Accurate frameless registration of MR and CT images of the head: applications in planning surgery and radiation therapy

A kinematics-based method for creating deformed patient-derived head and neck CT scans. ANNUAL INTERNATIONAL CONFERENCE OF THE IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. IEEE ENGINEERING IN MEDICINE AND BIOLOGY SOCIETY. ANNUAL INTERNATIONAL CONFERENCE 2023;2023:1-4. [PMID: 38083025 DOI: 10.1109/embc40787.2023.10340930] [Citation(s) in RCA: 0] [Impact Index Per Article: 0]

CT scans of the head and neck have multiple clinical uses, and simulating deformation of these CT scans allows for predicting patient motion and data augmentation for machine-learning methods. Current methods for creating patient-derived deformed CT scans require multiple scans or use unrealistic head and neck motion. This paper describes the CTHeadDeformation software package which allows for realistic synthetic deformation of head and neck CT scans for small amounts of motion. CTHeadDeformation is a python-based package that uses a kinematics-based approach using anatomical landmarks, and rigid/non-rigid registration to create a realistic patient-derived deformed CT scan. CTHeadDeformation is also designed for simple clinical implementation. The CTHeadDeformation software package was demonstrated on a head and neck CT scan of one patient. The CT scan was deformed in the anterior-posterior, superior-inferior, and left-right directions. Internal organ motion and more complex combination motions were also simulated. The results showed the patient's CT scan was able to be deformed in a way that preserved the shape and location of the anatomy.Clinical Relevance- This method allows for the realistic simulation of head and neck motion in CT scans. Clinical applications including simulating how patient motion affects radiation therapy treatment effectiveness. The CTHeadDeformation software can also be used to train machine-learning networks that are robust to patient motion, or to generate ground truth images for imaging or segmentation grand challenges.

A Priori Information Based Time-Resolved 3D Analysis of the Trajectory and Spatial Orientation of Fast-Moving Objects Using High-Speed Flash X-ray Imaging

This paper shows that the X-ray analysis method known from the medical field, using a priori information, can provide a lot more information than the common analysis for high-speed experiments. Via spatial registration of known 3D shapes with the help of 2D X-ray images, it is possible to derive the spatial position and orientation of the examined parts. The method was demonstrated on the example of the sabot discard of a subcaliber projectile. The velocity of the examined object amounts up to 1600 m/s. As a priori information, the geometry of the experimental setup and the shape of the projectile and sabot parts were used. The setup includes four different positions or points in time to examine the behavior over time. It was possible to place the parts within a spatial accuracy of 0.85 mm (standard deviation), respectively 1.7 mm for 95% of the errors within this range. The error is mainly influenced by the accuracy of the experimental setup and the tagging of the feature points on the X-ray images.

Fully Automatic Registration Methods for Chest X-Ray Images

Purpose

Image registration is important in medical applications accomplished by improving healthcare technology in recent years. Various studies have been proposed in medical applications, including clinical track of events and updating the treatment plan for radiotherapy and surgery. This study presents a fully automatic registration system for chest X-ray images to generate fusion results for difference analysis. Using the accurate alignment of the proposed system, the fusion result indicates the differences in the thoracic area during the treatment process.

Methods

The proposed method consists of a data normalization method, a hybrid L-SVM model to detect lungs, ribs and clavicles for object recognition, a landmark matching algorithm, two-stage transformation approaches and a fusion method for difference analysis to highlight the differences in the thoracic area. In evaluation, a preliminary test was performed to compare three transformation models, with a full evaluation process to compare the proposed method with two existing elastic registration methods.

Results

The results show that the proposed method produces significantly better results than two benchmark methods (P-value \documentclass[12pt]{minimal} \usepackage{amsmath} \usepackage{wasysym} \usepackage{amsfonts} \usepackage{amssymb} \usepackage{amsbsy} \usepackage{mathrsfs} \usepackage{upgreek} \setlength{\oddsidemargin}{-69pt} \begin{document}$$\le$$\end{document}≤ 0.001). The proposed system achieves the lowest mean registration error distance (MRED) (8.99 mm, 23.55 pixel) and the lowest mean registration error ratio (MRER) w.r.t. the length of image diagonal (1.61%) compared to the two benchmark approaches with MRED (15.64 mm, 40.97 pixel) and (180.5 mm, 472.69 pixel) and MRER (2.81%) and (32.51%), respectively.

Conclusions

The experimental results show that the proposed method is capable of accurately aligning the chest X-ray images acquired at different times, assisting doctors to trace individual health status, evaluate treatment effectiveness and monitor patient recovery progress for thoracic diseases.

Evaluation of anatomical landmark position differences for head computed tomography: A reliability study among technologists

INTRODUCTION

In computed tomography (CT) imaging protocols, lack of practice standards and variability in head positioning may all yield substantial inter-study image variance in the clinical setting which may limit the diagnostic and comparative value of subsequent scans. We aimed to evaluate repeatability of multiplanar reformatting of head CT based on the tuberculum sella (TS) to internal occipital protuberance (IOP) reference line and reduce variance.

METHODS

Reference lines that correspond to the TS-IOP plane on high-resolution CT scans were reviewed by technologists manually to calculate Yaw (z-rotation, rotation along the superoinferior direction), Pitch (x-rotation, rotation along the left-right direction), and Roll (y-rotation, rotation along the anteroposterior direction) angles in this pre-post design intervention study. The Yaw, Pitch, and Roll angles deviating from the reference TS-IOP in the head CT images before and after technologist training were measured with the technologists' actual graphical prescriptions, and their differences were calculated with t-tests. The intra-rater agreement was calculated using the intraclass correlation coefficient (ICC).

RESULTS

Mean pitch, yaw, and roll before technologist training was 6.7° ± 5.4°, 0.9° ± 1.5°, and 1.1° ± 1.2° and after training were 3.2° ± 2.6°, 0.6° ± 1.1°, and 0.6° ± 1.1°, respectively. Technologist training resulted in a significant decrease in pitch (p < 0.001) and roll (p = 0.001) inter-subject variability with respect to the TS-IOP line, however no significant difference for the yaw correction (p = 0.065) was noted. Intra-rater agreement regarding the reproducibility of TS-IOP reformation was excellent (ICC>0.950).

CONCLUSION

TS-IOP reference line corrected for direct roll, yaw, and pitch can be readily achieved by trained technologists.

IMPLICATIONS FOR PRACTICE

Adoption of the TS-IOP reference line should facilitate intra- and intermodality comparisons, leading to more reproducible and readily interpretable CT images.

A new reference line for coronal head CT to align with MRI: development of a standardised approach

BACKGROUND AND PURPOSE

There are great variations in how different technologists create the different imaging planes that can make a precise comparison of computed tomography and magnetic resonance imaging difficult. We aimed to identify a reference line for the coronal images on a computed tomography topography parallel to the posterior borderline of the brainstem (PB), matching standard coronal magnetic resonance imaging planes.

METHODS

We retrospectively reviewed computed tomography topography images of 80 consecutive patients to determine a computed tomography plane to match the PB on magnetic resonance imaging. These included the tuberculum sella (TS)-anterior arch of the C1 vertebra (C1), TS-tip of dens axis (D), dorsum sellae (DS)-C1 and DS-D. We compared these methods of prescribing the coronal computed tomography plane to coronal magnetic resonance imaging planes by measuring the angles between TS-C1 and PB, TS-M and PB, DS-C1 and PB, DS-D and PB on midsagittal brain magnetic resonance images. Bland-Altman plots were created to assess intra-observer reliability.

RESULTS

The angles between the PB line and each topogram-determined line are as follows: TS-C1, 10.40° ± 4.86°; TS-D, 22.46° ± 5.23°; DS-C1, 3.01° ± 3.16°; and DS-D, 11.53° ± 4.10°. The mean angles between the DS-C1 and the PB lines were significantly smaller than the mean angle between any other line (DS-D, TS-C1, or TS-D, all P < 0.001). Intra-observer agreement regarding the angular position of the reformatted coronal images on the lateral scout image was excellent (intraclass correlation coefficient >0.900, P < 0.05).

CONCLUSIONS

The DS-C1 is almost parallel to the PB and easily identifiable on the lateral scout topography of brain computed tomography. Utilising the DS-C1 line as the baseline for brain computed tomography could allow better corroboration with coronal magnetic resonance imaging angulation.

From clinical imaging and computational models to personalised medicine and image guided interventions

This short paper describes the development of the UCL Centre for Medical Image Computing (CMIC) from 2006 to 2016, together with reference to historical developments of the Computational Imaging sciences Group (CISG) at Guy's Hospital. Key early work in automated image registration led to developments in image guided surgery and improved cancer diagnosis and therapy. The work is illustrated with examples from neurosurgery, laparoscopic liver and gastric surgery, diagnosis and treatment of prostate cancer and breast cancer, and image guided radiotherapy for lung cancer.

3D Non-rigid Registration Using Surface and Local Salient Features for Transrectal Ultrasound Image-guided Prostate Biopsy

We present a 3D non-rigid registration algorithm for the potential use in combining PET/CT and transrectal ultrasound (TRUS) images for targeted prostate biopsy. Our registration is a hybrid approach that simultaneously optimizes the similarities from point-based registration and volume matching methods. The 3D registration is obtained by minimizing the distances of corresponding points at the surface and within the prostate and by maximizing the overlap ratio of the bladder neck on both images. The hybrid approach not only capture deformation at the prostate surface and internal landmarks but also the deformation at the bladder neck regions. The registration uses a soft assignment and deterministic annealing process. The correspondences are iteratively established in a fuzzy-to-deterministic approach. B-splines are used to generate a smooth non-rigid spatial transformation. In this study, we tested our registration with pre- and post-biopsy TRUS images of the same patients. Registration accuracy is evaluated using manual defined anatomic landmarks, i.e. calcification. The root-mean-squared (RMS) of the difference image between the reference and floating images was decreased by 62.6±9.1% after registration. The mean target registration error (TRE) was 0.88±0.16 mm, i.e. less than 3 voxels with a voxel size of 0.38×0.38×0.38 mm3 for all five patients. The experimental results demonstrate the robustness and accuracy of the 3D non-rigid registration algorithm.

Understanding the effect of bias in fiducial localization error on point-based rigid-body registration

Image registration is a single point of failure in the image-guided computer-assisted surgery. Registration is primarily used to align and fuse the data sets taken from patient's anatomy before and during surgeries. Point-based rigid-body registration is usually performed by identifying corresponding fiducials (either natural landmarks or implanted ones) in the data sets. Since the localization of fiducials is imprecise and is generally perturbed by random noise, the performed registration is imperfect and has some error. Previous work has extensively analyzed the behavior of this error when the fiducial localization error has zero-mean over the entire set of fiducials. However, if noise has a nonzero-mean or a bias, no formulation yet exists to determine the effect of noise on the overall registration accuracy. In this work, we derive novel formulations that relate the bias in the localized fiducials to the accuracy of the performed registration. We analytically and numerically demonstrate that by eliminating the estimated bias from the measured fiducial locations, one can effectively increase the accuracy of the performed registration.

The value of magnetic resonance imaging in target volume delineation of base of tongue tumours--a study using flexible surface coils

INTRODUCTION

Magnetic resonance imaging (MRI) provides superior diagnostic accuracy over computed tomography (CT) in oropharyngeal tumours. Precise delineation of the gross tumour volume (GTV) is mandatory in radiotherapy planning when a GTV boost is required. CT volume definition in this regard is poor. We studied the feasibility of using flexible surface (flex-L) coils to obtain MR images for MR-CT fusion to assess the benefit of MRI over CT alone in planning base of tongue tumours.

METHODS

Eight patients underwent CT and MRI radiotherapy planning scans with an immobilisation device. Distortion-corrected T1-weighted post-contrast MR scans were fused to contrast-enhanced planning CT scans. GTV, clinical target and planning target volumes (CTV, PTV) and organs at risk (OAR) were delineated on CT, then on MRI with blinding to the CT images. The volumetric and spatial differences between MRI and CT volumes for GTV, CTV, PTV and OAR were compared. MR image distortions due to field inhomogeneity and non-linear gradients were corrected and the need for such correction was evaluated.

RESULTS

The mean primary GTV was larger on MRI (22.2 vs. 9.5 cm(3), p=0.05) than CT. The mean primary and nodal GTV (i.e. BOT and macroscopic nodes) was significantly larger on MRI (27.2 vs. 14.4 cm(3), p=0.05). The volume overlap index (VOI) between MRI and CT for the primary was 0.34 suggesting that MRI depicts parts of the primary tumour not detected by CT. There was no significant difference in volume delineation between MR and CT for CTV, PTV, nodal CTV and nodal PTV. MRI volumes for brainstem and spinal cord were significantly smaller due to improved organ definition (p=0.002). Susceptibility and gradient-related distortions were not found to be clinically significant.

CONCLUSION

MRI improves the definition of tongue base tumours and neurological structures. The use of MRI is recommended for GTV dose-escalation techniques to provide precise depiction of GTV and improved sparing of spinal cord and brainstem.

Distribution of target registration error for anisotropic and inhomogeneous fiducial localization error

In point-based rigid-body registration, target registration error (TRE) is an important measure of the accuracy of the performed registration. The registration's accuracy depends on the fiducial localization error (FLE) which, in turn, is due to the measurement errors in the points (fiducials) used to perform the registration. FLE may have different characteristics and distributions at each point of the registering data sets, and along each orthogonal axis. Previously, the distribution of TRE was estimated based on the assumption that FLE has an independent, identical, and isotropic or anisotropic distribution for each point in the registering data sets. In this article, we present a general solution based on the Maximum Likelihood (ML) algorithm that estimates the distribution of TRE for the cases where FLE has an independent, identical or inhomogeneous, isotropic or anisotropic, distribution at each point in the registering data sets, and when an algorithm is available that is capable of calculating the optimum registration to first order. Mathematically, we show that the proposed algorithm simplifies to the one proposed by Fitzpatrick and West when FLE has an independent, identical, and isotropic distribution in the registering data sets. Furthermore, we use numerical simulations to show that the proposed algorithm accurately estimates the distribution of TRE when FLE has an independent, inhomogeneous, and anisotropic distribution in the registering data sets.

CYBERKNIFE STEREOTACTIC RADIOTHERAPY FOR SPINAL TUMORS

OBJECTIVE

For para- and intraspinal tumors, precise spinal cord delineation is critical for CyberKnife (Accuray, Inc., Sunnyvale, CA) stereotactic radiotherapy. We evaluated whether computed tomographic (CT) myelography is superior to magnetic resonance imaging (MRI) for accurate spinal cord delineation. Treatment parameters and short-term outcome and toxicity are also presented.

METHODS

The planning CT scan, the gadolinium-enhanced, T1-weighted, 3-dimensional (3D) fast imaging employing steady-state acquisition MRI scan, and the CT myelogram were fused before volume-of-interest delineation. The planning target volume margin was less than 1 mm using the Xsight Spine tracking system (Accuray). We present data from 11 heavily pretreated patients who underwent CyberKnife stereotactic radiosurgery between November 2006 and January 2008.

RESULTS

Spatial resolution was 0.46 and 0.93 mm/pixel for CT myelography and 3D-fast imaging employing steady-state acquisition MRI, respectively. The contrast between cerebrospinal fluid and spinal cord was excellent with CT myelography. A transient postmyelography headache occurred in 1 patient. The mean gross tumor volume was 51.1 mL. The mean prescribed dose was 34 Gy in 4 fractions (range, 2–7 fractions) with 147 beams (range, 79–232 beams) to the 75% reference isodose line (range, 68–80%), covering 95% (range, 86–99%) of the gross tumor volume with a mean conformity index of 1.4 (range, 1.1–1.8). No short-term toxicity on the spinal cord was noted at 1- to 6-months of follow-up.

CONCLUSION

CT myelography was more accurate for spinal cord delineation than 3D-fast imaging employing steady-state acquisition MRI (used for its myelographic effect), particularly in the presence of ferromagnetic artifacts in heavily pretreated patients or in patients with severe spinal compression. Because other MRI sequences (T2 and gadolinium-enhanced T1) provide excellent tumor characterization, we suggest trimodality imaging for spinal tumor treatment to yield submillimetric delineation accuracy. Combined with CyberKnife technology, CT myelography can improve the feasibility of dose escalation or reirradiation of spinal tumors in selected patients, thereby increasing local control while avoiding myelopathy. Further follow-up and prospective studies are warranted.

Optimization of the SNR-resolution tradeoff for registration of magnetic resonance images

Image registration serves many applications in medical imaging, including longitudinal studies, treatment verification, and more recently, morphometry. Registration processing is regularly applied in magnetic resonance (MR) images, where imaging is highly adaptable in capturing soft tissue contrast. To obtain the greatest registration accuracy in MR imaging, the inherent imaging tradeoff between SNR and resolution at a given scan time should be optimized for computational accuracy, rather than human viewing. We investigated this SNR-resolution tradeoff to optimize registration for digital morphometry. Tradeoff images were simulated from acquired gold standard MR images to emulate a shorter, constant acquisition time, but at the expense of SNR, resolution, or both. The group of images from each tradeoff was nonlinearly registered toward an average atlas producing deformation fields, useful for identifying differences in morphology. The gold standard data were also registered. The deformation fields were used to evaluate registration performance of each tradeoff relative to the gold standard. For fixed scan times, the optimal SNR for registration with MR imaging was found to be approximately 20. Image resolution should be adjusted to produce this target voxel SNR when registration is a central processing task.

Validation of a method for coregistering scalp recording locations with 3D structural MR images

A common problem in brain imaging is how to most appropriately coregister anatomical and functional data sets into a common space. For surface-based recordings such as the event related optical signal (EROS), near-infrared spectroscopy (NIRS), event-related potentials (ERPs), and magnetoencephalography (MEG), alignment is typically done using either (1) a landmark-based method involving placement of surface markers that can be detected in both modalities; or (2) surface-fitting alignment that samples many points on the surface of the head in the functional space and aligns those points to the surface of the anatomical image. Here we compare these two approaches and advocate a combination of the two in order to optimize coregistration of EROS and NIRS data with structural magnetic resonance images (sMRI). Digitized 3D sensor locations obtained with a Polhemus digitizer can be effectively coregistered with sMRI using fiducial alignment as an initial guess followed by a Marquardt-Levenberg least-squares rigid-body transform (df = 6) to match the surfaces. Additional scaling parameters (df = 3) and point-by-point surface constraints can also be employed to further improve fitting. These alignment procedures place the lower-bound residual error at 1.3 +/- 0.1 mm (micro +/- s) and the upper-bound target registration error at 4.4 +/- 0.6 mm (micro +/- s). The dependence of such errors on scalp segmentation, number of registration points, and initial guess is also investigated. By optimizing alignment techniques, anatomical localization of surface recordings can be improved in individual subjects.

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.

Feasibility of using MRI alone for 3D Radiation Treatment Planning in Brain Tumors

OBJECTIVE

The aim of this study was to establish whether radiation treatment planning using MRI alone could replace CT-based planning for brain tumors while retaining the dosimetric accuracy. This would help to provide a single imaging modality for both target delineation as well as treatment planning, thus saving time and resources.

METHODS

Twenty-five patients with brain tumors were scanned on a spiral CT scanner and 1.5 T MRI scanner. Three treatment plans were generated for all patients. The first plan was generated using the CT scan images with inhomogeneity correction (CT + IC); the second plan used the CT scan without inhomogeneity correction (CT-IC) and the third plan was generated using the MRI scan (MRI alone).

RESULTS

The maximum distortion in the MRI phantom study was less than 1 mm. There were no statistically significant differences in any of the target coverage parameters analysed in this study. Similarly, the maximum antero-posterior and lateral dimensions for the CT-based and MRI-based planning did not show any statistical difference.

CONCLUSION

MRI-based treatment planning for brain lesions is feasible and gives equivalent dosimetric results compared to CT-based treatment planning.

Image-guidance for surgical procedures

Contemporary imaging modalities can now provide the surgeon with high quality three- and four-dimensional images depicting not only normal anatomy and pathology, but also vascularity and function. A key component of image-guided surgery (IGS) is the ability to register multi-modal pre-operative images to each other and to the patient. The other important component of IGS is the ability to track instruments in real time during the procedure and to display them as part of a realistic model of the operative volume. Stereoscopic, virtual- and augmented-reality techniques have been implemented to enhance the visualization and guidance process. For the most part, IGS relies on the assumption that the pre-operatively acquired images used to guide the surgery accurately represent the morphology of the tissue during the procedure. This assumption may not necessarily be valid, and so intra-operative real-time imaging using interventional MRI, ultrasound, video and electrophysiological recordings are often employed to ameliorate this situation. Although IGS is now in extensive routine clinical use in neurosurgery and is gaining ground in other surgical disciplines, there remain many drawbacks that must be overcome before it can be employed in more general minimally-invasive procedures. This review overviews the roots of IGS in neurosurgery, provides examples of its use outside the brain, discusses the infrastructure required for successful implementation of IGS approaches and outlines the challenges that must be overcome for IGS to advance further.

Analytic Expressions for Fiducial and Surface Target Registration Error

We propose and test analytic equations for approximating expected fiducial and surface target registration error (TRE). The equations are derived from a spatial stiffness model of registration. The fiducial TRE equation is equivalent to one presented by. We believe that the surface TRE equation is novel, and we provide evidence from computer simulations to support the accuracy of the approximation.

Dosimetric evaluation of MRI-based treatment planning for prostate cancer

The purpose of this study is to evaluate the dosimetric accuracy of MRI-based treatment planning for prostate cancer using a commercial radiotherapy treatment planning system. Three-dimensional conformal plans for 15 prostate patients were generated using the AcQPlan system. For each patient, dose distributions were calculated using patient CT data with and without heterogeneity correction, and using patient MRI data without heterogeneity correction. MR images were post-processed using the gradient distortion correction (GDC) software. The distortion corrected MR images were fused to the corresponding CT for each patient for target and structure delineation. The femoral heads were delineated based on CT. Other anatomic structures relevant to the treatment (i.e., prostate, seminal vesicles, lymph notes, rectum and bladder) were delineated based on MRI. The external contours were drawn separately on CT and MRI. The same internal contours were used in the dose calculation using CT- and MRI-based geometries by directly transferring them between MRI and CT as needed. Treatment plans were evaluated based on maximum dose, isodose distributions and dose-volume histograms. The results confirm previous investigations that there is no clinically significant dose difference between CT-based prostate plans with and without heterogeneity correction. The difference in the target dose between CT- and MRI-based plans using homogeneous geometry was within 2.5%. Our results suggest that MRI-based treatment planning is suitable for radiotherapy of prostate cancer.

Registration and Fusion of CT and MRI of the Temporal Bone

OBJECTIVE

To present and evaluate a registration method to fuse complementary information of CT and MRI of the temporal bone.

METHODS

CT and MRI of the temporal bone of 26 patients were independently registered 4 times. A manual, iterative, intrinsic, rigid, and retrospective registration method was used. Mean CREm (consistency registration error) was calculated as a reproducibility measurement.

RESULTS

CREm was 0.6 mm (95% CI = 0.52-0.68 mm). T-test revealed no difference between pathologic and normal cases (t[102] = -1.71; P = 0.09). Time needed: 13 minutes. In the registered and fused datasets, important bony surgical landmarks (eg, facial nerve canal, inner ear) could be assessed in 3 dimensions relatively to tumor tissue (eg, acoustic schwannoma). Fluid distribution within partially obliterated cochleae could be assigned to either scalae.

CONCLUSION

An accurate, reproducible registration and fusion method that improves tumor surgery and cochlea implantation planning with only minor changes to the clinical workflow was presented and described. We suggest this method in selected cases.

Prototype of simulation of orthognathic surgery using a virtual reality haptic device

A maxillofacial simulator can support education and training. In the present study, cutting, separation, and quantitative rearrangement of bone during orthognathic surgery were simulated by means of a haptic device with virtual tactile perception. Computed tomographic (CT) images of two patients with severe jaw deformity, one women and one man, were input into the device. In the woman, Le Fort I osteotomy of the maxilla and sagittal splitting ramus osteotomy of the mandible were initially simulated. During surgery with the haptic device, separation and rearrangement of the maxilla and the ramus of the mandible were initially processed. However, there was discrepancy and overlapping of the ramus with the mandible. Intraoral vertical osteotomy of the right ramus was then performed, with satisfactory results and less discrepancy and interference. The simulation was referred to at surgery, and satisfactory surgical assistance was postoperatively confirmed on CT images. The male patient had severe jaw deformity due to unequal growth between the ramuses, resulting in anterior crossbite. Sagittal splitting ramus osteotomy with rotation of the mandible was successfully simulated. Because of its versatility and functions, the present device was found to be useful for simulating various procedures for orthognathic surgery and thereby three-dimensionally determine surgical movements.

Automatic image registration of three-dimensional images of the head of cats and dogs by use of maximization of mutual information

OBJECTIVE

To validate mutual information criterion as a ready-to-use technique for automated alignment (ie, registration) of 3-dimensional (3-D) multimodal image data of the head of cats and dogs.

SAMPLE POPULATION

Corresponding 3-D magnetic resonance imaging (MRI) and computed tomography (CT) brain scans of a 6-month-old Doberman Pinscher with a brain cyst; CT images of the head of a European shorthair cat with a meningioma before and immediately, 3, and 6 months after surgical resection; and CT and corresponding stacked anatomic cryosection images of the entire head of a 2-year-old sexually intact female Beagle.

PROCEDURE

All images were matched retrospectively by use of an in-house computer program developed on the basis of a mutual information image registration algorithm. Accuracy of the resulting registrations was evaluated by visual inspection.

RESULTS

All registrations were judged to be highly accurate. Additional manual corrections were not necessary.

CONCLUSIONS AND CLINICAL RELEVANCE

Mutual information registration criterion can by applied to 3-D multimodal head images of cats and dogs for full automatic rigid-body image registration. The combination of such aligned images would considerably facilitate efforts of veterinary clinicians as indicated by its widespread use in brain surgery and radiation therapy of humans.

A technique to re-establish dose distributions for previously treated brain cancer patients in external beam radiotherapy

Tumor recurrences or new tumors may develop after irradiation of local lesion(s) in the brain, and additional radiotherapy treatments are often needed for previously treated patients. It is critical to re-establish the dose distributions delivered during the previous treatment in the current patient geometry, so that the previous dose distributions can be accurately taken into consideration in the design of the current treatment plan. The difficulty in re-establishing the previous treatment dose distributions in the current patient geometry arises from the fact that the patient position at the time of reirradiation is different from that at the previous treatment session. Simple re-entry of the previous isocenter coordinates, gantry, and couch and collimator angles into the new treatment plan would result in incorrect beam orientations relative to the new patient anatomy, and therefore incorrect display of the previous dose distributions on the current patient anatomy. To address this issue, a method has been developed so that the previous dose distributions can be accurately re-established in the framework of the current brain treatment. The method involves 3 matrix transformations: (1) transformation of beams from machine coordinate system to patient coordinate system in the previous treatment; (2) transformation of beams from patient coordinate system in the previous treatment to patient coordinate system in the current treatment; and (3) transformation of beams from patient coordinate system in the current treatment to machine coordinate system. The transformation matrices used in the second transformation are determined by registration using a mutual information-based algorithm with which the old and new computed tomography (CT) scan sets are registered automatically without human interpretation. A series of transformation matrices are derived to calculate the isocenter coordinates, the gantry, couch, and collimator angles of the beams for the previous treatment in the current patient geometry, and the previous dose distributions are re-established on the current CT images. The method has been proven to be successful and robust.

Technology improvements for image-guided and minimally invasive spine procedures

This paper reports on technology developments aimed at improving the state of the art for image-guided minimally invasive spine procedures. Back pain is a major health problem with serious economic consequences. Minimally invasive procedures to treat back pain are rapidly growing in popularity due to improvements in technique and the substantially reduced trauma to the patient versus open spinal surgery. Image guidance is an enabling technology for minimally invasive procedures, but technical problems remain that may limit the wider applicability of these techniques. The paper begins with a discussion of low back pain and the potential shortcomings of open back surgery. The advantages of minimally invasive procedures are enumerated, followed by a list of technical problems that must be overcome to enable the more widespread dissemination of these techniques. The technical problems include improved intraoperative imaging, fusion of images from multiple modalities, the visualization of oblique paths, percutaneous spine tracking, mechanical instrument guidance, and software architectures for technology integration. Technical developments to address some of these problems are discussed next. The discussion includes intraoperative computerized tomography (CT) imaging, magnetic resonance imaging (MRI)/CT image registration, three-dimensional (3-D) visualization, optical localization, and robotics for percutaneous instrument placement. Finally, the paper concludes by presenting several representative clinical applications: biopsy, vertebroplasty, nerve and facet blocks, and shunt placement. The program presented here is a first step to developing the physician-assist systems of the future, which will incorporate visualization, tracking, and robotics to enable the precision placement and manipulation of instruments with minimal trauma to the patient.

MR-guided stereotactic neurosurgery—comparison of fiducial-based and anatomical landmark transformation approaches

For application in magnetic resonance (MR) guided stereotactic neurosurgery, two methods for transformation of MR-image coordinates in stereotactic, frame-based coordinates exist: the direct stereotactic fiducial-based transformation method and the indirect anatomical landmark method. In contrast to direct stereotactic MR transformation, indirect transformation is based on anatomical landmark coregistration of stereotactic computerized tomography and non-stereotactic MR images. In a patient study, both transformation methods have been investigated with visual inspection and mutual information analysis. Comparison was done for our standard imaging protocol, including t2-weighted spin-echo as well as contrast enhanced t1-weighted gradient-echo imaging. For t2-weighted spin-echo imaging, both methods showed almost similar and satisfying performance with a small, but significant advantage for fiducial-based transformation. In contrast, for t1-weighted gradient-echo imaging with more geometric distortions due to field inhomogenities and gradient nonlinearity than t2-weighted spin-echo imaging, mainly caused by a reduced bandwidth per pixel, anatomical landmark transformation delivered markedly better results. Here, fiducial-based transformation yielded results which are intolerable for stereotactic neurosurgery. Mean Euclidian distances between both transformation methods were 0.96 mm for t2-weighted spin-echo and 1.67 mm for t1-weighted gradient-echo imaging. Maximum deviations were 1.72 mm and 3.06 mm, respectively.

Designing optically tracked instruments for image-guided surgery

Most image-guided surgery (IGS) systems track the positions of surgical instruments in the physical space occupied by the patient. This task is commonly performed using an optical tracking system that determines the positions of fiducial markers such as infrared-emitting diodes or retroreflective spheres that are attached to the instrument. Instrument tracking error is an important component of the overall IGS system error. This paper is concerned with the effect of fiducial marker configuration (number and spatial distribution) on tip position tracking error. Statistically expected tip position tracking error is calculated by applying results from the point-based registration error theory developed by Fitzpatrick et al. Tracking error depends not only on the error in localizing the fiducials, which is the error value generally provided by manufacturers of optical tracking systems, but also on the number and spatial distribution of the tracking fiducials and the position of the instrument tip relative to the fiducials. The theory is extended in two ways. First, a formula is derived for the special case in which the fiducials and the tip are collinear. Second, the theory is extended for the case in which there is a composition of transformations, as is the situation for tracking an instrument relative to a coordinate reference frame (i.e., a set of fiducials attached to the patient). The derivation reveals that the previous theory may be applied independently to the two transformations; the resulting independent components of tracking error add in quadrature to give the overall tracking error. The theoretical results are verified with numerical simulations and experimental measurements. The results in this paper may be useful for the design of optically tracked instruments for image-guided surgery; this is illustrated with several examples.

The integration of neurosurgical techniques in current head and neck skull base surgery

The recent advances in neurosurgery, applied to the growing field of skull base surgery, provide surgeons with new techniques to avoid the devastating complication of CSF leak, to improve patient selection by reducing the risk of stroke while expanding the operative options available to patients with head and neck malignancies, and to aid operative care through improved surgical planning and intraoperative localization.

Image fusion of CT and MRI data enables improved target volume definition in 3D-brachytherapy treatment planning

PURPOSE

To integrate MRI into CT-based 3D-brachytherapy treatment planning using a software system for image registration and fusion.

METHODS AND MATERIALS

Sixteen patients with recurrent head-and-neck cancer, vulvar cancer, liposarcoma, and cervical cancer were treated with interstitial (n=12) and endocavitary (n=4) brachytherapy. CT and MRI scans were performed after implantation and prior to treatment planning. Image registration to integrate the CT and MR information into a single geometric framework was performed using a software algorithm based on mutual information. Conventional 3D-brachytherapy planning based on CT-information alone was compared to brachytherapy planning based on fused CT and MRI data. The accuracy of the image fusion was measured using predefined corresponding landmarks in the CT and MRI data.

RESULTS

The presented automated algorithm proved to be robust and reliable (mean registration error 1.8 mm, range 0.8-4.1 mm, SD 0.9 mm). Tumor visualization was difficult using CT alone in all cases. Brachytherapy treatment planning based on fused CT and MRI data enabled better definition of target volume and risk structures as compared to treatment planning based on CT alone.

CONCLUSIONS

Image registration and fusion is feasible for afterloading brachytherapy treatment planning. Treatment planning based on fused CT and MRI data resulted in improved target volume and risk structure definition.

Characteristics and quality assurance of a dedicated open 0.23 T MRI for radiation therapy simulation

A commercially available open MRI unit is under routine use for radiation therapy simulation. The effects of a gradient distortion correction (GDC) program used to post process the images were assessed by comparison with the known geometry of a phantom. The GDC reduced the magnitude of the distortions at the periphery of the axial images from 12 mm to 2 mm horizontally along the central axis and distortions exceeding 20 mm were reduced to as little as 2 mm at the image periphery. Coronal and sagittal scans produced similar results. Coalescing these data into distortion as a function of radial distance, we found that for radial distances of <10 cm, the distortion after GDC was <2 mm and for radial distances up to 20 cm, the distortion was <5 mm. The dosimetric errors resulting from homogeneous dose calculations with this level of distortion of the external contour is <2%. A set of triangulation lasers has been added to establish a virtual isocenter for convenient setup and marking of patients and phantoms. Repeated measurements of geometric phantoms over several months showed variations in position between the virtual isocenter and the magnetic isocenter were constrained to <2 mm. Additionally, the interscan variations of 12 randomly selected points in space defined by a rectangular grid phantom was found to be within the intraobserver error of approximately 1 mm in the coronal, sagittal, and transverse planes. Thus, the open MRI has sufficient geometric accuracy for most radiation therapy planning and is temporally stable.

Conformal therapy for pancreatic cancer: variation of organ position due to gastrointestinal distention--implications for treatment planning

PURPOSE

To quantify nonrespiratory organ motion in the pancreatic region and its effect on clinical target volume.

MATERIALS AND METHODS

Three-dimensional translations of the geometric centers of the volumes of interest--pancreatic head, body, and tail; left and right kidney; and the superior mesenteric artery--were measured in 20 patients by analyzing three spiral computed tomographic (CT) protocols performed at static exhalation and representing differential gastrointestinal distention. Wilcoxon test for paired differences was applied to determine statistical significance (P <.05). Spearman rank correlation coefficients were calculated between combinations of statistically significant translations. With the assumption that the organ positions were represented by a three-dimensional Gaussian distribution that occurs during treatment, clinical target volume expansions were calculated to account for organ motion and a typical setup error.

RESULTS

Significant translations of the volume of interest were observed. The most mobile parts of the target organs were the pancreatic tail (P =.001) and the superior mesenteric artery (P =.01). Larger variations from the mean in the planning CT protocol in which negative contrast material was used usually resulted in a slightly larger clinical target volume expansion.

CONCLUSION

Our data may provide a basis for further studies of organ motion and ways of modifying treatment margins.

[Physical and methodological aspects of multimodality imaging and principles of treatment planning in 3D conformal radiotherapy]

The recent evolutions of the imaging modalities, the dose calculation models, the linear accelerators and the portal imaging permit to improve the quality of the conformal radiation therapy treatment planning. With DICOM protocols, the acquired imaging data coming from different modalities are treated by performant image fusion algorithms and yield more precise target volumes and organs at risk. The transformation of the clinical target volumes (CTV) to planning target volumes (PTV) can be realised using advanced probabilistic techniques based on clinical experience. The treatment plans evaluation is based on the dose volume histograms. Their precision and clinical relevance are improved by the multi-modality imaging and the advanced dose calculation models. The introduction of the inverse planning systems permitting to realise modulated intensity radiation therapy generates highly conformal dose distributions. All the previously cited complex techniques require the application of rigorous quality assurance programs.

Reproducibility of interactive registration of 3D CT and MR pediatric treatment planning head images

The reproducibility of an interactive image registration technique used as part of the radiotherapy treatment planning process was investigated for 3D CT and MR pediatric head images. Over a nine month period, 85 CT/MR image registrations, required for treatment planning, were repeated, 52 by the same operator and 33 by a different operator. All were performing image registrations for normal clinical care and the first registration was used clinically. Inter- and intra-operator reproducibility of the translation and rotation were calculated separately. The standard deviation of the average total translation and rotation was 0.39 mm and 1.7 degrees, and 0.58 mm and 2.8 degrees, respectively. The maximum difference between registrations was 1.1 mm and 4.1 degrees when repeated by the same operator, and 1.4 mm and 5.8 degrees when repeated by another operator. The variation for the lowest resolution parameters, out of plane translation and rotations, was 2 to 3 times larger than for in-plane movements. A registration took between 5 minutes and over half an hour for difficult cases, with a mean of 14.3 minutes. One to two millimeter reproducibility was not achieved and interactive registration was relatively time consuming. There is a clear image resolution effect on registration reproducibility, suggesting that reducing slice thickness could considerably improve registration reproducibility.

The distribution of target registration error in rigid-body point-based registration

Guidance systems designed for neurosurgery, hip surgery, spine surgery and for approaches to other anatomy that is relatively rigid can use rigid-body transformations to accomplish image registration. These systems often rely on point-based registration to determine the transformation and many such systems use attached fiducial markers to establish accurate fiducial points for the registration, the points being established by some fiducial localization process. Accuracy is important to these systems, as is knowledge of the level of that accuracy. An advantage of marker-based systems, particularly those in which the markers are bone-implanted, is that registration error depends only on the fiducial localization and is, thus, to a large extent independent of the particular object being registered. Thus, it should be possible to predict the clinical accuracy of marker-based systems on the basis of experimental measurements made with phantoms or previous patients. For most registration tasks, the most important error measure is target registration error (TRE), which is the distance after registration between corresponding points not used in calculating the registration transform. In this paper, we derive an approximation to the distribution of TRE; this is an extension of previous work that gave the expected squared value of TRE. We show the distribution of the squared magnitude of TRE and that of the component of TRE in an arbitrary direction. Using numerical simulations, we show that our theoretical results are a close match to the simulated ones.

Interobserver variations in gross tumor volume delineation of brain tumors on computed tomography and impact of magnetic resonance imaging

PURPOSE

(1) To assess the interobserver variability of brain tumor delineation on computed tomography (CT). (2) To assess the impact of the addition of magnetic resonance imaging (MRI) information.

METHODS

Nine physicians were asked to delineate the gross tumor volume (GTV) of five patients with supratentorial inoperable brain tumors on CT scans and 2 weeks (or more) later on MRIs. The delineations were performed on a computer screen. During delineation on MRI, the registered CT images (without delineation) were displayed on the screen (MRI+CT).

RESULTS

A high interobserver variability in GTV delineation on CT is found: the ratio of the largest to the smallest defined volumes varies for the five patients by factors of resp. 2.8, 1.8, 1.8, 1.9 and 1.7. The interobserver variability is as large on MRI+CT as on CT alone (ratio largest/smallest volume: 2.4, 1.7, 1.9, 2.7 and 1.5). Volumes delineated on MRI+CT (mean: 69.6 cm(3)) are larger than on CT alone (mean: 59.5 cm(3)). Residual volumes (volume delineated on one image modality but not on the other) are >0 for CT alone and for MRI+CT.

CONCLUSIONS

A large interobserver variability in GTV delineation of brain tumors is demonstrated. The addition of MRI to CT does not reduce interobserver variability. GTVs delineated on MRI+CT are larger than on CT alone, but some volumes are delineated on CT and not on MRI. Therefore, a combination of the two image modalities is recommended for brain tumor delineation for treatment planning.

Image fusion in open-architecture PACS-environment

Multimodal digital imaging is common in many fields of diagnosis and therapy planning - there is great interest in matching globally, fusing or registering data from the same part of the body. In practice, there are still difficulties in customizing image fusion in hospitals. Efficient routine use of image fusion requires, among others, an image management infrastructure - a picture archiving and communication system (PACS) - to provide storage of image data in a standard digital format, intelligent image management and fault-tolerant high-speed image networking. In order to customize image fusion, advances in both fusion software and hardware are also needed. The algorithms should be automatic, fast and accurate enough. Registration of multimodal data also creates a need for different display techniques and user-friendly interfaces. Image fusion has been impractical and too tedious to be performed in routine work, but in the future, fused images will be used in clinical practice - even in teleradiological consultation.

Fiducial point placement and the accuracy of point-based, rigid body registration

OBJECTIVE

To demonstrate that the shape of the configuration of fiducial points is an important factor governing target registration error (TRE) in point-based, rigid registration.

METHODS

We consider two clinical situations: cranial neurosurgery and pedicle screw placement. For cranial neurosurgery, we apply theoretical results concerning TRE prediction, which we have previously derived and validated, to three hypothetical fiducial marker configurations. We illustrate the profile of expected TRE for each configuration. For pedicle screw placement, we apply the same theory to a common anatomic landmark configuration (tips of spinous and transverse processes) used for pedicle screw placement, and we estimate the error rate expected in placement of the screw.

RESULTS

In the cranial neurosurgery example, we demonstrate that relatively small values of TRE may be achieved by using widely spread fiducial markers and/or placing the centroid of the markers near the target. We also demonstrate that near-collinear marker configurations far from the target may result in large TRE values. In the pedicle screw placement example, we demonstrate that the screw must be approximately 4 mm narrower than the pedicle in which it is implanted to minimize the chance of pedicle violation during placement.

CONCLUSION

The placement of fiducial points is an important factor in minimizing the error rate for point-based, rigid registration. By using as many points as possible, avoiding near-collinear configurations, and ensuring that the centroid of the fiducial points is as near as possible to the target, TREs can be minimized.

In-vitro assessment of a registration protocol for image guided implant dentistry

In this study a computer aided navigation technique for accurate positioning of oral implants was assessed. An optical tracking system with specially designed tools for monitoring the position of surgical instruments relative to the patient was used to register 5 partially or completely edentulous jaw models. Besides the accuracy of the tracking system, the precision of localizing a specific position on 3-dimensional preoperative imagery is governed by the registration algorithm which conveys the coordinate system of the preoperative computed tomography (CT) scan to the actual patient position. Two different point-to-point registration algorithms were compared for their suitability for this application. The accuracy was determined separately for the localization error of the position measurement hardware (fiducial localization error-FLE) and the error as reported by the registration algorithm (fiducial registration error-FRE). The overall error of the navigation procedure was determined as the localization error of additional landmarks (steel spheres, 0.5 mm diameter) after registration (target registration error-TRE). Images of the jaw models were obtained using a high resolution CT scan (1.5 mm slice thickness, 1 mm table feed, incremental scanning, 120 kV, 150 mAs, 512 x 512 matrix, FOV 120 mm). The accuracy of the position measurement probes was 0.69 +/- 0.15 mm (FLE). Using 3 implanted fiducial markers, FRE was 0.71 +/- 0.12 mm on average and 1.00 +/- 0.13 mm maximum. TRE was found to be 1.23 +/- 0.28 mm average and 1.87 +/- 0.47 mm maximum. Increasing the number of fiducial markers to a total of 5 did not significantly improve precision. Furthermore it was found that a registration algorithm based on solving an eigenvalue problem is the superior approach for point-to-point matching in terms of mathematical stability. The experimental results indicate that positioning accuracy of oral implants may benefit from computer aided intraoperative navigation. The accuracy achieved compares well to the resolution of the CT scan used. Further development of point-to-point/point-to-surface registration methods and tracking hardware has the potential to improve the precision of the method even further. Our system has potential to reduce the intraoperative risk of causing damage to critical anatomic structures, to minimize the efforts in prosthetic modelling, and to simplify the task of transferring preoperative planning data precisely to the operating room in general.

Computer assisted oral and maxillofacial surgery--a review and an assessment of technology

Advances in the basic scientific research within the field of computer assisted oral and maxillofacial surgery have enabled us to introduce features of these techniques into routine clinical practice. In order to simulate complex surgery with the aid of a computer, the diagnostic image data and especially various imaging modalities including computer tomography (CT), magnetic resonance imaging (MRI) and Ultrasound (US) must be arranged in relation to each other, thus enabling a rapid switching between the various modalities as well as the viewing of superimposed images. Segmenting techniques for the reconstruction of three-dimensional representations of soft and hard tissues are required. We must develop ergonomic and user friendly interactive methods for the surgeon, thus allowing for a precise and fast entry of the planned surgical procedure in the planning and simulation phase. During the surgical phase, instrument navigation tools offer the surgeon interactive support through operation guidance and control of potential dangers. This feature is already available today and within this article we present a review of the development of this rapidly evolving technique. Future intraoperative assistance takes the form of such passive tools for the support of intraoperative orientation as well as so-called 'tracking systems' (semi-active systems) which accompany and support the surgeons' work. The final form are robots which execute specific steps completely autonomously. The techniques of virtual reality and computer assisted surgery are increasingly important in their medical applications. Many applications are still being developed or are still in the form of a prototype. It is already clear, however, that developments in this area will have a considerable effect on a surgeon's routine work.

Image registration and calculation of a biologically effective dose for multisession radiosurgical treatments

✓ The purpose of this study was to develop techniques for registering image sets associated with staged or multifraction radiosurgical treatments of large targets with the Leksell gamma knife to transform shot coordinates between treatment sessions and produce cumulative dose distributions and to investigate the theoretical biological effects of such protracted treatments by means of such concepts as the linear—quadratic model and biologically effective dose.

An image registration technique based on normalized mutual information was adapted to produce one fused-image study from an imaging series acquired during distinct treatment sessions. A spreadsheet computer program was developed to determine coordinate transformations between the associated stereotactic coordinate systems based on digitized coordinates of fiducial markers appearing on the fused images. Coordinates of shots used during one treatment session could then be transformed to the stereotactic space of another session, and cumulative dose distributions could be computed. The procedure was applied to the two-stage treatment of a giant arteriovenous malformation (AVM). Overall uncertainty in each transformed shot position is approximately 0.7 mm.

An effective single-fraction dose (Deff) was defined and computed for the two-stage AVM treatment. The simple summed dose distribution was compared with the Deff distribution. Because dose values differ significantly in overlap regions between the individual distributions, the clinical usefulness of the simple cumulative distribution is dubious. It may be useful for a future update of the GammaPlan treatment planning software to generate effective single-session dose distributions for such cases.

Kinematic accuracy of three surface registration methods in a three-dimensional wrist bone study

The use of registration techniques to determine motion transformations noninvasively has become more widespread with the increased availability of the necessary software. In this study, three surface registration techniques were used to generate carpal bone kinematic results from a single cadaveric wrist specimen. Surface contours were extracted from specimen computed tomography volume images of the forearm, carpal, and metacarpal bones in four arbitrary positions. Kinematic results from each of three registration techniques were compared with results derived from multiple spherical markers fixed to the specimen. Kinematic accuracy was found to depend on the registration method and bone size and shape. In general, rotation errors of the capitate and scaphoid were less than 0.5 deg for all three techniques. Rotation errors for the other bones were generally less than 2 deg, although error for the trapezoid was greater than 2 deg in one technique. Translation errors of the bones were generally less than 1 mm, although errors of the trapezoid and trapezium were greater than 1 mm for two techniques. Tradeoffs existed in each registration method between image processing time and overall kinematic accuracy. Markerless bone registration (MBR) can provide accurate measurements of carpal kinematics and can be used to study the noninvasive, three-dimensional in vivo kinematics of the wrist and other skeletal joints.

Radiotherapy planning of the pelvis using distortion corrected MR images: the removal of system distortions

Image distortion is an important consideration in the use of magnetic resonance (MR) images for radiotherapy planning. The distortion is a consequence of system distortion (arising from main magnetic field inhomogeneity and nonlinearities in the applied magnetic field gradients) and of effects arising from the object/patient being imaged. A two stage protocol has been developed to correct both system and object-induced distortion in pelvic images which incorporates measures to maintain the quality, accuracy and consistency of the imaging and correction procedures. The first stage of the correction procedure is described here and involves the removal of system distortion. Object- (patient-) induced effects will be described in a subsequent work. Images are acquired with the patient lying on a flat rigid bed, which reproduces treatment conditions. A frame of marker tubes surrounding the patient and attached to the bed provides quality assurance data in each image. System distortions in the three orthogonal planes are mapped using a separate phantom, which fits closely within the quality control frame. Software has been written which automates the measurement and checking of the many marker positions which the test objects generate and which ensures that patient data are acquired using a consistent imaging protocol. Results are presented which show that the scanner and the phantoms used in measuring distortion give highly reproducible results with mean changes of the order of 0.1 mm between repeated measurements of marker positions in the same imaging session. Effective correction for in plane components of system distortion is demonstrated.

A Comparison of clinical target volumes determined by CT and MRI for the radiotherapy planning of base of skull meningiomas

PURPOSE

To assess the utility of image registration and to compare the localization of clinical target volumes (CTV) using CT and MRI for patients with base of skull meningiomas undergoing radiotherapy.

METHODS AND MATERIALS

Seven patients were imaged using CT and a T1-weighted MR volumetric sequence. Following image registration using a chamfer-matching algorithm, transaxial MR slices were reconstructed to match the planning CT slices. The accuracy of the image fusion was assessed in a preliminary study with matching accuracy better than 1.5 mm. The CTV in each patient was separately segmented by two independent observers for both CT and reconstructed MR image sets. Scalar and vector assessments were made of the difference in radial extent between the two outlines on each transaxial plane for all patients. A positive vector value corresponded to a greater extension of the tumor on MR compared to CT and vice versa. Scalar measurements compared the modulus of the differences between MR and CT, regardless of which volume was more extensive. Qualitative comparisons were also performed.

RESULTS

Interobserver difference was small with a mean (+/- 1SD) volume difference of 1.5 +/- 1.5 cm(3) for CT and 0.5 +/- 1.0 cm(3) for MRI. The mean CT- and MR- CTVs were 17.6 +/-10.8 and 19.6 +/-14.2 cm(3) respectively. The mean overlap and composite volumes were 13.8 +/-10. 1 and 23.3 +/-14.8 cm(3) respectively. Average scalar differences in the left, right, anterior, and posterior directions were 6.0 +/- 7.0, 3.3 +/- 2.5, 4.9 +/- 3.9, and 4.5 +/- 5.0 mm respectively. The average vector differences were 3.3 +/- 8.5, -0.3 +/- 3.8, 1.1 +/- 5. 8, 1.5 +/- 6.4 mm (for left, right, anterior, and posterior directions respectively). Qualitatively, MR appeared to discern more tumor involvement in soft tissue regions adjacent to the skull base whereas CT appeared to provide larger target volumes within bony regions.

CONCLUSIONS

MRI appeared to define CTVs that were larger but not inclusive of CT-defined CTVs. Although the average vector differences were small, the differences on individual borders could be large. In some instances, the CT or MR volumes were vastly different, each providing separate information. Therefore, the use of MRI and CT is complementary. Until accurate histological confirmation of disease extent is available, it is prudent to consider composite CT/MR volumes for the radiotherapy planning of base of skull meningiomas.