Image intensifier distortion correction

Innate Immune Cells in Melanoma: Implications for Immunotherapy

The innate immune system, composed of neutrophils, basophils, eosinophils, myeloid-derived suppressor cells (MDSCs), macrophages, dendritic cells (DCs), mast cells (MCs), and innate lymphoid cells (ILCs), is the first line of defense. Growing evidence demonstrates the crucial role of innate immunity in tumor initiation and progression. Several studies support the idea that innate immunity, through the release of pro- and/or anti-inflammatory cytokines and tumor growth factors, plays a significant role in the pathogenesis, progression, and prognosis of cutaneous malignant melanoma (MM). Cutaneous melanoma is the most common skin cancer, with an incidence that rapidly increased in recent decades. Melanoma is a highly immunogenic tumor, due to its high mutational burden. The metastatic form retains a high mortality. The advent of immunotherapy revolutionized the therapeutic approach to this tumor and significantly ameliorated the patients' clinical outcome. In this review, we will recapitulate the multiple roles of innate immune cells in melanoma and the related implications for immunotherapy.

SpatDistCalib: a GUI Python software for spatial-distortion correction of 2D detectors using splines

CCD-based X-ray detector systems often suffer from spatial distortions. Reproducible distortions can be quantitatively measured with a calibration grid and described as a displacement matrix or as spline functions. The measured distortion can be used afterwards to undistort raw images or to refine the actual position of each pixel, e.g. for azimuthal integration. This article describes a method using a regular grid, not necessarily orthogonal, to measure the distortions. The graphical user interface (GUI) Python software that is used to implement this method is available under a GPLv3 license on ESRF GitLab, and produces a spline file that is usable with data-reduction software such as FIT2D or pyFAI.

Head and neck tumor cells treated with hypofractionated irradiation die via apoptosis and are better taken up by M1-like macrophages

Purpose

The incidence of head and neck squamous cell carcinomas (HNSCC) is increasing worldwide, especially when triggered by the human papilloma virus (HPV). Radiotherapy has immune-modulatory properties, but the role of macrophages present in HNSCC and having contact with irradiated tumor cells remains unclear. The influence of irradiated (2 × 5Gy) HNSCC cells on the (re-)polarization and phagocytosis of human macrophages, either non-polarized or with a more M1 or M2 phenotype, was therefore investigated.

Methods

Human monocytes were differentiated with the hematopoietic growth factors M‑CSF (m) or GM-CSF (g) and additionally pre-polarized with either interleukin (IL)-4 and IL-10 or interferon (IFN)-γ and lipopolysaccharides (LPS), respectively. Subsequently, they were added to previously irradiated (2 × 5Gy) and mock-treated HPV-positive (UD-SCC-2) and HPV-negative (Cal33) HNSCC cells including their supernatants.

Results

The HNSCC cells treated with hypofractionated irradiation died via apoptosis and were strongly phagocytosed by M0m and M2 macrophages. M0g and M1 macrophages phagocytosed the tumor cells to a lesser extent. Irradiated HNSCC cells were better phagocytosed by M1 macrophages compared to mock-treated controls. The polarization status of the macrophages was not significantly changed, except for the expression of CD206 on M2 macrophages, which was reduced after phagocytosis of irradiated HPV-negative cells. Further, a significant increase in the uptake of irradiated HPV-positive cells by M0g macrophages when compared to HPV-negative cells was observed.

Conclusion

HNSCC cells treated with hypofractionated irradiation foster phagocytosis by anti-tumorigenic M1 macrophages. The data provide the first evidence on the impact of the HPV status of HNSCC cells on the modulation of the macrophage response to irradiated tumor cells.

Harnessing nanomedicine to overcome the immunosuppressive tumor microenvironment

Cancer immunotherapy has received extensive attention due to its ability to activate the innate or adaptive immune systems of patients to combat tumors. Despite a few clinical successes, further endeavors are still needed to tackle unresolved issues, including limited response rates, development of resistance, and immune-related toxicities. Accumulating evidence has pinpointed the tumor microenvironment (TME) as one of the major obstacles in cancer immunotherapy due to its detrimental impacts on tumor-infiltrating immune cells. Nanomedicine has been battling with the TME in the past several decades, and the experience obtained could be exploited to improve current paradigms of immunotherapy. Here, we discuss the metabolic features of the TME and its influence on different types of immune cells. The recent progress in nanoenabled cancer immunotherapy has been summarized with a highlight on the modulation of immune cells, tumor stroma, cytokines and enzymes to reverse the immunosuppressive TME.

SLAM-Based Self-Calibration of a Binocular Stereo Vision Rig in Real-Time

The calibration problem of binocular stereo vision rig is critical for its practical application. However, most existing calibration methods are based on manual off-line algorithms for specific reference targets or patterns. In this paper, we propose a novel simultaneous localization and mapping (SLAM)-based self-calibration method designed to achieve real-time, automatic and accurate calibration of the binocular stereo vision (BSV) rig’s extrinsic parameters in a short period without auxiliary equipment and special calibration markers, assuming the intrinsic parameters of the left and right cameras are known in advance. The main contribution of this paper is to use the SLAM algorithm as our main tool for the calibration method. The method mainly consists of two parts: SLAM-based construction of 3D scene point map and extrinsic parameter calibration. In the first part, the SLAM mainly constructs a 3D feature point map of the natural environment, which is used as a calibration area map. To improve the efficiency of calibration, a lightweight, real-time visual SLAM is built. In the second part, extrinsic parameters are calibrated through the 3D scene point map created by the SLAM. Ultimately, field experiments are performed to evaluate the feasibility, repeatability, and efficiency of our self-calibration method. The experimental data shows that the average absolute error of the Euler angles and translation vectors obtained by our method relative to the reference values obtained by Zhang’s calibration method does not exceed 0.5˚ and 2 mm, respectively. The distribution range of the most widely spread parameter in Euler angles is less than 0.2˚ while that in translation vectors does not exceed 2.15 mm. Under the general texture scene and the normal driving speed of the mobile robot, the calibration time can be generally maintained within 10 s. The above results prove that our proposed method is reliable and has practical value.

Hard, soft and off-the-shelf foot orthoses and their effect on the angle of the medial longitudinal arch: A biplane fluoroscopy study

BACKGROUND

Foot orthoses have proven to be effective for conservative management of various pathologies. Pathologies of the lower limb can be caused by abnormal biomechanics such as irregular foot structure and alignment, leading to inadequate support.

OBJECTIVES

To compare biomechanical effects of different foot orthoses on the medial longitudinal arch during dynamic gait using skeletal kinematics.

STUDY DESIGN

This study follows a prospective, cross-sectional study design.

METHODS

The medial longitudinal arch angle was measured for 12 participants among three groups: pes planus, pes cavus and normal arch. Five conditions were compared: three orthotic devices (hard custom foot orthosis, soft custom foot orthosis and off-the-shelf Barefoot Science©), barefoot and shod. An innovative method, markerless fluoroscopic radiostereometric analysis, was used to measure the medial longitudinal arch angle.

RESULTS

Mean medial longitudinal arch angles for both custom foot orthosis conditions were significantly different from the barefoot and shod conditions ( p < 0.05). There was no significant difference between the off-the-shelf device and the barefoot or shod conditions ( p > 0.05). In addition, the differences between hard and soft custom foot orthoses were not statistically significant. All foot types showed a medial longitudinal arch angle decrease with both the hard and soft custom foot orthoses.

CONCLUSION

These results suggest that custom foot orthoses can reduce motion of the medial longitudinal arch for a range of foot types during dynamic gait.

LEVEL OF EVIDENCE

Therapeutic study, Level 2.

CLINICAL RELEVANCE

Custom foot orthoses support and alter the position of the foot during weightbearing. The goal is to eliminate compensation of the foot for a structural deformity or malalignment and redistribute abnormal plantar pressures. By optimizing the position of the foot, the medial longitudinal arch (MLA) will also change and quantifying this change is of interest to clinicians.

Future prospects of immune checkpoint blockade in cancer: from response prediction to overcoming resistance

Recent advances in the understating of tumor immunology suggest that cancer immunotherapy is an effective treatment against various types of cancer. In particular, the remarkable successes of immune checkpoint-blocking antibodies in clinical settings have encouraged researchers to focus on developing other various immunologic strategies to combat cancer. However, such immunotherapies still face difficulties in controlling malignancy in many patients due to the heterogeneity of both tumors and individual patients. Here, we discuss how tumor-intrinsic cues, tumor environmental metabolites, and host-derived immune cells might impact the efficacy and resistance often seen during immune checkpoint blockade treatment. Furthermore, we introduce biomarkers identified from human and mouse models that predict clinical benefits for immune checkpoint blockers in cancer.

Medial Longitudinal Arch Angle Presents Significant Differences Between Foot Types: A Biplane Fluoroscopy Study

The structure of the medial longitudinal arch (MLA) affects the foot's overall function and its ability to dissipate plantar pressure forces. Previous research on the MLA includes measuring the calcaneal-first metatarsal angle using a static sagittal plane radiograph, a dynamic height-to-length ratio using marker clusters with a multisegment foot model, and a contained angle using single point markers with a multisegment foot model. The objective of this study was to use biplane fluoroscopy to measure a contained MLA angle between foot types: pes planus (low arch), pes cavus (high arch), and normal arch. Fifteen participants completed the study, five from each foot type. Markerless fluoroscopic radiostereometric analysis (fRSA) was used with a three-dimensional model of the foot bones and manually matching those bones to a pair of two-dimensional radiographic images during midstance of gait. Statistically significant differences were found between barefoot arch angles of the normal and pes cavus foot types (p = 0.036), as well as between the pes cavus and pes planus foot types (p = 0.004). Dynamic walking also resulted in a statistically significant finding compared to the static standing trials (p = 0.014). These results support the classification of individuals following a physical assessment by a foot specialist for those with pes cavus and planus foot types. The differences between static and dynamic kinematic measurements were also supported using this novel method.

Intra-operative fiducial-based CT/fluoroscope image registration framework for image-guided robot-assisted joint fracture surgery

Purpose

Joint fractures must be accurately reduced minimising soft tissue damages to avoid negative surgical outcomes. To this regard, we have developed the RAFS surgical system, which allows the percutaneous reduction of intra-articular fractures and provides intra-operative real-time 3D image guidance to the surgeon. Earlier experiments showed the effectiveness of the RAFS system on phantoms, but also key issues which precluded its use in a clinical application. This work proposes a redesign of the RAFS’s navigation system overcoming the earlier version’s issues, aiming to move the RAFS system into a surgical environment.

Methods

The navigation system is improved through an image registration framework allowing the intra-operative registration between pre-operative CT images and intra-operative fluoroscopic images of a fractured bone using a custom-made fiducial marker. The objective of the registration is to estimate the relative pose between a bone fragment and an orthopaedic manipulation pin inserted into it intra-operatively. The actual pose of the bone fragment can be updated in real time using an optical tracker, enabling the image guidance.

Results

Experiments on phantom and cadavers demonstrated the accuracy and reliability of the registration framework, showing a reduction accuracy (sTRE) of about \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$0.88~\pm 0.2\,\hbox {mm}$$\end{document}0.88±0.2mm (phantom) and \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$1.15\pm 0.8\,\hbox {mm}$$\end{document}1.15±0.8mm (cadavers). Four distal femur fractures were successfully reduced in cadaveric specimens using the improved navigation system and the RAFS system following the new clinical workflow (reduction error \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$1.2\pm 0.3\,\hbox {mm}$$\end{document}1.2±0.3mm, \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$2\pm 1{^{\circ }})$$\end{document}2±1∘).

Conclusion

Experiments showed the feasibility of the image registration framework. It was successfully integrated into the navigation system, allowing the use of the RAFS system in a realistic surgical application.

Multimodality calibration for simultaneous fluoroscopic and nuclear imaging

Background

Simultaneous real-time fluoroscopic and nuclear imaging could benefit image-guided (oncological) procedures. To this end, a hybrid modality is currently being developed by our group, by combining a c-arm with a gamma camera and a four-pinhole collimator. Accurate determination of the system parameters that describe the position of the x-ray tube, x-ray detector, gamma camera, and collimators is crucial to optimize image quality. The purpose of this study was to develop a calibration method that estimates the system parameters used for reconstruction.

A multimodality phantom consisting of five point sources was created. First, nuclear and fluoroscopic images of the phantom were acquired at several distances from the image intensifier. The system parameters were acquired using physical measurement, and multimodality images of the phantom were reconstructed. The resolution and co-registration error of the point sources were determined as a measure of image quality. Next, the system parameters were estimated using a calibration method, which adjusted the parameters in the reconstruction algorithm, until the resolution and co-registration were optimized. For evaluation, multimodality images of a second set of phantom acquisitions were reconstructed using calibrated parameter sets. Subsequently, the resolution and co-registration error of the point sources were determined as a measure of image quality. This procedure was performed five times for different noise simulations. In addition, simultaneously acquired fluoroscopic and nuclear images of two moving syringes were obtained with parameter sets from before and after calibration.

Results

The mean FWHM was significantly lower after calibration than before calibration for 21 out of 25 point sources. The mean co-registration error was significantly lower after calibration than before calibration for all point sources. The simultaneously acquired fluoroscopic and nuclear images showed improved co-registration after calibration as compared with before calibration.

Conclusions

A calibration method was presented that improves the resolution and co-registration of simultaneously acquired hybrid fluoroscopic and nuclear images by estimating the geometric parameter set as compared with a parameter set acquired by direct physical measurement.

Electronic supplementary material

The online version of this article (doi:10.1186/s40658-016-0156-1) contains supplementary material, which is available to authorized users.

Imaging quality automated measurement of image intensifier based on orthometric phase-shifting gratings

A method for automatically measuring the imaging quality parameters of an image intensifier based on orthometric phase-shifting gratings (OPSG) is proposed. Two sets of phase-shifting gratings, one with a fringe direction at 45° and the other at 135°, are successively projected onto the input port of the image intensifier, and the corresponding deformed patterns modulated by the measured image intensifier on its output port are captured with a CCD camera. Two phases are retrieved from these two sets of deformed patterns by a phase-measuring algorithm. By building the relationship between these retrieved phases, the referential fringe period can be determined accurately. Meanwhile, the distorted phase distribution introduced by the image intensifier can also be efficiently separated wherein the subtle imaging quality information can be further decomposed. Subsequently, the magnification of the image intensifier is successfully measured by fringe period self-calibration. The experimental results have shown the feasibility of the proposed method, which can automatically measure the multiple imaging quality parameters of an image intensifier without human intervention.

Low dose x-ray sources and high quantum efficiency sensors: the next challenge in dental digital imaging?

Objective(s). The major challenge encountered to decrease the milliamperes (mA) level in X-ray imaging systems is the quantum noise phenomena. This investigation evaluated dose exposure and image resolution of a low dose X-ray imaging (LDXI) prototype comprising a low mA X-ray source and a novel microlens-based sensor relative to current imaging technologies. Study Design. A LDXI in static (group 1) and dynamic (group 2) modes was compared to medical fluoroscopy (group 3), digital intraoral radiography (group 4), and CBCT scan (group 5) using a dental phantom. Results. The Mann-Whitney test showed no statistical significance (α = 0.01) in dose exposure between groups 1 and 3 and 1 and 4 and timing exposure (seconds) between groups 1 and 5 and 2 and 3. Image resolution test showed group 1 > group 4 > group 2 > group 3 > group 5. Conclusions. The LDXI proved the concept for obtaining a high definition image resolution for static and dynamic radiography at lower or similar dose exposure and smaller pixel size, respectively, when compared to current imaging technologies. Lower mA at the X-ray source and high QE at the detector level principles with microlens could be applied to current imaging technologies to considerably reduce dose exposure without compromising image resolution in the near future.

Image intensifier distortion correction for fluoroscopic RSA: the need for independent accuracy assessment

Fluoroscopic images suffer from multiple modes of image distortion. Therefore, the purpose of this study was to compare the effects of correction using a range of two-dimensional polynomials and a global approach. The primary measure of interest was the average error in the distances between four beads of an accuracy phantom, as measured using RSA. Secondary measures of interest were the root mean squared errors of the fit of the chosen polynomial to the grid of beads used for correction, and the errors in the corrected distances between the points of the grid in a second position. Based upon the two-dimensional measures, a polynomial of order three in the axis of correction and two in the perpendicular axis was preferred. However, based upon the RSA reconstruction, a polynomial of order three in the axis of correction and one in the perpendicular axis was preferred. The use of a calibration frame for these three-dimensional applications most likely tempers the effects of distortion. This study suggests that distortion correction should be validated for each of its applications with an independent "gold standard" phantom.

A novel technique for distal locking of intramedullary nail based on two non-constrained fluoroscopic images and navigation

Distal locking is one of the most difficult steps in intramedullary nailing. Numerous methods can help the surgeon, but all are time-consuming and involve much irradiation. We have developed and tested a new method based on only two fluoroscopic shots that do not need to be taken in the axes of the holes. This avoids requiring the presence of an experienced fluoroscopy operator to accurately adjust the imaging device in front of the locking holes, and decreases the exposure to radiation of the patient and medical team. A 3-D model of the distal nail and of its locking holes was constructed from a pair of calibrated fluoroscopic views. Prior to this, the contours of the nail and locking holes projections had to be determined. A 3-D optical localizer allowed the tracking of reference frames fixed to the nail, imaging device, and drilling motor. A navigation system based on the model guided the surgeon during distal targeting. The robustness, accuracy, and duration of the technique were evaluated in laboratory. The range of acceptable orientations of the X-ray beam has also been determined. Twenty drilling tests were carried out on sawbones. The accuracy and the duration required by our system to perform the distal targeting shows potential suitability for clinical use. The drill passed through the nail locking holes for all of them. The accuracy was about 1.5 mm in translation and 1 degree in rotation. The total time spent on drilling did not exceed 15 min. The system was also assessed in vivo on three patients.

A practical global distortion correction method for an image intensifier based x-ray fluoroscopy system

X-ray images acquired on systems with image intensifiers (II) exhibit characteristic distortion which is due to both external and internal factors. The distortion is dependent on the orientation of the II, a fact particularly relevant to II's mounted on C arms which have several degrees of freedom of motion. Previous descriptions of distortion correction strategies have relied on a dense sampling of the C-arm orientation space, and as such have been limited mostly to a single arc of the primary angle, alpha. We present a new method which smooths the trajectories of the segmented vertices of the grid phantom as a function of a prior to solving the two-dimensional warping problem. It also shows that the same residual errors of distortion correction could be achieved without fitting the trajectories of the grid vertices, but instead applying the previously described global method of distortion correction, followed by directly smoothing the values of the polynomial coefficients as functions of the C-arm orientation parameters. When this technique was applied to a series of test images at arbitrary alpha, the root-mean-square (RMS) residual error was 0.22 pixels. The new method was extended to three degrees of freedom of the C-arm motion: the primary angle, alpha; the secondary angle, beta; and the source-to-intensifier distance, lambda. Only 75 images were used to characterize the distortion for the following ranges: alpha, +/- 45 degrees (Deltaalpha = 22.5 degrees); beta, +/- 36 degrees (Deltabeta = 18 degrees); lambda, 98-118 cm (Deltalambda = 10 cm). When evaluated on a series of test images acquired at arbitrary (alpha, beta, lambda), the RMS residual error was 0.33 pixels. This method is targeted at applications such as guidance of catheter-based interventions and treatment planning for brachytherapy, which require distortion-corrected images over a large range of C-arm orientations.

Fluoroscopy-based navigation system in spine surgery

The variability in width, height, and spatial orientation of a spinal pedicle makes pedicle screw insertion a delicate operation. The aim of the current paper is to describe a computer-assisted surgical navigation system based on fluoroscopic X-ray image calibration and three-dimensional optical localizers in order to reduce radiation exposure while increasing accuracy and reliability of the surgical procedure for pedicle screw insertion. Instrumentation using transpedicular screw fixation was performed: in a first group, a conventional surgical procedure was carried out with 26 patients (138 screws); in a second group, a navigated surgical procedure (virtual fluoroscopy) was performed with 26 patients (140 screws). Evaluation of screw placement in every case was done by using plain X-rays and post-operative computer tomography scan. A 5 per cent cortex penetration (7 of 140 pedicle screws) occurred for the computer-assisted group. A 13 per cent penetration (18 of 138 pedicle screws) occurred for the non computer-assisted group. The radiation running time for each vertebra level (two screws) reached 3.5s on average in the computer-assisted group and 11.5s on average in the non computer-assisted group. The operative time for two screws on the same vertebra level reaches 10 min on average in the non computer-assisted group and 11.9 min on average in the computer-assisted group. The fluoroscopy-based (two-dimensional) navigation system for pedicle screw insertion is a safe and reliable procedure for surgery in the lower thoracic and lumbar spine.

Dual-energy cardiac imaging: an image quality and dose comparison for a flat-panel detector and x-ray image intensifier

This study presents a comparison of dual-energy imaging with an x-ray image intensifier and flat-panel detector for cardiac imaging. It also investigates if the wide dynamic range of the flat-panel detector can improve dual-energy image quality while reducing patient dose. Experimental contrast-to-noise (CNR) measurements were carried out in addition to simulation studies. Patient entrance exposure and system tube loading were also recorded. The studied contrast objects were calcium and iodine. System performance was quantified with a figure-of-merit (FOM) defined as the image CNR(2) over patient entrance exposure. The range of thickness studied was from 10 to 30 cm of Lucite (PMMA). Detector dose was initially set to 140 nGy (16 microR)/frame. The high-energy 120 kVp beam was filtered by an additional 0.8 mm silver filter. Keeping the same filament current, the kVp for the low-energy beam was adjusted as a function of thickness until 140 nGy was achieved. System performance was found to be similar for both systems, with the x-ray image intensifier performing better at lower thicknesses and the flat-panel detector performing better at higher thicknesses. This requirement of fixed detector entrance exposure was then relaxed and the kVp for the low-energy beam was allowed to vary while the mAs of the x-ray tube remained fixed to study changes in dual-energy image quality, patient dose and FOM with the flat-panel detector. It was found that as the kVp for the low-energy beam was reduced, system performance would rise until reaching a maximum while simultaneously lowering patient exposure. Suggested recommendations for optimal dual-energy imaging implementation are also provided.

On-line implant reconstruction in HDR brachytherapy

BACKGROUND AND PURPOSE

To evaluate the accuracy of on-line planning in an Integrated Brachytherapy Unit (IBU) using dedicated image distortion correction algorithms, correcting the geometric distortion and magnetic distortion separately, and to determine the effect of the reconstruction accuracy on clinical treatment plans in terms of deviations in treatment time and dose.

PATIENTS AND METHODS

The reconstruction accuracy has been measured using 20 markers, positioned at well known locations in a QA phantom. Treatment plans of two phantoms representing clinical implant geometries, have been compared with reference plans to determine the effect of the reconstruction accuracy on the treatment plan. Before clinical introduction, treatment plans of three representative patients, based on on-line reconstruction, have been compared with reference plans.

RESULTS

The average reconstruction error for 10 in. images reduces from -0.6 mm (range -2.6 to +1.0 mm) to -0.2 mm (range -1.2 to +0.6 mm) after image distortion correction and for 15 in. images from 0.8 mm (range -0.5 to +3.0 mm) to 0.0 mm (range -0.8 to +0.8 mm). The error in case of eccentric positioning of the phantom, i.e. 0.8 mm (range -1.0 to +3.3 mm), reduces to 0.1 mm (range -0.5 to +0.9 mm). Correction of the image distortions reduces the deviation in the calculated treatment time of maximally 2.7% to less than 0.8% in case of eccentrically positioned clinical phantoms. The deviation in the treatment time or reference dose in the plans based on on-line reconstruction with image distortion correction of the three patient examples is smaller than 0.3%.

CONCLUSIONS

Accurate on-line implant reconstruction using the IBU localiser and dedicated correction algorithms separating the geometric distortion and the magnetic distortion is possible. The results fulfill the minimum requirements as imposed by the Netherlands Commission on Radiation Dosimetry (NCS) without limitations regarding the usable range of the field of view of the image intensifier. However, the C-arm angle is limited to those angles for which magnetic distortion corrections have been obtained.

Correction of XRII geometric distortion using a liquid-filled grid and image subtraction

X-ray image intensifier (XRII) geometric distortion reduces the accuracy of image-guided procedures and quantitative image reconstructions. Due to the dependence of this error on the earth's magnetic field, the required correction is angle dependent, and calibration data should ideally be acquired simultaneously with clinical image data, at a specific orientation. We describe a technique to correct XRII geometric image distortion at any angular position during a stereotactic procedure. This approach uses a machined plastic grid, which contains channels that can be filled with iodinated contrast agent and subsequently flushed with water, providing contrast and mask images, respectively, of a geometric calibration grid. The standard image subtraction capabilities of conventional digital subtraction angiography devices can then be used to create a subtraction image of the iodine-filled channels, without any confounding anatomical structure. Grid-line intersection points are used to determine the control points that are required for a global polynomial correction algorithm, creating a correction map that is specific to the current angular position and XRII field of view (FOV). Tests with a clinical C-arm based XRII show that control points can be obtained with a precision of +/-0.053 mm, resulting in geometric correction accuracy of +/-0.152 mm, at a nominal FOV of 40 cm. While the precision and accuracy are both poorer than that achieved with a high-contrast steel-bead grid, the fact that the liquid grid can remain rigidly attached to the XRII during an entire procedure results in the establishment of an absolute detector coordinate system (referenced to the liquid-filled correction grid). The design of the liquid-filled channels allows the required control points to be introduced into the image or removed in about 30 s, avoiding the appearance of obscuring or confounding markers during clinical image acquisition, with a concurrent increase in patient dose of about 8% in the current design. Applications for this technique include stereotactic surgery, radiosurgery, x-ray stereogrammetry, and other image-guided procedures.

Errors in measuring sagittal arch kinematics of the human foot with digital fluoroscopy

Although fluoroscopy has been used to evaluate motion of the foot during gait, the accuracy and precision of fluoroscopic measures of osseous structures of the foot has not been reported in the literature. This study reports on a series of experiments that quantify the magnitude and sources of error involved in digital fluoroscopic measurements of the medial longitudinal arch. The findings indicate that with a global distortion correction procedure, errors arising from image distortion can be reduced threefold to 0.2 degrees for angular measurements and to 0.1 mm for linear measures. The limits of agreement for repeated angular measures of the calcaneus and first metatarsal were +/-0.5 degrees and +/-0.6 degrees , indicating that measurement error was primarily associated with the manual process of digitisation. While the magnitude of the residual error constitutes about +/-2.5% of the expected 20 degrees of movement of the calcaneus and first metatarsal, out-of-plane rotation may potentially contribute the greatest source of error in fluoroscopic measures of the foot. However, even at the extremes of angular displacement (15 degrees ) reported for the calcaneum during running gait, the root mean square (RMS) error was only about 1 degrees . Thus, errors associated with fluoroscopic imaging of the foot appear to be negligible when compared to those arising from skin movement artefact, which typically range between 1.5 and 4 mm (equating to errors of 2 degrees to 17 degrees for angular measures). Fluoroscopy, therefore, may be a useful technique for analysing the sagittal movement of the medial longitudinal arch during the contact phase of walking.

Development and validation of a CT-3D rotational angiography registration method for AVM radiosurgery

In this paper a novel technique is proposed and validated for radiosurgery treatment planning of arteriovenous malformations (AVMs). The technique was developed for frameless radiosurgery by means of the CyberKnife, a nonisocentric, linac-based system which allows highly conformed isodose surfaces to be obtained, while also being valid for other treatment strategies. The technique is based on registration between computed tomography (CT) and three-dimensional rotational angiography (3DRA). Tests were initially performed on the effectiveness of the correction method for distortion offered by the angiographic system. These results determined the registration technique that was ultimately chosen. For CT-3DRA registration, a twelve-parameter affine transformation was selected, based on a mutual information maximization algorithm. The robustness of the algorithm was tested by attempting to register data sets increasingly distant from each other, both in translation and rotation. Registration accuracy was estimated by means of the "full circle consistency test." A registration quality index (expressed in millimeters) based on these results was also defined. A hybrid subtraction between CT and 3DRA is proposed in order to improve 3D reconstruction. Preprocessing improved the ability of the algorithm to find an acceptable solution to the registration process. The robustness tests showed that data sets must be manually prealigned within approximately 15 mm and 20 degrees with respect to all three directions simultaneously. Results of the consistency test showed agreement between the quality index and registration accuracy stated by visual inspection in 20 good and 10 artificially worsened registration processes. The quality index showed values smaller than the maximum voxel size (mean 0.8 mm compared to 2 mm) for all successful registrations, while it resulted in much greater values (mean 20 mm) for unsuccessful registrations. Once registered, the two data sets can be used for CyberKnife treatment planning. Target delineation is performed on 3DRA while dose calculation and DRR generation are performed on CT. In conclusion, a method was developed for using 3DRA images for AVM frameless radiosurgery treatment planning. The method proved to be feasible, robust, and accurate for clinical use. 3DRA can be performed at different times or locations compared to standard, frame based stereotactic angiography. Unlike two-dimensional angiography, 3DRA allows examination of the shape of the AVM and of the surrounding target from any arbitrary point of view during treatment planning. The method can be applied to any case of intermodality registration, is operator-independent, and allows estimation of registration quality. Further research is desirable to improve time resolution in order to distinguish between feeding and draining vessels.

Integration of computer assisted bone age assessment with clinical PACS

Computer assisted bone age assessment (BAA) integrated with a clinical PACS is described. The image analysis is performed on a DICOM compliant workstation able to accept images from a PACS server or directly from an image modality (digital radiography or film scanner). Images can be processed in two modes. If the image is acquired from a normally developed subject, it can be added to the digital hand atlas. An image may also be subjected only to a diagnostic analysis for the BAA without archiving the features in the database. The image analysis is performed in three steps. A location of six region of interest is followed by their segmentation and feature extraction. The features analysis results in retrieving the closest image match from the standard database. Based on currently analyzed image data in the hand atlas, the standard deviation of the assessment bone age does not exceed 1 yr of age.

Distortion correction for digital subtraction angiography imaging: PC based system for radiosurgery planning

We report, the development of a personal computer (PC) based system to correct distortion of digital subtraction angiography (DSA) images. The program was written in INTERACTIVE DATA LANGUAGE (IDL) and implemented on a PC equipped with an Intel Pentium III 450 MHz CPU in the MICROSOFT WINDOWS 98 environment. The system consists of two modules. The coefficient calculation module detects distortions of grid phantom images automatically and determines the distortion correction function. An additional distortion correction module corrects detected distortion using the correction function determined by the coefficient calculation module. The correction program can be used for images taken at arbitrary lateral oblique angle, and about 4 min are required to correct an image. The correction program was verified using phantom and clinical images. After image correction, the root mean square (rms) deviations of the reference points of each image were calculated. The average value of the rms deviation of all phantom images was about 0.1 mm. The residual mean rms deviation of the corrected clinical images (0.34+/-0.19 mm) and maximum error (0.59+/-0.26 mm) were within the acceptable limits of stereotactic radiosurgery. The accuracy, the ability to process lateral oblique angles, and reasonable program running time makes the developed system a valuable tool in clinical practice, for example for the planning of gamma knife radiosurgery.

A novel approach for distortion correction for X-ray image intensifiers

Applications of X-ray image intensifiers in medical imaging, include the use of fluoroscopic projection images to generate three-dimensional tomographic reconstructions. Unfortunately, the inherent distortions on the acquired projections deteriorate the quality of the reconstructed tomograms. Distortion correction can be performed using algorithms that can be classified as global or local according to the method used, both having specific advantages and disadvantages. In this work, a novel approach for distortion correction is proposed which, by combining both global and local correction methods allows good image quality in relatively acceptable time. Correction parameters were obtained using a calibration phantom specially designed for this purpose.

Hierarchical radial basis function networks and local polynomial un-warping for X-ray image intensifier distortion correction: a comparison with global techniques

Global polynomial (GP) methods have been widely used to correct geometric image distortion of small-size (up to 30 cm) X-ray image intensifiers (XRIIs). This work confirms that this kind of approach is suitable for 40 cm XRIIs (now increasingly used). Nonetheless, two local methods, namely 3rd-order local un-warping polynomials (LUPs) and hierarchical radial basis function (HRBF) networks are proposed as alternative solutions. Extensive experimental tests were carried out to compare these methods with classical low-order local polynomial and GP techniques, in terms of residual error (RMSE) measured at points not used for parameter estimation. Simulations showed that the LUP and HRBF methods had accuracies comparable with that attained using GP methods. In detail, the LUP method (0.353 microm) performed worse than HRBF (0.348 microm) only for small grid spacing (15 x 15 control points); the accuracy of both HRBF (0.157 microm) and LUP (0.160 microm) methods was little affected by local distortions (30 x 30 control points); weak local distortions made the GP method poorer (0.320 microm). Tests on real data showed that LUP and HRBF had accuracies comparable with that of GP for both 30 cm (GP: 0.238 microm; LUP: 0.240 microm; HRBF: 0.238 microm) and 40 cm (GP: 0.164 microm; LUP: 0.164 microm; HRBF: 0.164 microm) XRIIs. The LUP-based distortion correction was implemented in real time for image correction in digital tomography applications.

A global method based on thin-plate splines for correction of geometric distortion: an application to fluoroscopic images

Quantitative analysis of biomedical images needs a careful correction of geometric distortion. To avoid the discontinuities of the local correction techniques and achieve good accuracy in the presence of global and local distortion, a novel global correction technique based on thin-plate splines is proposed. The technique approximates the grid points by a thin plate minimizing the weighted sum of the bending energy and the mean squared residual errors. The method proposed is compared with three traditional correction techniques: two local and one global. One local technique is linear and takes into account translation, rotation, and scaling, the other is nonlinear and includes skewing. The global technique is based on a two-dimensional polynomial model. Computer-based simulations and experimental tests on fluoroscopic images were carried out. The local techniques were sensitive to both sigmoidal and radial distortion. The polynomial and thin-plate splines global techniques were found sensitive only to sigmoidal distortion and to radial distortion, respectively. The two global techniques showed better performances with respect to any local on synthetic and real images. Where the distortion is predominantly radial or high computational efficiency is required, the polynomial global correction technique should be preferred. Where the distortion has a local nature or is predominantly sigmoidal, the thin-plate splines global correction technique should be chosen.

Evaluating geometric accuracy of multi-platform stereotactic neuroimaging in radiosurgery

We used a spherical phantom to evaluate geometric accuracy in multi-platform stereotactic neuroimaging for radiosurgery. The phantom consisted of two plastic 16-cm-diameter hemispheres in which an exchangeable 8-cm plastic functional cube was incorporated. The functional cube contained cylinder and point targets. The targets were filled with a mixed aqueous solution of 2-mM copper sulfate and 300-mg/ml iodinated contrast medium and were visible on both MR and X-ray images. Two MR scanners and a biplane X-ray angio-suite were used to scan the phantom stereotactically in two sessions of the experiment. The angio-suite was equipped with digital subtraction and distortion-correction software. The resulting stereotactic images were transferred to a dose-planning computer for length measurement and coordinate determination of the targets. The mean errors of the measured cylinder length on distortion non-corrected X-ray stereotactic images were 0.24 +/- 0.14 and 0.73 +/- 0.10 mm, respectively, in the experiments; on distortion-corrected images 0.22 +/- 0.10 and 0.35 +/- 0.39 mm. They were 0.50 +/- 0.24, 0.25 +/- 0.19 and 0.49 +/- 0.34, 0.23 +/- 0.25 mm, respectively, of the two MR scanners. The mean errors of coordinate determination of point targets between the stereotactic MR and the distortion-corrected X-ray images were 0.70 +/- 0.18, 0.52 +/- 0.22 and 0.76 +/- 0.25, 0.40 +/- 0.10 mm, respectively, in the experiments. We found that the overall geometric errors of target delineation between stereotactic MR and X-ray images were in the submillimeter range. The current study validates the multi-platform and multi-facility stereotactic neuroimaging practice and ensures imaging accuracy in radiosurgery.

Distortion correction for x-ray image intensifiers: local unwarping polynomials and RBF neural networks

In this paper we present two novel techniques, namely a local unwarping polynomial (LUP) and a hierarchical radial basis function (HRBF) network, to correct geometric distortions in XRII images. The two techniques have been implemented and compared, in terms of residual error measured at control and intermediate points, with local and global methods reported in the previous literature. In particular, LUP rests on a locally optimized 3rd degree polynomial applied within each quadrilateral cell on the rectilinear calibration grid of points. HRBF, based on a feed-forward neural network paradigm, is constituted by a set of hierarchical layers at increasing cut-off frequency, each characterized by a set of Gaussian functions. Extensive experiments have been performed both on simulated and real data. In simulation, we tested the effect of pincushion, sigmoidal and local distortions, along with the number of calibration points. Provided that a sufficient number of cells of the calibration grid is available, the obtained accuracy for both LUP and HRBF is comparable to or better than that of global polynomial technique. Tests on real data, carried out by using two different (12 in. and 16 in.) XRIIs, showed that the global polynomial accuracy (0.16+/-0.08 pixels) is slightly worse than that of LUP (0.07+/-0.05 pixels) and HRBF (0.08+/-0.04 pixels). The effects of the discontinuity at the border of the local areas and the decreased accuracy at intermediate points, typical of local techniques, have been proved to be smoothed for both LUP and HRBF.

Interactive use of cerebral angiography and magnetoencephalography in arteriovenous malformations: technical note

OBJECTIVE

To minimize the risks associated with treating cortical cerebral arteriovenous malformations (AVMs), we developed a technique combining functional imaging and cerebral angiography. The functional loci obtained by performing magnetoencephalography (MEG) are projected onto stereoscopic pairs of a stereotactically derived digital subtraction angiogram. The result is a simultaneous three-dimensional perspective of the angioarchitecture of an AVM and its relationship to the sensorimotor cortex.

METHODS

Eight patients underwent multimodality brain imaging, including magnetic resonance imaging, functional mapping via MEG, and stereotactic angiography using a modified Compass fiducial system (Compass International, Rochester, MN). The coordinates derived by performing MEG were superimposed onto stereotactic, stereoscopic, angiographic pairs using custom-made distortion correction and coordinate transfer software.

RESULTS

The magnetoencephalographic angiogram allowed simultaneous viewing of the angioarchitecture of the AVM nidus, the feeding vessels, and the draining veins and their relationship to the normal cerebral vasculature and functional cortex. This imaging technique was particularly valuable in identifying en passant vessels that supplied functional cortex and was used during the treatment of these lesions.

CONCLUSION

The techniques of MEG and cerebral angiography were combined to provide simultaneous viewing of both modalities in a three-dimensional perspective. This technique can aid in risk stratification in the management of patients with cerebral AVMs. In addition, this technique can facilitate the selective targeting of vessels, thus potentially reducing the risks associated with embolization of these formidable lesions.

Automated seed detection and three-dimensional reconstruction. I. Seed localization from fluoroscopic images or radiographs

An automated procedure for the detection of the position and the orientation of radioactive seeds on fluoroscopic images or scanned radiographs is presented. The extracted positions of seed centers and the orientations are used for three-dimensional reconstruction of permanent prostate implants. The extraction procedure requires several steps: correction of image intensifier distortions, normalization, background removal, automatic threshold selection, thresholding, and finally, moment analysis and classification of the connected components. The algorithm was tested on 75 fluoroscopic images. The results show that, on average, 92% of the seeds are detected automatically. The orientation is found with an error smaller than 50 for 75% of the seeds. The orientation of overlapping seeds (10%) should be considered as an estimate at best. The image processing procedure can also be used for seed or catheter detection in CT images, with minor modifications.

3D reconstruction of the encapsulating contour of arteriovenous malformations for radiosurgery using digital subtraction angiography

PURPOSE

Treatment planning for radiosurgery depends on the precise definition of radiation target volumes. For vascular pathologies such as arteriovenous malformations (AVM), the most usual technique remains standard X-ray projection imaging, most often carried out under stereotactic conditions. To further benefit from the advantages of two-dimensional digital subtraction angiography (DSA), the authors have developed a method for determining the three-dimensional shape of arteriovenous malformations from two views.

METHODS AND MATERIALS

After correction of image intensifier distortion and calibration of both views, the 3D shape of the AVM was determined from two DSA projections using epipolarity geometry. The AVM-encapsulating contour was modeled by triangulation of a stack of almost parallel ellipses. The method was technically validated using artificial targets in a skull phantom. Clinical validation was carried out on 10 patients who were examined using both conventional angiography under stereotactic conditions (SX-ray) and DSA.

RESULTS

There was excellent agreement between the artificial target volumes measured with SX-ray and with DSA. The correspondence between AVM volumes found for patients was not as good as with the phantom.

CONCLUSIONS

The different image characteristics of the two modalities lead to some differences in AVM estimations. However, the results were sufficiently satisfactory to justify routine use of this AVM modeling technique for radiosurgery planning.

Comparison of geometric distortion in digital angiography with and without a correction program

✓ This study was conducted to evaluate the geometric distortion of angiographic images created from a commonly used digital x-ray imaging system and the performance of a commercially available distortion-correction computer program.

A 12 × 12 × 12—cm wood phantom was constructed. Lead shots, 2 mm in diameter, were attached to the surfaces of the phantom. The phantom was then placed inside the angiographic localizer. Cut films (frontal and lateral analog films) of the phantom were obtained. The films were analyzed using GammaPlan target series 4.12. The same procedure was repeated with a digital x-ray imaging system equipped with a computer program to correct the geometric distortion. The distortion of the two sets of digital images was evaluated using the coordinates of the lead shots from the cut films as references.

The coordinates of all lead shots obtained from digital images and corrected by the computer program coincided within 0.5 mm of those obtained from cut films. The average difference is 0.28 mm with a standard deviation of 0.01 mm. On the other hand, the coordinates obtained from digital images with and without correction can differ by as much as 3.4 mm. The average difference is 1.53 mm, with a standard deviation of 0.67 mm.

The investigated computer program can reduce the geometric distortion of digital images from a commonly used x-ray imaging system to less than 0.5 mm. Therefore, they are suitable for the localization of arteriovenous malformations and other vascular targets in gamma knife radiosurgery.

The effect of image distortion on 3-D reconstruction of coronary bypass grafts from angiographic views

Three-dimensional (3-D) reconstructions of coronary bypass grafts performed from X-ray angiographic images may become increasingly important for the investigation of damaging mechanical stresses imposed to these vessels by the cyclic movement of the heart. Contrary to what we had experienced with coronary arteries, appreciable reconstruction artifacts frequently occur with grafts. In order to verify the hypothesis that those are caused by distortions present in the angiographic images (acquired with image intensifiers), we have implemented a grid correction technique in our 3-D reconstruction method and studied its efficiency with phantom experiments. In this article, the nature of the encountered artifacts and the way in which the dewarping correction eliminates them are illustrated by a phantom experiment and by the reconstruction of a real coronary bypass vein graft.

Robotic-assisted internal fixation of hip fractures: a fluoroscopy-based intraoperative registration technique

The internal fixation of proximal femoral (hip) fractures is the most frequently performed orthopaedic surgery procedure. When using a sliding compression hip screw, a commonly used fixation device, accurate positioning of the device within the femoral neck-head is achieved by initially drilling a pilot hole. A cannulated component of the hip screw is then inserted over the guide wire (surgical drill bit), which is used to drill the pilot hole. However, in practice, this fluoroscopically controlled drilling process is severely complicated by a depth perception problem and, as such, a surgeon can require several attempts to achieve a satisfactory guide wire placement. A prototype robotic-assisted orthopaedic surgery system has therefore been developed, with a view to achieving accurate right-first-time guide wire insertions. This paper describes the non-invasive digital X-ray photogrammetry-based registration technique which supports the proposed robotic-assisted drilling scenario. Results from preliminary laboratory (in vitro) trials employing this registration technique indicate that the cumulative error associated with the entire X-ray guided robotic system is within acceptable limits for the guide wire insertion process.

Biplane X-ray angiograms, intravascular ultrasound, and 3D visualization of coronary vessels

The technology for determination of the 3D vascular tree and quantitative characterization of the vessel lumen and vessel wall has become available. With this technology, cardiologists will no longer rely primarily on visual inspection of coronary angiograms but use sophisticated modeling techniques combining images from various modalities for the evaluation of coronary artery disease and the effects of treatment. Techniques have been developed which allow the calculation of the imaging geometry and the 3D position of the vessel centerlines of the vascular tree from biplane views without a calibration object, i.e., from the images themselves, removing the awkwardness of moving the patient to obtain 3D information. With the geometry and positional information, techniques for reconstructing the vessel lumen can now be applied that provide more accurate estimates of the area and shape of the vessel lumen. In conjunction with these developments, techniques have been developed for combining information from intravascular ultrasound images with the information obtained from angiography. The combination of these technologies will yield a more comprehensive characterization and understanding of coronary artery disease and should lead to improved and perhaps less invasive patient care.

Registration of three-dimensional cardiac catheter models to single-plane fluoroscopic images

Transvenous cardiac procedures require accurate positioning of catheters within the geometrically complex cavities of the heart. Recently, nonfluoroscopic catheter tracking technologies have been developed to quantitate the (degrees-of-freedom) three-dimensional positions of intracardiac catheters. This paper presents a projection-Procrustes method to register an animated three-dimensional (3-D) model of multiple intracardiac catheters with a single-plane fluoroscopic image. Applying the computed transformation to the catheter coordinates enables the animated 3-D model of the catheters to be viewed from the same perspective as the fluoroscopic image. Mathematical simulations show that the computed transformation parameters are sensitive to both the position errors in the 3-D catheter coordinates and to the spatial distribution of the catheter-mounted transducers. Simulations with a realistic geometric model of three catheters with four transducers per catheter showed an angular error of 1.91 degrees +/- 0.27 degree for 3-D catheter position errors of 2.0 mm. An in vitro experiment demonstrated the feasibility of the method using a water tank phantom of three catheters and fluoroscopic images taken over an 80 degrees range. The mean angular error was 0.61 degree +/- 0.48 degree. The results of this study indicate that the projection-Procrustes method is a useful tool for registering 3-D catheter tracking models to single-plane fluoroscopic images.

A simple method for the correction of distorted digital angiographic images for stereotactic target localization

The most commonly used imaging modality for the diagnosis and localization of arteriovenous malformations (AVMs) treated with stereotactic radiotherapy is traditional angiography, but it would be desirable to also use digital subtraction angiography (DSA). However, DSA images are distorted due to the electron-optical characteristics of the X-ray image intensifier. For that reason, we have developed a method for the correction of the image distortion. The ISIS II Treatment Planning System (ISIS II TPS), developed at the Curie Institute, has been used for image acquisition and stereotactic localization. A grid phantom has been constructed for determining the distortion of the DSA images. The software developed for the correction has been implemented into the TPS and is based on a correction vector produced by matching the distorted and corrected grid points. The method has been tested for its ability to correct the position of all grid points as well as its effectiveness in real cases as compared to traditional angiography. The maximum displacement of the corrected grid points compared with their original position is measured to be 0.1 mm. The accuracy of the target localization using the corrected DSA images is comparable with traditional angiography localization and falls inside acceptable accuracy limits. In conclusion, this method offers the possibility of using DSA images for stereotactic localization without limiting the requested accuracy.

An integrated system for the production of field shaping devices in radiotherapy

A system has been developed in our department that simplifies the production processes of field shaping devices in radiotherapy, integrating an image grabbing and processing facility at a radiotherapy simulator and an automated block cutter. The data acquisition subsystem captures images, processes and corrects them for pincushion distortions, creates a composite radiograph, records user defined contours of blocks and exports data to the block cutter controller. A robotic subsystem drives and controls the polystyrene cutting unit. The system has been experimentally evaluated. Errors in contour definition were found to be less than 1 mm for a broad range of gantry angles and not exceeding 1.5 mm for those gantry orientations that present maximum magnetic field related image intensifier distortion, while the automated block cutter is capable of cutting out contours in polystyrene with an accuracy comparable to that of commercially available systems. The system is expected to contribute to the overall improvement of radiotherapy processes, particularly in low budget radiotherapy departments, introducing improvements in accuracy and efficiency at minimum costs.

Computer-aided radiation therapy simulation: image intensifier spatial distortion correction for large field of view digital fluoroscopy

An accurate method of correcting spatial distortion in digital fluoroscopy images has been developed for generating fluoroscopy-based large field of view images for computer-aided radiation therapy simulation. This method is applicable to arbitrary gantry rotations and arbitrary shifts of the image intensifier relative to the central axis of the x-ray beam. It is therefore suitable for conventional radiation therapy simulation techniques that involve the arbitrary positioning of the image intensifier by the operator. Spatial distortion is modelled as two image intensifier orientation-dependent components, the first resulting from the projection of the x-ray image onto the curved surface of the image intensifier front end, and the second produced by the image intensifier electron optics, interactions with external magnetic fields and the video system. A geometrical model approximates the first component. The second component is modelled by a third-order polynomial transformation. A weighted mean approach is employed to achieve accurate distortion correction when the image intensifier is oriented differently from the calibration orientations. Mean and maximum residual errors (measured in the plane of the isocentre) of 0.4 mm and 1.0 mm respectively have been achieved with just 48 calibration orientations in four dimensions (gantry rotation and lateral, longitudinal and vertical shifts of the image intensifier).

[Stereotactic localization in medical imaging. Technical and methodologic aspects]

Stereotactic neurosurgery and stereotactic radiation therapy require the three-dimensional localization of lesions for biopsy or for treatment planning. The aim of this paper is the description of methods used in the different imaging modalities: x-ray teleradiography, digital subtracted angiography, computed tomography, and nuclear magnetic resonance imaging. The simple pin-target locating techniques are distinguished from those serving to the definition of volumes target necessary to treatment planning. Performances and difficulties of these techniques are emphasized. The specific methodology developed in Lille is described as an example. Organizational aspects and necessary quality controls for a good progress of the entire procedure, from imaging to treatment, are also discussed.

Digital radiotherapy simulator

We describe a prototype digital radiotherapy simulator which consists of a conventional simulator gantry, digital spot imager, and image correction and reconstruction software. The ability of the digital spot imager to acquire a diagnostic quality image directly in digital format during simulation offers unique possibilities in clinical practice. Applications include prescription of multileaf collimator, on-line patient setup verification, remote consultation and treatment planning. In addition, we discuss the possibility of using the digital simulator as a volume-CT scanner capable of obtaining three-dimensional anatomical information in a single scan.

The accuracy and reproducibility of a global method to correct for geometric image distortion in the x-ray imaging chain

A method to correct for geometric image distortion in the x-ray imaging chain, so-called dewarping, has been developed. A global two-dimensional polynomial model of which the degree is optimized is used. The performance of the method has been tested in a number of experiments using images of a plate with a 1 cm spaced wire grid put against the input screen of the x-ray image intensifier (14/17/27 cm). Both offline cine film and online video images were analyzed. The accuracy of the dewarp method was derived from the acquired images and from computer-simulated distorted images. The robustness and reproducibility of the dewarp method was evaluated by means of imaging the grid in various random orientations. Three parameters describing the behavior of the algorithm were considered. One is the reproducibility of the location of a dewarped position. The second parameter is the reproducibility of the distance between two adjacent dewarped positions as a measure of the reproducibility of the size of an object under investigation. The third parameter is the reproducibility of the pixel size in the plane of the calibration plate. The major results are: the reproducibility of the location of a dewarped position was 0.01-0.04 mm for cine film and 0.04-0.07 mm for video images. The coefficient of variation of the distance between two dewarped positions was 0.04%-0.11% for cine film and 0.15%-0.18% for video images. The dewarp algorithm turned out to be fast and accurate and the distortion was removed over the whole image field down to a low random residual level. It was found that a random orientation of the grid did not affect the assessment of the distortion nor its correction. The dewarp method proved to be intrinsically robust and highly reliable. Time instability of the imaging chain was the main source of variability in the dewarp results.

Three-dimensional computed tomographic reconstruction using a C-arm mounted XRII: correction of image intensifier distortion

X-ray image intensifiers (XRIIs) have many applications in diagnostic imaging including acquisition of near-real-time projection images of the intracranial and coronary vasculature. Recently, there has been some interest in using this projection data to generate three-dimensional (3-D) computed tomographic (CT) reconstructions. The XRII and x-ray tube are rotated around the object, acquiring sufficient data for the simultaneous reconstruction of many transverse slices. Three-dimensional reconstructions are compromised, however, if the projection data is geometrically distorted in any way. Previous studies have shown the distortion in XRIIs to be substantial and to be highly angular dependent. In this paper, we present a global correction technique which provides a table of correction coefficients for an image acquired at any arbitrary angle about the patient. The coefficients are generated using a linear least-squares fit between the detected and known locations of a grid of small steel beads which is attached to the XRII (27 cm nominal diameter). We have performed corrections on 100 images obtained during rotation of the gantry through 200 degrees and find that a fifth-order polynomial provides optimum image distortion reduction (mean residual distortion of 0.07 pixels), however, fourth-order polynomials provide sufficient distortion reduction for our application (mean residual displacement of 0.1 pixels). Using sixth-order polynomials does not provide a statistically significant reduction in image distortion. The spatial distribution of residual distortion did not demonstrate any particular pattern over the face of the XRII. Image angle and coefficient angle must be known to within +/- 2 degrees in order to keep the mean residual distortion be approximately 0.5 pixels.

Measurement of a cross-sectional area of normal and stenotic arteries with videodensitometric quantitative arteriography and intravascular ultrasound

RATIONALE AND OBJECTIVES

A videodensitometric technique that allows measurement of absolute cross-sectional area of any complex lesion was compared with an intravascular ultrasound (US) technique.

METHODS

Stenotic devices (10-15 mm long) with cross sections of different shapes were placed in the distal aortas of five anesthetized pigs (weight, 40-50 kg). The stenotic devices were imaged by using an intravascular US probe after power injection of contrast material.

RESULTS

A comparison of actual areas and measured cross-sectional areas of the stenotic devices showed that videodensitometry and intravascular US produced better results than edge-detection techniques for both unsubtracted and temporal subtraction images.

CONCLUSION

These data suggest that the videodensitometric technique can be used to measure absolute cross-sectional areas of arteries with different shapes.

Assessment of image intensifier and distortion for DSA localization studies

The authors present methods of correcting pincushion and S distortions of an image intensifier, and of measuring the geometrical parameters of the imaging device used for localization from digital subtraction angiography brain studies. Pincushion and S distortions of the image intensifier are corrected by a calibration grid. A test pattern is used to study effectiveness of the corrections. Intrinsic geometrical parameters (source-to-image distance, centre of X-ray projection) of the apparatus are measured by the use of a calibration phantom. Short-range and long-range time drift of the distortion, as well as influence of the parameters of image acquisition on the accuracy of the localization results, are considered. The results obtained successfully demonstrate the accuracy of the correction, provided that the apparatus is warm.

On-line evaluation of systolic performance by densitometry in digital left ventriculography

The angiocardiographic evaluation of left ventricular end-diastolic (LVEDV) and end-systolic (LVESV) volumes and ejection fraction (EF) is routinely performed by the area-length method (ALM) but may lead to erroneous results. Digital imaging in real time allows densitometric procedures of determining left ventricular (LV) performance to be applied alternatively. In this study, we present densitometric algorithms for the analysis of LVEDV, LVESV, and EF from digital image data, establish accuracy and reproducibility, and determine value and limitations in comparison with ALM in single-plane 30 degrees right anterior oblique (RAO) projection. A linear relationship between iodine depth and measured densities is mainly burdened with scatter radiation and beam hardening which reduce primary radiation and suppress iodine depth. However, facilities such as deconvolution and correction algorithms are capable of reducing these sources of error. In the present study, computer-analyzed contrast images of iodine-filled wedges and spheres showed a near-linear relationship between iodine depth between 50-100 mg/cm2 and measured densities. Contrast images of heart casts and LV angio-grams of 54 patients were obtained with a digital image acquisition and processing system, and evaluated by two independent observers. The phantom study resulted in significantly (p < or = 0.01) better densitometric standard errors of estimate for volumes [3.3 ml densitometry (DENS) vs. 8.9 ml (ALM)] and simulated EF [4.3% (DENS) vs. 7.8% (ALM)] than ALM. The standard error of estimate for the comparison between both methods was 8.4 ml for volumes and 7.5% for EF. Densitometric volumes tended to underestimate volumes calculated by ALM. The angiographic study of patients demonstrated significant correlations between both methods (LVEDV r = 0.78, LVESV r = 0.83, total volumes: r = 0.89; EF r = 0.88). The standard errors of estimate can be ascribed to systematic, method-related errors of both DENS and ALM (LVEDV +/- 28.9 ml, LVESV +/- 23.4 ml, total volumes (EDV and ESV) +/- 27.1 ml; EF +/- 8.1%). The intra- and interobserver variability, respectively, exhibited significantly smaller (p < or = 0.01 and p < or = 0.05, respectively) standard errors of estimate for densitometric EF [4.6% (DENS) vs. 8.5% (ALM) and 7.1% (DENS) vs. 10.3% (ALM), respectively]. Inclined but not significant differences were found for LVEDV and LVESV. In conclusion, the data presented indicate that the calculation of LV volumes and EF in digital left ventriculography may be performed accurately by densitometric calculation in single-plane 30 degrees RAO projection. Minor underestimations in densitometric volume determination may be anticipated in the evaluation of LV geometry.

In-vivo validation of videodensitometric coronary cross-sectional area measurement using dual-energy digital subtraction angiography

Previous studies indicate that conventional geometric edge detection techniques, used in quantitative coronary arteriography (QCA), have significant limitations in quantitating coronary cross-sectional area of small diameter (D) vessels (D < 1.00 mm) and lesions with complex cross-section. As a solution to this problem, we have previously reported on an in-vitro validation of a videodensitometric technique that quantitates the absolute cross-sectional area including small vessel diameter (D < 1.00 mm) and any complex shape of the vessel cross-section. For in-vivo validation, plastic tubing (5-8 mm long) with different shape complex cross-section with known cross-sectional area (A = 0.8-4.5 mm2) were percutaneously wedged in the coronary arteries of anesthetized pigs (40-50 kg). Contrast material injections (6-10 ml at 2-4 ml/sec) were made into the left main coronary artery during image acquisition using a motion immune dual-energy subtraction technique, where low and high X-ray energy and filtration were switched at 30 Hz. A comparison was made between the actual and measured cross-sectional area using the videodensitometry and edge detection techniques in tissue suppressed energy subtracted images. In eighteen comparisons the videodensitometry technique produced significantly improved results (slope = 0.87, intercept = 0.24 mm2, r = 0.94) when compared to the edge detection technique (slope = 0.42, intercept = 1.99 mm2, r = 0.39). Also, a cylindrical vessel phantom (D = 1.00-4.75 mm) was used to test the ability to calculate and correct for the effect of the out of plane angle of the arterial segment on the cross-sectional area estimation of the videodensitometry technique. After corrections were made for the out of plane angle using two different projections, there was a good correlation between the actual and the measured cross-sectional area using the videodensitometry technique (slope = 0.91, intercept = 0.11 mm2, r = 0.99). These data suggest that it is possible to quantitate absolute cross-sectional area without any assumption regarding the arterial shape using videodensitometry in conjunction with the motion immune dual-energy subtraction technique.