guided radiotherapy

Accurate segmentation of the prostate is the key to the success of external beam radiotherapy of prostate cancer. However, accurate segmentation of the prostate in computer tomography (CT) images remains challenging mainly due to three factors: (1) low image contrast between the prostate and its surrounding tissues, (2) unpredictable prostate motion across different treatment days and (3) large variations of intensities and shapes of the bladder and rectum around the prostate. In this paper, an online-learning and patient-specific classification method based on the location-adaptive image context is presented to deal with all these challenging issues and achieve the precise segmentation of the prostate in CT images. Specifically, two sets of location-adaptive classifiers are placed, respectively, along the two coordinate directions of the planning image space of a patient, and further trained with the planning image and also the previous-segmented treatment images of the same patient to jointly perform prostate segmentation for a new treatment image (of the same patient). In particular, each location-adaptive classifier, which itself consists of a set of sequential sub-classifiers, is recursively trained with both the static image appearance features and the iteratively updated image context features (extracted at different scales and orientations) for better identification of each prostate region. The proposed learning-based prostate segmentation method has been extensively evaluated on 161 images of 11 patients, each with more than nine daily treatment three-dimensional CT images. Our method achieves the mean Dice value 0.908 and the mean ± SD of average surface distance value 1.40 ± 0.57 mm. Its performance is also compared with three prostate segmentation methods, indicating the best segmentation accuracy by the proposed method among all methods under comparison.

Automated preoperative planning of femoral stem in total hip arthroplasty from 3D CT data: atlas-based approach and comparative study

Atlas-based methods for automated preoperative planning of the femoral stem implant in total hip arthroplasty are described. Statistical atlases are constructed from a number of past preoperative plans prepared by experienced surgeons in order to represent the surgeon's expertise of the planning. Two types of atlases are considered. One is a statistical distance map atlas, which represents surgeon's preference of the contact pattern between the femoral canal (host bone) and stem (implant) surfaces. The other is an optimal reference plan, which is selected as the best representative plan expected to minimize the deviation from the surgeon's preferred contact pattern. These atlases are fitted to the patient data to automatically generate the preoperative plan of the femoral stem. In this paper, we formulate a general framework of atlas-based implant planning, and then describe the methods for construction and utilization of the two proposed atlases. In the experiments, we used 40 cases to evaluate the proposed methods and compare them with previous methods by defining the errors as differences between automated and surgeon's plans. By using the proposed methods, the positional and orientation errors were significantly reduced compared with the previous methods and the size error was superior to inter-surgeon variability in size selection using 2D templates on an X-ray image reported in previous work.

Automated prostate cancer localization without the need for peripheral zone extraction using multiparametric MRI

PURPOSE

Multiparametric magnetic resonance imaging (MRI) has been shown to have higher localization accuracy than transrectal ultrasound (TRUS) for prostate cancer. Therefore, automated cancer segmentation using multiparametric MRI is receiving a growing interest, since MRI can provide both morphological and functional images for tissue of interest. However, all automated methods to this date are applicable to a single zone of the prostate, and the peripheral zone (PZ) of the prostate needs to be extracted manually, which is a tedious and time-consuming job. In this paper, our goal is to remove the need of PZ extraction by incorporating the spatial and geometric information of prostate tumors with multiparametric MRI derived from T2-weighted MRI, diffusion-weighted imaging (DWI) and dynamic contrast enhanced MRI (DCE-MRI).

METHODS

In order to remove the need of PZ extraction, the authors propose a new method to incorporate the spatial information of the cancer. This is done by introducing a new feature called location map. This new feature is constructed by applying a nonlinear transformation to the spatial position coordinates of each pixel, so that the location map implicitly represents the geometric position of each pixel with respect to the prostate region. Then, this new feature is combined with multiparametric MR images to perform tumor localization. The proposed algorithm is applied to multiparametric prostate MRI data obtained from 20 patients with biopsy-confirmed prostate cancer.

RESULTS

The proposed method which does not need the masks of PZ was found to have prostate cancer detection specificity of 0.84, sensitivity of 0.80 and dice coefficient value of 0.42.

CONCLUSIONS

The authors have found that fusing the spatial information allows us to obtain tumor outline without the need of PZ extraction with a considerable success (better or similar performance to methods that require manual PZ extraction). Our experimental results quantitatively demonstrate the effectiveness of the proposed method, depicting that the proposed method has a slightly better or similar localization performance compared to methods which require the masks of PZ.

Early continence in patients with localized prostate cancer. A comparison between open retropubic (RRPE) and endoscopic extraperitoneal radical prostatectomy (EERPE)

OBJECTIVE

The study examined and compared continence rates in prostate cancer patients who had undergone either open retropubic prostatectomy (RRPE) or endoscopic extraperitoneal radical prostatectomy (EERPE). The core question was whether the surgical approach had an effect on the patients' continence status 3 months after surgery.

METHODS

We conducted a multicentric, longitudinal study in 7 German hospitals. Three hundred fifty prostate cancer patients (166 EERPE, 184 RRPE) were asked to self-assess symptoms associated with urinary incontinence (UI) 1 day before and 3 months after prostatectomy. Symptoms of UI were assessed using the EORTC QLQ-PR25 questionnaire. Urinary continence was defined according to (1) the use of no protective pad, (2) the use of up to a single protective pad in a 24-hour period, and (3) according to the patient's self-assessment. A binary regression model was employed to predict early continence status.

RESULTS

Three months after prostatectomy, 44% of patients who underwent EERPE and 40% of patients who underwent RRPE were completely continent. Patients who underwent nerve-sparing prostatectomy and patients younger than 65 years had a better chance of regaining urinary continence earlier. The surgical approach had no significant impact on the patients' continence status. Limitations of the study are a drop-out rate of 39% and sociodemographic and clinical differences between both treatment groups.

CONCLUSIONS

Three months after prostatectomy, there were no significant differences between both treatment groups regarding urinary continence. The surgical approach had no significant effect on the patients' continence status. Higher age and non-nerve-sparing surgery are associated with a longer period of convalescence.

Semi-automatic segmentation for prostate interventions

In this paper we report and characterize a semi-automatic prostate segmentation method for prostate brachytherapy. Based on anatomical evidence and requirements of the treatment procedure, a warped and tapered ellipsoid was found suitable as the a-priori 3D shape of the prostate. By transforming the acquired endorectal transverse images of the prostate into ellipses, the shape fitting problem was cast into a convex problem which can be solved efficiently. The average whole gland error between non-overlapping volumes created from manual and semi-automatic contours from 21 patients was 6.63 ± 0.9%. For use in brachytherapy treatment planning, the resulting contours were modified, if deemed necessary, by radiation oncologists prior to treatment. The average whole gland volume error between the volumes computed from semi-automatic contours and those computed from modified contours, from 40 patients, was 5.82 ± 4.15%. The amount of bias in the physicians' delineations when given an initial semi-automatic contour was measured by comparing the volume error between 10 prostate volumes computed from manual contours with those of modified contours. This error was found to be 7.25 ± 0.39% for the whole gland. Automatic contouring reduced subjectivity, as evidenced by a decrease in segmentation inter- and intra-observer variability from 4.65% and 5.95% for manual segmentation to 3.04% and 3.48% for semi-automatic segmentation, respectively. We characterized the performance of the method relative to the reference obtained from manual segmentation by using a novel approach that divides the prostate region into nine sectors. We analyzed each sector independently as the requirements for segmentation accuracy depend on which region of the prostate is considered. The measured segmentation time is 14 ± 1s with an additional 32 ± 14s for initialization. By assuming 1-3 min for modification of the contours, if necessary, a total segmentation time of less than 4 min is required, with no additional time required prior to treatment planning. This compares favorably to the 5-15 min manual segmentation time required for experienced individuals. The method is currently used at the British Columbia Cancer Agency (BCCA) Vancouver Cancer Centre as part of the standard treatment routine in low dose rate prostate brachytherapy and is found to be a fast, consistent and accurate tool for the delineation of the prostate gland in ultrasound images.

Development of a virtual reality guided diagnostic tool based on magnetic resonance imaging

Computed tomography (CT) and virtual reality (VR) made it possible to create internal views of the human body without actual penetration. During the last two decades, several endoscopic diagnosis procedures have received virtual counter candidates. This paper presents an own concept of a virtual reality guided diagnostic tool, based on magnetic resonance images representing parallel cross-sections of the investigated organ. A series of image processing methods are proposed for image quality enhancement, accurate segmentation in two dimensions, and three-dimensional reconstruction of detected surfaces. These techniques provide improved accuracy in image segmentation, and thus they represent excellent support for three dimensional imaging. The implemented software system allows interactive navigation within the investigated volume, and provides several facilities to quantify important physical properties including distances, areas, and volumes.

Prostate biopsy in selecting candidates for hemiablative focal therapy

Focal therapy (FT) for the management of clinically localized prostate cancer (PCa) is growing from a concept to reality because of increased interest of both patients and physicians. Selection protocols, however, are yet to be established. We discuss the role of prostate biopsy in candidate selection for FT and highlight the different strategies and technical aspects of the use of prostate biopsy in this setting. In our opinion, prostate biopsy plays a major role in the selection process and tailoring appropriate treatment strategy to the patient. FT necessitates dedicated biopsy schemes that would reliably predict the extent, nature, and location of PCa in selected patients. Currently, there is insufficient scientific evidence to propose a specific biopsy scheme that could fit every candidate, providing accurate characterization of the disease in the individual patient. Further research is necessary to establish solid selection protocols that would reliably identify appropriate candidates for FT of PCa.

Sampling the spatial patterns of cancer: optimized biopsy procedures for estimating prostate cancer volume and Gleason Score

Prostate biopsy is the current gold-standard procedure for prostate cancer diagnosis. Existing prostate biopsy procedures have been mostly focusing on detecting cancer presence. However, they often ignore the potential use of biopsy to estimate cancer volume (CV) and Gleason Score (GS, a cancer grade descriptor), the two surrogate markers for cancer aggressiveness and the two crucial factors for treatment planning. To fill up this vacancy, this paper assumes and demonstrates that, by optimally sampling the spatial patterns of cancer, biopsy procedures can be specifically designed for estimating CV and GS. Our approach combines image analysis and machine learning tools in an atlas-based population study that consists of three steps. First, the spatial distributions of cancer in a patient population are learned, by constructing statistical atlases from histological images of prostate specimens with known cancer ground truths. Then, the optimal biopsy locations are determined in a feature selection formulation, so that biopsy outcomes (either cancer presence or absence) at those locations could be used to differentiate, at the best rate, between the existing specimens having different (high vs. low) CV/GS values. Finally, the optimized biopsy locations are utilized to estimate whether a new-coming prostate cancer patient has high or low CV/GS values, based on a binary classification formulation. The estimation accuracy and the generalization ability are evaluated by the classification rates and the associated receiver-operating-characteristic (ROC) curves in cross validations. The optimized biopsy procedures are also designed to be robust to the almost inevitable needle displacement errors in clinical practice, and are found to be robust to variations in the optimization parameters as well as the training populations.

Adaptation of a 3D prostate cancer atlas for transrectal ultrasound guided target-specific biopsy

Due to lack of imaging modalities to identify prostate cancer in vivo, current TRUS guided prostate biopsies are taken randomly. Consequently, many important cancers are missed during initial biopsies. The purpose of this study was to determine the potential clinical utility of a high-speed registration algorithm for a 3D prostate cancer atlas. This 3D prostate cancer atlas provides voxel-level likelihood of cancer and optimized biopsy locations on a template space (Zhan et al 2007). The atlas was constructed from 158 expert annotated, 3D reconstructed radical prostatectomy specimens outlined for cancers (Shen et al 2004). For successful clinical implementation, the prostate atlas needs to be registered to each patient's TRUS image with high registration accuracy in a time-efficient manner. This is implemented in a two-step procedure, the segmentation of the prostate gland from a patient's TRUS image followed by the registration of the prostate atlas. We have developed a fast registration algorithm suitable for clinical applications of this prostate cancer atlas. The registration algorithm was implemented on a graphical processing unit (GPU) to meet the critical processing speed requirements for atlas guided biopsy. A color overlay of the atlas superposed on the TRUS image was presented to help pick statistically likely regions known to harbor cancer. We validated our fast registration algorithm using computer simulations of two optimized 7- and 12-core biopsy protocols to maximize the overall detection rate. Using a GPU, patient's TRUS image segmentation and atlas registration took less than 12 s. The prostate cancer atlas guided 7- and 12-core biopsy protocols had cancer detection rates of 84.81% and 89.87% respectively when validated on the same set of data. Whereas the sextant biopsy approach without the utility of 3D cancer atlas detected only 70.5% of the cancers using the same histology data. We estimate 10-20% increase in prostate cancer detection rates when TRUS guided biopsies are assisted by the 3D prostate cancer atlas compared to the current standard of care. The fast registration algorithm we have developed can easily be adapted for clinical applications for the improved diagnosis of prostate cancer.

Three-dimensional sonography with needle tracking: role in diagnosis and treatment of prostate cancer

OBJECTIVE

Image-guided prostate biopsy has become routine in medical diagnosis. Although it improves biopsy outcome, it mostly operates in 2 dimensions, therefore lacking presentation of information in the complete 3-dimensional (3D) space. Because prostatic carcinomas are nonuniformly distributed within the prostate gland, it is crucial to accurately guide the needles toward clinically important locations within the 3D volume for both diagnosis and treatment.

METHODS

We reviewed the uses of 3D image-guided needle procedures in prostate cancer diagnosis and cancer therapy as well as their advantages, work flow, and future directions.

RESULTS

Guided procedures for the prostate rely on accurate 3D target identification and needle navigation. This 3D approach has potential for better disease diagnosis and therapy. Additionally, when fusing together different imaging modalities and cancer probability maps obtained from a population of interest, physicians can potentially place biopsy needles and other interventional devices more accurately and efficiently by better targeting regions that are likely to host cancerous tissue.

CONCLUSIONS

With the information from anatomic, metabolic, functional, biochemical, and biomechanical statuses of different regions of the entire gland, prostate cancers will be better diagnosed and treated with improved work flow.

Registering histologic and MR images of prostate for image-based cancer detection

RATIONALE AND OBJECTIVES

Needle biopsy is currently the only way to confirm prostate cancer. To increase prostate cancer diagnostic rate, needles are expected to be deployed at suspicious cancer locations. High-contrast magnetic resonance (MR) imaging provides a powerful tool for detecting suspicious cancerous tissues. To do this, MR appearances of cancerous tissue should be characterized and learned from a sufficient number of prostate MR images with known cancer information. However, ground-truth cancer information is only available in histologic images. Therefore it is necessary to warp ground-truth cancerous regions in histological images to MR images by a registration procedure. The objective of this article is to develop a registration technique for aligning histological and MR images of the same prostate.

MATERIAL AND METHODS

Five pairs of histological and T2-weighted MR images of radical prostatectomy specimens are collected. For each pair, registration is guided by two sets of correspondences that can be reliably established on prostate boundaries and internal salient bloblike structures of histologic and MR images.

RESULTS

Our developed registration method can accurately register histologic and MR images. It yields results comparable to manual registration, in terms of landmark distance and volume overlap. It also outperforms both affine registration and boundary-guided registration methods.

CONCLUSIONS

We have developed a novel method for deformable registration of histologic and MR images of the same prostate. Besides the collection of ground-truth cancer information in MR images, the method has other potential applications. An automatic, accurate registration of histologic and MR images actually builds a bridge between in vivo anatomical information and ex vivo pathologic information, which is valuable for various clinical studies.