Deep motion tracking from multiview angiographic image sequences for synchronization of cardiac phases

In the diagnosis and interventional treatment of coronary artery disease, the 3D+time reconstruction of the coronary artery on the basis of x-ray angiographic image sequences can provide dynamic structural information. The synchronization of cardiac phases in the sequences is essential for minimizing the influence of cardiorespiratory motion and realizing precise 3D+time reconstruction. Key points are initially extracted from the first image of a sequence. Matching grid points between consecutive images in the sequence are extracted by a multi-layer matching strategy. Then deep motion tracking (DMT) of key points is achieved by local deformation based on the neighboring grid points of key points. The local deformation is optimized by the Random sample consensus (RANSAC) algorithm. Then, a simple harmonic motion (SHM) model is utilized to distinguish cardiac motion from other motion sources (e.g. respiratory, patient movement, etc). Next, the signal which is composed of cardiac motions is filtered by a band-pass filter to reconstruct the cardiac phases. Finally, the synchronization of cardiac phases from different imaging angles is realized by a piece-wise linear transformation. The proposed method was evaluated using clinical x-ray angiographic image sequences from 13 patients. 85% matching points can be accurately computed by the DMT method. The mean peak temporal distance (MPTD) between the reconstructed cardiac phases and the electrocardiograph signal is 0.027 s. The correlation between the cardiac phases of the same patient is over 89%. Compared with three other state-of-the-art methods, the proposed method accurately reconstructs and synchronizes the cardiac phases from different sequences of the same patient. The proposed DMT method is robust and highly effective in synchronizing cardiac phases of angiographic image sequences captured from different imaging angles

Respiratory organ motion in interventional MRI : tracking, guiding and modeling

Respiratory organ motion is one of the major challenges in interventional MRI, particularly in interventions with therapeutic ultrasound in the abdominal region. High-intensity focused ultrasound found an application in interventional MRI for noninvasive treatments of different abnormalities. In order to guide surgical and treatment interventions, organ motion imaging and modeling is commonly required before a treatment start. Accurate tracking of organ motion during various interventional MRI procedures is prerequisite for a successful outcome and safe therapy. In this thesis, an attempt has been made to develop approaches using focused ultrasound which could be used in future clinically for the treatment of abdominal organs, such as the liver and the kidney. Two distinct methods have been presented with its ex vivo and in vivo treatment results. In the first method, an MR-based pencil-beam navigator has been used to track organ motion and provide the motion information for acoustic focal point steering, while in the second approach a hybrid imaging using both ultrasound and magnetic resonance imaging was combined for advanced guiding capabilities. Organ motion modeling and four-dimensional imaging of organ motion is increasingly required before the surgical interventions. However, due to the current safety limitations and hardware restrictions, the MR acquisition of a time-resolved sequence of volumetric images is not possible with high temporal and spatial resolution. A novel multislice acquisition scheme that is based on a two-dimensional navigator, instead of a commonly used pencil-beam navigator, was devised to acquire the data slices and the corresponding navigator simultaneously using a CAIPIRINHA parallel imaging method. The acquisition duration for four-dimensional dataset sampling is reduced compared to the existing approaches, while the image contrast and quality are improved as well. Tracking respiratory organ motion is required in interventional procedures and during MR imaging of moving organs. An MR-based navigator is commonly used, however, it is usually associated with image artifacts, such as signal voids. Spectrally selective navigators can come in handy in cases where the imaging organ is surrounding with an adipose tissue, because it can provide an indirect measure of organ motion. A novel spectrally selective navigator based on a crossed-pair navigator has been developed. Experiments show the advantages of the application of this novel navigator for the volumetric imaging of the liver in vivo, where this navigator was used to gate the gradient-recalled echo sequence

Doctor of Philosophy

dissertationThe gold standard for evaluation of arterial disease using MR continues to be contrast-enhanced MR angiography (MRA) with gadolinium-based contrast agents (Gd-MRA). There has been a recent resurgence in interest in methods that do not rely on gadolinium for enhancement of blood vessels due to associations Gd-MRA has with nephrogenic systemic fibrosis (NSF) in patients with impaired renal function. The risk due to NSF has been shown to be minimized when selecting the appropriate contrast type and dose. Even though the risk of NSF has been shown to be minimized, demand for noncontrast MRA has continued to rise to reduce examination cost, and improve patient comfort and ability to repeat scans. Several methods have been proposed and used to perform angiography of the aorta and peripheral arteries without the use of gadolinium. These techniques have had limitations in transmit radiofrequency field (B1+) inhomogeneities, acquisition time, and specific hardware requirements, which have stunted the utility of noncontrast enhanced MRA. In this work feasibility of noncontrast (NC) MRA at 3T of the femoral arteries using dielectric padding, and using 3D radial stack of stars and compressed sensing to accelerate acquisitions in the abdomen and thorax were tested. Imaging was performed on 13 subjects in the pelvis and thighs using high permittivity padding, and 11 in the abdomen and 19 in the thorax using 3D radial stack of stars with tiny golden angle using gold standards or previously published techniques. Qualitative scores for each study were determined by radiologists who were blinded to acquisition type. Vessel conspicuity in the thigh and pelvis showed significant increase when high permittivity padding was used in the acquisition. No significant difference in image quality was observed in the abdomen and thorax when using undersampling, except for the descending aorta in thoracic imaging. All image quality scores were determined to be of diagnostic quality. In this work it is shown that NC-MRA can be improved through the use of high permittivity dielectric padding and acquisition time can be decreased through the use of 3D radial stack of stars acquisitions

Dynamic Analysis of X-ray Angiography for Image-Guided Coronary Interventions

Percutaneous coronary intervention (PCI) is a minimally-invasive procedure for treating patients with coronary artery disease. PCI is typically performed with image guidance using X-ray angiograms (XA) in which coronary arter

MRI sequences for detection of acute pulmonary embolism

In recent years a range of imaging techniques have emerged to help diagnose patients with suspected acute Pulmonary Embolism (PE). This is particularly useful for those who are contraindicated (renal failure or allergies) to the contrast media that is needed to perform Computed Tomography Pulmonary Angiography (CTPA), which would be the usual diagnostic tool of choice. To aid the cohort of patients with this contraindication, we have investigated the option of using Magnetic Resonance Imaging (MRI) to diagnose PE. In this thesis, MRI sequences including gradient recall echo (more specifically balanced Steady State Free Precession [b-SSFP]) with different trajectories of data sampling, and diffusion weighted imaging (DWI) were assessed. None of the sequences investigated required the use of intravenous contrast media. In Study I, we investigated a group of positive PE patients (verified by CTPA) alongside a volunteer group, who provided a negative PE control cohort. A b-SSFP sequence was assessed, using repetitive sampling of each slice position, in three different orthogonal planes. No triggering or breath hold techniques were used during imaging. This technique produced a large number of slices at each location for evaluation by radiologist. An excellent specificity and a good sensitivity were achieved. In Study II, a group of positive PE patients (also verified by CTPA) and a control volunteer group were used to test the DWI technique, which is not used commonly for the investigation of thrombosis in the lungs. We compared DWI against the single slice per position approach of b-SSFP and CTPA, and demonstrated its capability to depict pulmonary embolism, finding a very high sensitivity but poor specificity for DWI. In Study III, we tested two different sampling techniques for b-SSFP, Cartesian standard and golden angle radial sampling trajectories, to image the pulmonary arteries in ten volunteers and in two patients who had PE. We demonstrated the improvement of image quality when using radial trajectory sampling in comparison to the Cartesian technique. We also demonstrated that the post-reconstruction ‘sliding window’ method could be applied to the golden angle radial sampling schema when a different temporal resolution is needed. In Study IV, we used the sequence tested in Study III (b-SSFP with golden angle radial and Cartesian sampling) in a clinical setting. The study included 64 patients who were suspected of having acute PE; all were examined while waiting for CTPA diagnostic testing. We compared radial sampling versus Cartesian, and also assessed post-reconstruction images of the radial sampling, with varying temporal resolution. The radial sampling with golden angle schema did not produce images of high enough quality to depict acute PE in patients. In study V, a retrospective overview of 57 patients (2012–2018) from our institution, with suspected acute PE was made. This group of patients was contraindicated to CTPA, and so were examined only using b-SSFP images. The clinical outcome of this cohort was obtained from the electronical medical record system up to twelve months after their MRI assessments. The MRI results allowed the clinicians to change or support their decision as to which treatment strategy they chose, in patients with or without PE

Dual gated PET/CT imaging of heart

Coronary artery disease (CAD) resulting from atherosclerotic arterial changes, plaques, is a progressive process, which can be asymptomatic for many years. Asymptomatic CAD can cause a heart attack that leads to sudden death if the vulnerable coronary plaque ruptures and causes artery occlusion. The plaque inflammation plays an important role in the rupture susceptibility. Reliable anticipation of rupture is still clinically impossible for a single patient. Detection of the vulnerable coronary plaques before clinical signs remains a significant scientific challenge where positron emission tomography (PET) can play an important role. The aim of this dissertation was to find out whether a small, coronary plaque size, heart structures could be detected by a clinically available positron emission tomography and computed tomography (PET/CT) hybrid camera in realistically moving cardiac phantoms, a minipig model, and patients with CAD. Due to cardiac motions accurate detection of small heart structures are known to be problematic in PET imaging. Due to absence of commercial application at the beginning of the study, new dual gating method for cardiac PET imaging was developed and programmed that takes into account both contraction and respiratory induced cardiac motions. Cardiac phantom PET studies showed that small, active and moving plaques can be distinguished from myocardium activity and the gating methods improved the detection sensitivity and resolution of the plaques. In minipig and CAD patient cardiac PET studies small structures of myocardium and coronary arteries was detected more sensitive and accurately when using dual gating method than manufacturer gating methods. In cardiac patient PET study respiratory induced cardiac motions were shown to be linearly dependent with spirometry-measured respiratory volumes. Standard 3-lead electrocardiogram (ECG) measurement can be filtered by anesthesia monitor to detect lung impedance signal. In cardiac patient PET study this lung impedance signal were applied for respiratory gating. In this study was observed that the 3-lead ECG derived impedance signal gating method detects respiratory induced cardiac motion in PET as well as other externally used respiratory gating methods. In summary, the dual gated cardiac PET method is more sensitive and accurate to detect small cardiac structures, as coronary vessel wall pathology, than the commercial methods used in the study.Sydämen kaksoisliiketahdistettu PET/CT kuvantaminen Ateroskleroottisten valtimomuutosten, plakkien, seurauksena asteittain kehittyvä sepelvaltimotauti voi olla vuosia oireeton. Oireeton sepelvaltimotauti voi aiheuttaa äkkikuolemaan johtavan sydäninfarktin, mikäli sepelvaltimon seinämäplakin repeytymisestä aiheutuu verisuonen tukkiva hyytymä. Tutkimuksissa on osoitettu, että plakin tulehduksella on merkittävä rooli repeytymisalttiudelle. Repeytymisen luotettava ennakointi on yksittäisen potilaan kohdalla edelleen kliinisesti mahdotonta. Tulehtuneiden ja repeytymisalttiiden sepelvaltimoplakkien toteaminen ennen kliinisiä oireita on edelleen merkittävä tieteellinen haaste, missä positroniemissiotomografia (PET) kuvantamisella voi olla merkittävä rooli. Väitöskirjan tavoitteena oli selvittää, voidaanko kliinisessä käytössä olevalla positroniemissiotomografia ja tietokonetomografia (PET/TT) yhdistelmäkameralla havaita pieniä, sepelvaltimoplakkien kokoisia, sydämen rakenteita koneellisesti toimivissa todenmukaisissa sydänmalleissa, eläinmallissa ja sepelvaltimotautia sairastavilla potilailla. Sydämen pienten rakenteiden tarkka havaitseminen PET/TTkameroilla on haasteellista sydämen liikkumisen vuoksi. Tutkimuksessa kehitettiin ja ohjelmoitiin uusi sydämen PET-kuvantamisen liiketahdistusmenetelmä, joka ottaa huomioon sekä sydämen supistusliikkeen että hengitysliikkeen vaikutuksen sydämen PET kuvantamissa. Koneellisilla sydänmalleilla osoitettiin, että PET on riittävän herkkä havaitsemaan pieniä ja liikkuvia radioaktiivisia ”sepelvaltimoplakkeja”, ja että liiketahdistusmenetelmät parantavat plakkien havaitsemisherkkyyttä ja tarkkuutta. Eläinmallissa ja sepelvaltimotautipotilailla kaksoisliiketahdistusmenetelmän herkkyys ja tarkkuus havaita pieniä sydänlihaksen ja sepelvaltimoiden rakenteita todettiin kaupallisia tahdistusmenetelmiä paremmaksi. Potilastutkimuksissa todettiin hengityksen aiheuttama sydämen liike PET-kuvissa lineaarisesti riippuvaiseksi spirometrialla mitattujen hengitystilavuuksien kanssa. Tavallisesta 3-johtoisesta sydänsähkökäyrästä voidaan anestesiamonitorin avulla suodattaa keuhkojen impedanssisignaalia. Hengitysliikkeen aiheuttama potilaiden sydämen liike PETkuvissa havaittiin yhtä hyvin käyttämällä tätä keuhkojen impedanssisignaalia kuin muita yleisesti käytettäviä ulkoisia hengitystahdistussignaaleja. Todetaan, että kaksoisliiketahdistettu sydämen PET-kuvantamismenetelmä on tutkimuksessa käytettyjä kaupallisia menetelmiä herkempi ja tarkempi havaitsemaan sydämen pieniä rakenteita sekä sepelvaltimon seinämän tulehdusplakkeja

Coronary Artery Segmentation and Motion Modelling

Conventional coronary artery bypass surgery requires invasive sternotomy and the use of a cardiopulmonary bypass, which leads to long recovery period and has high infectious potential. Totally endoscopic coronary artery bypass (TECAB) surgery based on image guided robotic surgical approaches have been developed to allow the clinicians to conduct the bypass surgery off-pump with only three pin holes incisions in the chest cavity, through which two robotic arms and one stereo endoscopic camera are inserted. However, the restricted field of view of the stereo endoscopic images leads to possible vessel misidentification and coronary artery mis-localization. This results in 20-30% conversion rates from TECAB surgery to the conventional approach. We have constructed patient-specific 3D + time coronary artery and left ventricle motion models from preoperative 4D Computed Tomography Angiography (CTA) scans. Through temporally and spatially aligning this model with the intraoperative endoscopic views of the patient's beating heart, this work assists the surgeon to identify and locate the correct coronaries during the TECAB precedures. Thus this work has the prospect of reducing the conversion rate from TECAB to conventional coronary bypass procedures. This thesis mainly focus on designing segmentation and motion tracking methods of the coronary arteries in order to build pre-operative patient-specific motion models. Various vessel centreline extraction and lumen segmentation algorithms are presented, including intensity based approaches, geometric model matching method and morphology-based method. A probabilistic atlas of the coronary arteries is formed from a group of subjects to facilitate the vascular segmentation and registration procedures. Non-rigid registration framework based on a free-form deformation model and multi-level multi-channel large deformation diffeomorphic metric mapping are proposed to track the coronary motion. The methods are applied to 4D CTA images acquired from various groups of patients and quantitatively evaluated

Development of a Surgical Assistance System for Guiding Transcatheter Aortic Valve Implantation

Development of image-guided interventional systems is growing up rapidly in the recent years. These new systems become an essential part of the modern minimally invasive surgical procedures, especially for the cardiac surgery. Transcatheter aortic valve implantation (TAVI) is a recently developed surgical technique to treat severe aortic valve stenosis in elderly and high-risk patients. The placement of stented aortic valve prosthesis is crucial and typically performed under live 2D fluoroscopy guidance. To assist the placement of the prosthesis during the surgical procedure, a new fluoroscopy-based TAVI assistance system has been developed. The developed assistance system integrates a 3D geometrical aortic mesh model and anatomical valve landmarks with live 2D fluoroscopic images. The 3D aortic mesh model and landmarks are reconstructed from interventional angiographic and fluoroscopic C-arm CT system, and a target area of valve implantation is automatically estimated using these aortic mesh models. Based on template-based tracking approach, the overlay of visualized 3D aortic mesh model, landmarks and target area of implantation onto fluoroscopic images is updated by approximating the aortic root motion from a pigtail catheter motion without contrast agent. A rigid intensity-based registration method is also used to track continuously the aortic root motion in the presence of contrast agent. Moreover, the aortic valve prosthesis is tracked in fluoroscopic images to guide the surgeon to perform the appropriate placement of prosthesis into the estimated target area of implantation. An interactive graphical user interface for the surgeon is developed to initialize the system algorithms, control the visualization view of the guidance results, and correct manually overlay errors if needed. Retrospective experiments were carried out on several patient datasets from the clinical routine of the TAVI in a hybrid operating room. The maximum displacement errors were small for both the dynamic overlay of aortic mesh models and tracking the prosthesis, and within the clinically accepted ranges. High success rates of the developed assistance system were obtained for all tested patient datasets. The results show that the developed surgical assistance system provides a helpful tool for the surgeon by automatically defining the desired placement position of the prosthesis during the surgical procedure of the TAVI.Die Entwicklung bildgeführter interventioneller Systeme wächst rasant in den letzten Jahren. Diese neuen Systeme werden zunehmend ein wesentlicher Bestandteil der technischen Ausstattung bei modernen minimal-invasiven chirurgischen Eingriffen. Diese Entwicklung gilt besonders für die Herzchirurgie. Transkatheter Aortenklappen-Implantation (TAKI) ist eine neue entwickelte Operationstechnik zur Behandlung der schweren Aortenklappen-Stenose bei alten und Hochrisiko-Patienten. Die Platzierung der Aortenklappenprothese ist entscheidend und wird in der Regel unter live-2D-fluoroskopischen Bildgebung durchgeführt. Zur Unterstützung der Platzierung der Prothese während des chirurgischen Eingriffs wurde in dieser Arbeit ein neues Fluoroskopie-basiertes TAKI Assistenzsystem entwickelt. Das entwickelte Assistenzsystem überlagert eine 3D-Geometrie des Aorten-Netzmodells und anatomischen Landmarken auf live-2D-fluoroskopische Bilder. Das 3D-Aorten-Netzmodell und die Landmarken werden auf Basis der interventionellen Angiographie und Fluoroskopie mittels eines C-Arm-CT-Systems rekonstruiert. Unter Verwendung dieser Aorten-Netzmodelle wird das Zielgebiet der Klappen-Implantation automatisch geschätzt. Mit Hilfe eines auf Template Matching basierenden Tracking-Ansatzes wird die Überlagerung des visualisierten 3D-Aorten-Netzmodells, der berechneten Landmarken und der Zielbereich der Implantation auf fluoroskopischen Bildern korrekt überlagert. Eine kompensation der Aortenwurzelbewegung erfolgt durch Bewegungsverfolgung eines Pigtail-Katheters in Bildsequenzen ohne Kontrastmittel. Eine starrere Intensitätsbasierte Registrierungsmethode wurde verwendet, um kontinuierlich die Aortenwurzelbewegung in Bildsequenzen mit Kontrastmittelgabe zu detektieren. Die Aortenklappenprothese wird in die fluoroskopischen Bilder eingeblendet und dient dem Chirurg als Leitfaden für die richtige Platzierung der realen Prothese. Eine interaktive Benutzerschnittstelle für den Chirurg wurde zur Initialisierung der Systemsalgorithmen, zur Steuerung der Visualisierung und für manuelle Korrektur eventueller Überlagerungsfehler entwickelt. Retrospektive Experimente wurden an mehreren Patienten-Datensätze aus der klinischen Routine der TAKI in einem Hybrid-OP durchgeführt. Hohe Erfolgsraten des entwickelten Assistenzsystems wurden für alle getesteten Patienten-Datensätze erzielt. Die Ergebnisse zeigen, dass das entwickelte chirurgische Assistenzsystem ein hilfreiches Werkzeug für den Chirurg bei der Platzierung Position der Prothese während des chirurgischen Eingriffs der TAKI bietet

Application of Dual-Energy Computed Tomography to the Evalution of Coronary Atherosclerotic Plaque

Atherosclerotic coronary artery disease is responsible for around 50 of cardiovascular deaths in USA. Early detection and characterization of coronary artery atherosclerotic plaque could help prevent cardiac events. Computed tomography (CT) is an excellent modality for imaging calcifications and has higher spatial resolution than other common non-invasive modalities (e.g MRI), making it more suitable for coronary plaque detection. However, attenuation-based classification of non-calcified plaques as fibrous or lipid is difficult with conventional CT, which relies on a single x-ray energy. Dual-energy CT (DECT) may provide additional attenuation data for the identification and discrimination of plaque components. The purpose of this research was to evaluate the feasibility of DECT imaging for coronary plaque characterization and further, to explore the limits of CT for non-invasive plaque analysis. DECT techniques were applied to plaque classification using a clinical CT system. Saline perfused coronary arteries from autopsies were scanned at 80 and 140 kVp, prior to and during injection of iodinated contrast. Plaque attenuation was measured from CT images and matched to histology. Measurements were compared to assess differences among plaque types. Although calcified and non-calcified plaques could be identified and differentiated with DECT, further characterization of non-calcified plaques was not possible. The results also demonstrated that calcified plaque and iodine could be discriminated. The limits of x-ray based non-calcified plaque discrimination were assessed using microCT, a pre-clinical x-ray based high spatial resolution modality. Phantoms and tissues of different composition were scanned using different tube voltages (i.e., different energies) and resulting attenuation values were compared. Better vessel wall visualization and increase in tissue contrast resolution was observed with decrease in x-ray energy. Feasibility of calcium quantification from contrast-enhanced scans by creating virtual n

Application of Dual-Energy Computed Tomography to the Evalution of Coronary Atherosclerotic Plaque

Atherosclerotic coronary artery disease is responsible for around 50 of cardiovascular deaths in USA. Early detection and characterization of coronary artery atherosclerotic plaque could help prevent cardiac events. Computed tomography (CT) is an excellent modality for imaging calcifications and has higher spatial resolution than other common non-invasive modalities (e.g MRI), making it more suitable for coronary plaque detection. However, attenuation-based classification of non-calcified plaques as fibrous or lipid is difficult with conventional CT, which relies on a single x-ray energy. Dual-energy CT (DECT) may provide additional attenuation data for the identification and discrimination of plaque components. The purpose of this research was to evaluate the feasibility of DECT imaging for coronary plaque characterization and further, to explore the limits of CT for non-invasive plaque analysis. DECT techniques were applied to plaque classification using a clinical CT system. Saline perfused coronary arteries from autopsies were scanned at 80 and 140 kVp, prior to and during injection of iodinated contrast. Plaque attenuation was measured from CT images and matched to histology. Measurements were compared to assess differences among plaque types. Although calcified and non-calcified plaques could be identified and differentiated with DECT, further characterization of non-calcified plaques was not possible. The results also demonstrated that calcified plaque and iodine could be discriminated. The limits of x-ray based non-calcified plaque discrimination were assessed using microCT, a pre-clinical x-ray based high spatial resolution modality. Phantoms and tissues of different composition were scanned using different tube voltages (i.e., different energies) and resulting attenuation values were compared. Better vessel wall visualization and increase in tissue contrast resolution was observed with decrease in x-ray energy. Feasibility of calcium quantification from contrast-enhanced scans by creating virtual n