Detection improvement in spatially filtered x-ray fluoroscopy image sequences

A motion-compensated image filter for low-dose fluoroscopy in a real-time tumor-tracking radiotherapy system

In the real-time tumor-tracking radiotherapy system, a surrogate fiducial marker inserted in or near the tumor is detected by fluoroscopy to realize respiratory-gated radiotherapy. The imaging dose caused by fluoroscopy should be minimized. In this work, an image processing technique is proposed for tracing a moving marker in low-dose imaging. The proposed tracking technique is a combination of a motion-compensated recursive filter and template pattern matching. The proposed image filter can reduce motion artifacts resulting from the recursive process based on the determination of the region of interest for the next frame according to the current marker position in the fluoroscopic images. The effectiveness of the proposed technique and the expected clinical benefit were examined by phantom experimental studies with actual tumor trajectories generated from clinical patient data. It was demonstrated that the marker motion could be traced in low-dose imaging by applying the proposed algorithm with acceptable registration error and high pattern recognition score in all trajectories, although some trajectories were not able to be tracked with the conventional spatial filters or without image filters. The positional accuracy is expected to be kept within ±2 mm. The total computation time required to determine the marker position is a few milliseconds. The proposed image processing technique is applicable for imaging dose reduction.

A spatio-temporal detective quantum efficiency and its application to fluoroscopic systems

PURPOSE

Fluoroscopic x-ray imaging systems are used extensively in spatio-temporal detection tasks and require a spatio-temporal description of system performance. No accepted metric exists that describes spatio-temporal fluoroscopic performance. The detective quantum efficiency (DQE) is a metric widely used in radiography to quantify system performance and as a surrogate measure of patient "dose efficiency". It has been applied previously to fluoroscopic systems with the introduction of a temporal correction factor. However, the use of a temporally-corrected DQE does not provide system temporal information and it is only valid under specific conditions, many of which are not likely to be satisfied by suboptimal systems. The authors propose a spatio-temporal DQE that describes performance in both space and time and is applicable to all spatio-temporal quantum-based imaging systems.

METHODS

The authors define a spatio-temporal DQE (two spatial-frequency axes and one temporal-frequency axis) in terms of a small-signal spatio-temporal modulation transfer function (MTF) and spatio-temporal noise power spectrum (NPS). Measurements were made on an x-ray image intensifier-based bench-top system using continuous fluoroscopy with an RQA-5 beam at 3.9 microR/frame and hardened 50 kVp beam (0.8 mm Cu filtration added) at 1.9 microR/frame.

RESULTS

A zero-frequency DQE value of 0.64 was measured under both conditions. Nonideal performance was noted at both larger spatial and temporal frequencies; DQE values decreased by approximately 50% at the cutoff temporal frequency of 15 Hz.

CONCLUSIONS

The spatio-temporal DQE enables measurements of decreased temporal system performance at larger temporal frequencies analogous to previous measurements of decreased (spatial) performance. This marks the first time that system performance and dose efficiency in both space and time have been measured on a fluoroscopic system using DQE and is the first step toward the generalized use of DQE on clinical fluoroscopic systems.

[An investigation of the subjective assessment of fluoroscopic imaging using instantaneous detectability]

Instantaneous detectability was introduced in a method for the subjective assessment of fluoroscopic images, particularly in the interventional radiology (IVR) procedure. Quantitatively, instantaneous detectability was obtained by measuring the time required for observers to detect the tip of a linear pattern, such as a guide wire, just after the image is displayed. Dynamic images used in this measurement, which mimic degraded fluoroscopic images, were created in the computer simulation software by adding a low-contrast linear pattern to a noisy background image. Radiological technologists and students in the faculty of computer engineering participated in the assessment, and all measurements were performed using a personal computer system. Even if the contrast-to-noise ratio was identical, instantaneous detectability was remarkably increased when the background noise was dominated by higher frequency components. Also, the sign test suggested that a frame rate of 30 f/s significantly improved detectability compared to a frame rate of 15 f/s. These results enable us to discuss new possibilities for image processing and the optimization of system performance. Although the standard deviation of the measured inter- and intra-observer data was large, statistical significance should be suitably examined by a paired-comparison like the sign test, which will be one of the important analyzers in experiments investigating human performance.

A small-signal approach to temporal modulation transfer functions with exposure-rate dependence and its application to fluoroscopic detective quantum efficiency

The detective quantum efficiency (DQE) is a metric widely used in radiography to quantify system performance and as a surrogate measure of patient "dose efficiency." It has been applied previously to fluoroscopic systems with the introduction of a temporal correction factor. Calculation of this correction factor relies on measurements of the temporal modulation transfer function (MTF). However, the temporal MTF is often exposure-rate dependent, violating a necessary Fourier linearity requirement. The authors show that a Fourier analysis is appropriate for fluoroscopic systems if a "small-signal" approach is used. Using a semitransparent edge, a lag-corrected DQE is described and measured for an x-ray image intensifier-based fluoroscopic system under continuous (non-pulsed) exposure conditions. It was found that results were equivalent for both rising and falling-edge profiles independent of edge attenuation when effective attenuation was in the range of 0.1-0.6. This suggests that this range is appropriate for measuring the small-signal temporal MTF. In general, lag was greatest at low exposure rates. It was also found that results obtained using a falling-edge profile with a radiopaque edge were equivalent to the small-signal results for the test system. If this result is found to be true generally, it removes the need for the small-signal approach. Lag-corrected DQE values were validated by comparison with radiographic DQE values obtained using very long exposures under the same conditions. Lag was observed to inflate DQE measurements by up to 50% when ignored.

Noise reduction in low-dose x-ray fluoroscopy for image-guided radiation therapy

PURPOSE

To improve the quality of low-dose X-ray fluoroscopic images using statistics-based restoration algorithm so that the patient fluoroscopy can be performed with reduced radiation dose.

METHOD AND MATERIALS

Noise in the low-dose fluoroscopy was suppressed by temporal and spatial filtering. The temporal correlation among neighboring frames was considered by the Karhunen-Loève (KL) transform (i.e., principal component analysis). After the KL transform, the selected neighboring frames of fluoroscopy were decomposed to uncorrelated and ordered principal components. For each KL component, a penalized weighted least-squares (PWLS) objective function was constructed to restore the ideal image. The penalty was chosen as anisotropic quadratic, and the penalty parameter in each KL component was inversely proportional to its corresponding eigenvalue. Smaller KL eigenvalue is associated with the KL component of lower signal-to-noise ratio (SNR), and a larger penalty parameter should be used for such KL component. The low-dose fluoroscopic images were acquired using a Varian Acuity simulator. A quality assurance phantom and an anthropomorphic chest phantom were used to evaluate the presented algorithm.

RESULTS

In the images restored by the proposed KL domain PWLS algorithm, noise is greatly suppressed, whereas fine structures are well preserved. Average improvement rate of SNR is 75% among selected regions of interest. Comparison studies with traditional techniques, such as the mean and median filters, show that the proposed algorithm is advantageous in terms of structure preservation.

CONCLUSIONS

The proposed noise reduction algorithm can significantly improve the quality of low-dose X-ray fluoroscopic image and allows for dose reduction in X-ray fluoroscopy.

A moving slanted-edge method to measure the temporal modulation transfer function of fluoroscopic systems

Lag in fluoroscopic systems introduces a frame-averaging effect that reduces measurements of image noise and incorrectly inflates measurements of the detective quantum efficiency (DQE). A correction can be implemented based on measurements of the temporal modulation transfer function (MTF). We introduce a method of measuring the temporal MTF under fluoroscopic conditions using a moving slanted edge, a generalization of the slanted-edge method used to measure the (spatial) MTF, providing the temporal MTF of the entire imaging system. The method uses a single x-ray exposure, constant edge velocity, and assumes spatial and temporal blurring are separable. The method was validated on a laboratory x-ray image intensifier (XRII) system by comparison with direct measurements of the XRII optical response, showing excellent agreement over the entire frequency range tested (+/- 100 Hz). With proper access to linearized data and continuous fluoroscopy, this method can be implemented in a clinical setting on both XRII and flat-panel detectors. It is shown that the temporal MTF of the CsI-based validation system is a function of exposure rate. The rising-edge response showed more lag than the falling edge, and the temporal MTF decreased with decreasing exposure rate. It is suggested that a small-signal approach, in which the range of exposure rates is restricted to a linear range by using a semitransparent moving edge, would be appropriate for measuring the DQE of these systems.

An algorithm for tracking microcatheters in fluoroscopy

Currently, a large number of endovascular interventions are performed for treatment of intracranial aneurysms. For these treatments, correct positioning of microcatheter tips, microguide wire tips, or coils is essential. Techniques to detect such devices may facilitate endovascular interventions. In this paper, we describe an algorithm for tracking of microcatheter tips during fluoroscopically guided neuroendovascular interventions. A sequence of fluoroscopic images (1,024 x 1,024 x 12 bits) was acquired using a C-arm angiography system as a microcatheter was passed through a carotid phantom which was on top of a head phantom. The carotid phantom was a silicone cylinder containing a simulated vessel with the shape and curvatures of the internal carotid artery. The head phantom consisted of a human skull and tissue-equivalent material. To detect the microcatheter in a given fluoroscopic frame, a background image consisting of an average of the four previous frames is subtracted from the current frame, the resulting image is filtered using a matched filter, and the position of maximum intensity in the filtered image is taken as the catheter tip position in the current frame. The distance between the tracked position and the correct position (error distance) was measured in each of the fluoroscopic images. The mean and standard deviation of the error distance values were 0.277 mm (1.59 pixels) and 0.26 mm (1.5 pixels), respectively. The error distance was less than 3 pixels in the 93.0% frames. Although the algorithm intermittently failed to correctly detect the catheter, the algorithm recovered the catheter in subsequent frames.

Quantitative image quality evaluation of pixel-binning in a flat-panel detector for x-ray fluoroscopy

X-ray fluoroscopy places stringent design requirements on new flat-panel (FP) detectors, requiring both low-noise electronics and high data transfer rates. Pixel-binning, wherein data from more that one detector pixel are collected simultaneously, not only lowers the data transfer rate but also increases x-ray counts and pixel signal-to-noise ratio (SNR). In this study, we quantitatively assessed image quality of image sequences from four acquisition methods; no-binning and three types of binning; in synthetic images using a clinically relevant task of detecting an extended guidewire in a four-alternative forced-choice paradigm. Binning methods were conventional data-line (D) and gate-line (G) binning, and a novel method in which alternate frames in an image sequence used D and G binning. Two detector orientations placed the data lines either parallel or perpendicular to the guide wire. At a low exposure of 0.6 microR (1.548 x 10(-10) C/kg) per frame, irrespective of detector orientation, D binning with its reduced electronic noise was significantly (p<0.1) better than the other acquisition methods. On average, alternate binning performed better than G binning. At a higher exposure of 4.0 microR (10.32 x 10(-10) C/kg) per frame, with data lines parallel to the guidewire, detection with D binning was significantly (p<0.1) better than G binning. However, with data lines perpendicular to the guidewire, G binning was significantly (p<0.1) better than D binning because the partial area effect was reduced. Alternate binning was the best binning method when results were averaged over both orientations, and it was as good as the best binning method at either orientation. In addition, at low and high exposures, alternate binning gave a temporally fused image with a smooth guidewire, an important image quality feature not assessed in a detection experiment. While at high exposure, detection with no binning was as good, or better, than the best binning method, it might be impractical at fluoroscopy imaging rates. A computational observer model based on signal detection theory successfully fit data and was used to predict effects of similar acquisition methods. Results from this study suggest the use of exposure-dependent detector binning in fluoroscopy that switches between D binning and alternate binning at low and high exposures, respectively.

Quantitative assessment of image quality enhancement due to unsharp-mask processing in x-ray fluoroscopy

Spatial unsharp-mask processing and its variants are commonly used in x-ray radiography to enhance image contrast. We investigated the effect of three unsharp-masking filter kernels of different sizes on the detection of an advanced guidewire tip in simulated x-ray fluoroscopy image sequences. To isolate the effect of visual temporal processing, we repeated the experiments on single images. Filter gains were selected so that all three kernels increased the contrast of a 0.018-in. (0.457-mm) guidewire by a factor of 2 but had different effects on image noise and signal profiles. There was no statistically significant effect of unsharp masking on human-observer performance in single images. However, all three kernels significantly improved average performance in image sequences, and the guidewire contrast required for detection was reduced by 32%-40%. A prewhitening channelized observer model predicted the disparity between sequences and single images and fitted measurements at different kernel sizes well. A nonprewhitening observer model did not. We conclude that unsharp masking is a simple and effective method of improving guidewire visualization in fluoroscopically guided interventional procedures and that quantitative image quality studies are essential for evaluation of image-processing techniques in sequences such as x-ray fluoroscopy.

Image quality evaluation of flat panel and image intensifier digital magnification in x-ray fluoroscopy

Interventional devices used in radiology often have dimensions on the order of a pixel, and radiologists resort to image magnification to better visualize such small devices. Traditional image intensifier (II) systems use analog magnification with x-ray exposure inversely proportional to the area of field of view (FOV) so as to maintain light output for the camera. Analog magnification is impossible with flat panel (FP) detectors, and images must be magnified using digital interpolation that does not reduce the pixel partial area effect for small devices. We quantitatively investigated image quality of digital and analog magnification using a clinically relevant task of detecting a partially deployed stent in x-ray fluoroscopy image sequences that were created using realistic detector models. Using the standard exposure strategy for II analog magnification, exposure was increased from a nominal 43.65 nGy (5.0 microR) per frame at 23 cm FOV to 79.9 nGy (9.15 microR) per frame and 117.81 nGy (13.49 microR) per frame at 17 cm and 14 cm FOV, respectively. Contrast sensitivity improved significantly (p<0.1) by 43.5+/-6.5% and 64.1+/-7.3% with the 17 cm and 14 cm FOV, respectively. Exposure for digitally magnified images was varied in an adaptive forced choice experiment so as to match performance with II analog magnification. For digital magnification, bilinear interpolation was used to give magnified stents sizes equivalent to those in the analog magnified images. For equivalent image quality, FP required 34.87+/-2.59, 80.16+/-5.37, and 84.08+/-5.59 nGy per frame at normal, and the two magnification modes, respectively. Hence, FP with digital magnification gives significant (p<0.1) dose savings of 20+/-6% and 27+/-5% at the normal and highest magnification modes, respectively. Digitally magnified II images required exposures of 110.85+/-8.07 and 103.34+/-5.90 nGy per frame for the two magnifications levels, respectively, giving no significant (p>0.1) dose savings. A spatiotemporal human observer model based on signal detection theory successfully predicted the human data and was used to predict other conditions associated with image magnification. Model predictions quantitatively showed that magnification is most useful when signal size is relatively small and that FP digital magnification can improve image quality for the stent deployment task without increasing exposure. In conclusion, the results show that FP digital magnification can be useful and dose efficient as compared to analog magnification.

Quantitative image quality analysis of a nonlinear spatio-temporal filter

Digital temporal and spatial filtering of fluoroscopic image sequences can be used to improve the quality of images acquired at low X-ray exposure. In this study, we characterized a nonlinear edge preserving, spatio-temporal noise reduction filter, the bidirectional multistage (BMS) median filter of Arce (1991). To assess image quality, signal detection and discrimination experiments were performed on stationary targets using a four-alternative forced-choice paradigm. A measure of detectability, d', was obtained for filtered and unfiltered noisy image sequences at different signal amplitudes. Filtering gave statistically significant, average d' improvements of 20% (detection) and 31% (discrimination). A nonprewhitening detection model modified to include the human spatio-temporal visual system contrast-sensitivity underestimated enhancement, predicting an improvement of 6%. Pixel noise standard deviation, a commonly applied image quality measure, greatly overestimated effectiveness giving 67% improvement in d'. We conclude that human testing is required to evaluate the filter effectiveness and that human perception models must be improved to account for the spatio-temporal filtering of image sequences.

Dose efficiency and low-contrast detectability of an amorphous silicon x-ray detector for digital radiography

The effect of dose reduction on low-contrast detectability is investigated theoretically and experimentally for a production grade amorphous silicon (a-Si) x-ray detector and compared with a standard thoracic screen-film combination. A non-prewhitening matched filter observer model modified to include a spatial response function and internal noise for the human visual system (HVS) is used to calculate a signal-to-noise ratio (SNR) related to object detectability. Other inputs to the SNR calculation are the detective quantum efficiency (DQE) and the modulation transfer function (MTF) of the imaging system. Besides threshold detectability, the model predicts the equivalent perception dose ratio (EPDR), which is the fraction of the screen film exposure for which the digital detector provides equal detectability. Images of a contrast-detail phantom are obtained with the digital detector at dose levels corresponding to 27%, 41%, 63% and 100% of the dose used for screen-film. The images are used in a four-alternative forced choice (4-AFC) observer perception study in order to measure threshold detectability. A statistically significant improvement in contrast detectability is measured with the digital detector at 100% and 63% of the screen-film dose. There is no statistical difference between screen-film and digital at 41% of the dose. On average, the experimental EPDR is 44%, which agrees well with the model prediction of 40%.

Role of phase information and eye pursuit in the detection of moving objects in noise

As part of an ongoing study that uses objective image quality measures to optimize medical imaging x-ray fluoroscopy, we investigated two basic features of the detection of moving cylinders that mimic arteries, catheters, and guide wires. First, we compared detection with and without a phase cue consisting of a nearby alternating light and dark square. Depending on object size and velocity, phase cuing improved detection from 1% to 15% and gave an average of 6%, an effect much smaller than the 38% predicted from a Monte Carlo simulation of the ideal observer. Evidently, humans were limited in their ability to incorporate knowledge of the phase cue. Second, we evaluated the effect of eye pursuit of a fixation point that moved with the target. In general, motion at the highest velocity degraded (74%) and enhanced (68%) detection of small and large objects, respectively. With eye pursuit, both effects were substantially reduced in a manner consistent with a reduced retinal velocity. Our data compared favorably with a human observer model that included a spatiotemporal contrast sensitivity response and smooth-pursuit eye movements with a gain of 0.8. These mechanisms of perception are thought to be present in coronary artery x-ray fluoroscopy imaging, where phase information is available from the moving heart and where motion markers are available from x-ray opaque markers incorporated in thin catheters and guide wires.