TY - JOUR
T1 - Volume registration using needle paths and point landmarks for evaluation of interventional MRI treatments
AU - Lazebnik, Roee S.
AU - Lancaster, Tanya L.
AU - Breen, Michael S.
AU - Lewin, Jonathan S.
AU - Wilson, David L.
N1 - Funding Information:
Manuscript received June 11, 2002; revised December 13, 2002. This work was supported in part by National Institutes of Health (NIH) under Grant RO1-CA84433. The work of R. S. Lazebnik was supported by a Whitaker Foundation Graduate Fellowship and the CWRU Medical Scientist Training Program. The Associate Editor responsible for coordinating the review of this paper and recommending its publication was D. Hawkes. Asterisk indicates corresponding author.
PY - 2003/5
Y1 - 2003/5
N2 - We created a method for three-dimensional (3-D) registration of medical images (e.g., magnetic resonance imaging (MRI) or computed tomography) to images of physical tissue sections or to other medical images and evaluated its accuracy. Our method proved valuable for evaluation of animal model experiments on interventional-MRI guided thermal ablation and on a new localized drug delivery system. The method computes an optimum set of rigid body registration parameters by minimization of the Euclidean distances between automatically chosen correspondence points, along manually selected fiducial needle paths, and optional point landmarks, using the iterative closest point algorithm. For numerically simulated experiments, using two needle paths over a range of needle orientations, mean voxel displacement errors depended mostly on needle localization error when the angle between needles was at least 20°. For parameters typical of our in vivo experiments, the mean voxel displacement error was <0.35 mm. In addition, we determined that the distance objective function was a useful diagnostic for predicting registration quality. To evaluate the registration quality of physical specimens, we computed the misregistration for a needle not considered during the optimization procedure. We registered an ex vivo sheep brain MR volume with another MR volume and tissue section photographs, using various combinations of needle and point landmarks. Mean registration error was always ≤0.54 mm for MR-to-MR registrations and ≤0.52 mm for MR to tissue section registrations. We also applied the method to correlate MR volumes of radio-frequency induced thermal ablation lesions with actual tissue destruction. In this case, in vivo rabbit thigh volumes were registered to photographs of ex vivo tissue sections using two needle paths. Mean registration errors were between 0.7 and 1.36 mm over all rabbits, the largest error less than two MR voxel widths. We conclude that our method provides sufficient spatial correspondence to facilitate comparison of 3-D image data with data from gross pathology tissue sections and histology.
AB - We created a method for three-dimensional (3-D) registration of medical images (e.g., magnetic resonance imaging (MRI) or computed tomography) to images of physical tissue sections or to other medical images and evaluated its accuracy. Our method proved valuable for evaluation of animal model experiments on interventional-MRI guided thermal ablation and on a new localized drug delivery system. The method computes an optimum set of rigid body registration parameters by minimization of the Euclidean distances between automatically chosen correspondence points, along manually selected fiducial needle paths, and optional point landmarks, using the iterative closest point algorithm. For numerically simulated experiments, using two needle paths over a range of needle orientations, mean voxel displacement errors depended mostly on needle localization error when the angle between needles was at least 20°. For parameters typical of our in vivo experiments, the mean voxel displacement error was <0.35 mm. In addition, we determined that the distance objective function was a useful diagnostic for predicting registration quality. To evaluate the registration quality of physical specimens, we computed the misregistration for a needle not considered during the optimization procedure. We registered an ex vivo sheep brain MR volume with another MR volume and tissue section photographs, using various combinations of needle and point landmarks. Mean registration error was always ≤0.54 mm for MR-to-MR registrations and ≤0.52 mm for MR to tissue section registrations. We also applied the method to correlate MR volumes of radio-frequency induced thermal ablation lesions with actual tissue destruction. In this case, in vivo rabbit thigh volumes were registered to photographs of ex vivo tissue sections using two needle paths. Mean registration errors were between 0.7 and 1.36 mm over all rabbits, the largest error less than two MR voxel widths. We conclude that our method provides sufficient spatial correspondence to facilitate comparison of 3-D image data with data from gross pathology tissue sections and histology.
KW - Image guided therapy
KW - Interventional MRI
KW - Medical image processing
KW - Radio-frequency thermal ablation
KW - Volume registration
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U2 - 10.1109/TMI.2003.812246
DO - 10.1109/TMI.2003.812246
M3 - Article
C2 - 12846434
AN - SCOPUS:0013329664
SN - 0278-0062
VL - 22
SP - 653
EP - 660
JO - IEEE transactions on medical imaging
JF - IEEE transactions on medical imaging
IS - 5
ER -