DIR-Lab Dataset Research Articles

MA-VoxelMorph: Multi-scale attention-based VoxelMorph for nonrigid registration of thoracoabdominal CT images

This paper aims to develop a nonrigid registration method of preoperative and intraoperative thoracoabdominal CT images in computer-assisted interventional surgeries for accurate tumor localization and tissue visualization enhancement. However, fine structure registration of complex thoracoabdominal organs and large deformation registration caused by respiratory motion is challenging. To deal with this problem, we propose a 3D multi-scale attention VoxelMorph (MA-VoxelMorph) registration network. To alleviate the large deformation problem, a multi-scale axial attention mechanism is utilized by using a residual dilated pyramid pooling for multi-scale feature extraction, and position-aware axial attention for long-distance dependencies between pixels capture. To further improve the large deformation and fine structure registration results, a multi-scale context channel attention mechanism is employed utilizing content information via adjacent encoding layers. Our method was evaluated on four public lung datasets (DIR-Lab dataset, Creatis dataset, Learn2Reg dataset, OASIS dataset) and a local dataset. Results proved that the proposed method achieved better registration performance than current state-of-the-art methods, especially in handling the registration of large deformations and fine structures. It also proved to be fast in 3D image registration, using about 1.5 s, and faster than most methods. Qualitative and quantitative assessments proved that the proposed MA-VoxelMorph has the potential to realize precise and fast tumor localization in clinical interventional surgeries.

CvTMorph: Improving Local Feature Extraction in Medical Image Registration for Respiratory Motion Modeling with Convolutional Vision Transformer.

Accurately modeling respiratory motion in medical images is crucial for various applications, including radiation therapy planning. However, existing registration methods often struggle to extract local features effectively, limiting their performance. In this paper, we aimed to propose a new framework called CvTMorph, which utilizes a Convolutional vision Transformer (CvT) and Convolutional Neural Networks (CNN) to improve local feature extraction. CvTMorph integrates CvT and CNN to construct a hybrid model that combines the strengths of both approaches. Additionally, scaling and square layers are added to enhance the registration performance. We have evaluated the performance of CvTMorph on the 4D-Lung and DIR-Lab datasets and compared it with state-of-the-art methods to demonstrate its effectiveness. The experimental results have demonstrated CvTMorph to outperform the existing methods in terms of accuracy and robustness for respiratory motion modeling in 4D images. The incorporation of the convolutional vision transformer has significantly improved the registration performance and enhanced the representation of local structures. CvTMorph offers a promising solution for accurately modeling respiratory motion in 4D medical images. The hybrid model, leveraging convolutional vision transformer and convolutional neural networks, has proven effective in extracting local features and improving registration performance. The results have highlighted the potential of CvTMorph for various applications, such as radiation therapy planning, and provided a basis for further research in this field.

Hierarchical multi-level dynamic hyperparameter deformable image registration with convolutional neural network

Objective. To enable the registration network to be trained only once, achieving fast regularization hyperparameter selection during the inference phase, and to improve registration accuracy and deformation field regularity. Approach. Hyperparameter tuning is an essential process for deep learning deformable image registration (DLDIR). Most DLDIR methods usually perform a large number of independent experiments to select the appropriate regularization hyperparameters, which are time-consuming and resource-consuming. To address this issue, we propose a novel dynamic hyperparameter block, which comprises a distributed mapping network, dynamic convolution, attention feature extraction layer, and instance normalization layer. The dynamic hyperparameter block encodes the input feature vectors and regularization hyperparameters into learnable feature variables and dynamic convolution parameters which changes the feature statistics of the high-dimensional features layer feature variables, respectively. In addition, the proposed method replaced the single-level structure residual blocks in LapIRN with a hierarchical multi-level architecture for the dynamic hyperparameter block in order to improve registration performance. Main results. On the OASIS dataset, the proposed method reduced the percentage of |Jϕ|⩽0 by 28.01 % , 9.78 % and improved Dice similarity coefficient by 1.17 % , 1.17 % , compared with LapIRN and CIR, respectively. On the DIR-Lab dataset, the proposed method reduced the percentage of |Jϕ|⩽0 by 10.00 % , 5.70 % and reduced target registration error by 10.84 % , 10.05 % , compared with LapIRN and CIR, respectively. Significance. The proposed method can fast achieve the corresponding registration deformation field for arbitrary hyperparameter value during the inference phase. Extensive experiments demonstrate that the proposed method reduces training time compared to DLDIR with fixed regularization hyperparameters while outperforming the state-of-the-art registration methods concerning registration accuracy and deformation smoothness on brain dataset OASIS and lung dataset DIR-Lab.

Deep learning based uncertainty prediction of deformable image registration for contour propagation and dose accumulation in online adaptive radiotherapy

Objective. Online adaptive radiotherapy aims to fully leverage the advantages of highly conformal therapy by reducing anatomical and set-up uncertainty, thereby alleviating the need for robust treatments. This requires extensive automation, among which is the use of deformable image registration (DIR) for contour propagation and dose accumulation. However, inconsistencies in DIR solutions between different algorithms have caused distrust, hampering its direct clinical use. This work aims to enable the clinical use of DIR by developing deep learning methods to predict DIR uncertainty and propagating it into clinically usable metrics. Approach. Supervised and unsupervised neural networks were trained to predict the Gaussian uncertainty of a given deformable vector field (DVF). Since both methods rely on different assumptions, their predictions differ and were further merged into a combined model. The resulting normally distributed DVFs can be directly sampled to propagate the uncertainty into contour and accumulated dose uncertainty. Main results. The unsupervised and combined models can accurately predict the uncertainty in the manually annotated landmarks on the DIRLAB dataset. Furthermore, for 5 patients with lung cancer, the propagation of the predicted DVF uncertainty into contour uncertainty yielded for both methods an expected calibration error of less than 3%. Additionally, the probabilisticly accumulated dose volume histograms (DVH) encompass well the accumulated proton therapy doses using 5 different DIR algorithms. It was additionally shown that the unsupervised model can be used for different DIR algorithms without the need for retraining. Significance. Our work presents first-of-a-kind deep learning methods to predict the uncertainty of the DIR process. The methods are fast, yield high-quality uncertainty estimates and are useable for different algorithms and applications. This allows clinics to use DIR uncertainty in their workflows without the need to change their DIR implementation.

Deformable lung 4DCT image registration via landmark-driven cycle network.

An automated, accurate, and efficient lung four-dimensional computed tomography (4DCT) image registration method is clinically important to quantify respiratory motion for optimal motion management. The purpose of this work is to develop a weakly supervised deep learning method for 4DCT lung deformable image registration (DIR). The landmark-driven cycle network is proposed as a deep learning platform that performs DIR of individual phase datasets in a simulation 4DCT. This proposed network comprises a generator and a discriminator. The generator accepts moving and target CTs as input and outputs the deformation vector fields (DVFs) to match the two CTs. It is optimized during both forward and backward paths to enhance the bi-directionality of DVF generation. Further, the landmarks are used to weakly supervise the generator network. Landmark-driven loss is used to guide the generator's training. The discriminator then judges the realism of the deformed CT to provide extra DVF regularization. We performed four-fold cross-validation on 10 4DCT datasets from the public DIR-Lab dataset and a hold-out test on our clinic dataset, which included 50 4DCT datasets. The DIR-Lab dataset was used to evaluate the performance of the proposed method against other methods in the literature by calculating the DIR-Lab Target Registration Error (TRE). The proposed method outperformed other deep learning-based methods on the DIR-Lab datasets in terms of TRE. Bi-directional and landmark-driven loss were shown to be effective for obtaining high registration accuracy. The mean and standard deviation of TRE for the DIR-Lab datasets was 1.20±0.72mm and the mean absolute error (MAE) and structural similarity index (SSIM) for our datasets were 32.1±11.6 HU and 0.979±0.011, respectively. The landmark-driven cycle network has been validated and tested for automatic deformable image registration of patients' lung 4DCTs with results comparable to or better than competing methods.

Collision-constrained deformable image registration framework for discontinuity management.

Topological changes like sliding motion, sources and sinks are a significant challenge in image registration. This work proposes the use of the alternating direction method of multipliers as a general framework for constraining the registration of separate objects with individual deformation fields from overlapping in image registration. This constraint is enforced by introducing a collision detection algorithm from the field of computer graphics which results in a robust divide and conquer optimization strategy using Free-Form Deformations. A series of experiments demonstrate that the proposed framework performs superior with regards to the combination of intersection prevention and image registration including synthetic examples containing complex displacement patterns. The results show compliance with the non-intersection constraints while simultaneously preventing a decrease in registration accuracy. Furthermore, the application of the proposed algorithm to the DIR-Lab data set demonstrates that the framework generalizes to real data by validating it on a lung registration problem.

Boundary-aware registration network for 4D-CT lung image with sliding motion

Background and ObjectiveFast and accurate registration of 4D-CT lung images is significant for respiratory motion modeling and radiotherapy planning. However, since the complex respiratory motion involves sliding motion at lung boundary, the traditional registration methods and regularization terms perform poorly in recovering both sliding and smooth deformation in 4D-CT lung image registration. MethodsIn order to overcome these limitations of the traditional registration methods and regularization terms, we propose a boundary-aware registration model with a spatially adaptive regularization term. We incorporate a lung segmentation network into the registration model. With the lung boundary-aware information from the segmentation network, we construct a spatially adaptive regularization term, which integrates the smooth regularization and the non-smooth regularization, to accommodate both smooth and sliding motion. ResultsWe evaluate the proposed registration model on clinical 4D-CT data and the public DIR-Lab dataset. Our model provides a minimum Target Registration Error (1.59 ± 0.57 mm) of landmarks compared with the other lung registration methods. The ablation studies show that the proposed spatially adaptive regularization term provides superior performance in HD (13.75 ± 3.36 mm) and MHD (1.63 ± 0.32 mm) to the smooth regularization term and non-smooth regularization term. ConclusionsThe proposed boundary-aware registration model enables adaptive regularization term, which can flexibly regulate both the sliding motion at the lung boundary and the smooth motion inside the lung simultaneously. Therefore, our model can perform fast and accurate registration for 4D-CT lung images with sliding motion, which is beneficial to respiratory motion modeling and lung cancer radiotherapy.

An unsupervised image registration method employing chest computed tomography images and deep neural networks

BackgroundDeformable image registration is crucial for multiple radiation therapy applications. Fast registration of computed tomography (CT) lung images is challenging because of the large and nonlinear deformation between inspiration and expiration. With advancements in deep learning techniques, learning-based registration methods are considered efficient alternatives to traditional methods in terms of accuracy and computational cost. MethodIn this study, an unsupervised lung registration network (LRN) with cycle-consistent training is proposed to align two acquired CT-derived lung datasets during breath-holds at inspiratory and expiratory levels without utilizing any ground-truth registration results. Generally, the LRN model uses three loss functions: image similarity, regularization, and Jacobian determinant. Here, LRN was trained on the CT datasets of 705 subjects and tested using 10 pairs of public CT DIR-Lab datasets. Furthermore, to evaluate the effectiveness of the registration technique, target registration errors (TREs) of the LRN model were compared with those of the conventional algorithm (sum of squared tissue volume difference; SSTVD) and a state-of-the-art unsupervised registration method (VoxelMorph). ResultsThe results showed that the LRN with an average TRE of 1.78 ± 1.56 mm outperformed VoxelMorph with an average TRE of 2.43 ± 2.43 mm, which is comparable to that of SSTVD with an average TRE of 1.66 ± 1.49 mm. In addition, estimating the displacement vector field without any folding voxel consumed less than 2 s, demonstrating the superiority of the learning-based method with respect to fiducial marker tracking and the overall soft tissue alignment with a nearly real-time speed. ConclusionsTherefore, this proposed method shows significant potential for use in time-sensitive pulmonary studies, such as lung motion tracking and image-guided surgery.

Deep learning-based synthetization of real-time in-treatment 4D images using surface motion and pretreatment images: A proof-of-concept study.

To develop a deep learning model that maps body surface motion to internal anatomy deformation, which is potentially applicable to dose-free real-time 4D virtual image-guided radiotherapy based on skin surface data. Body contours were segmented out of 4DCT images. Deformable image registration algorithm was used to register the end-of-exhalation (EOE) phase to other phases. Deformation vector field was dimension-reduced to the first two principal components (PCs). A deep learning model was trained to predict the two PC scores of each phase from surface displacement. The instant deformation field can then be reconstructed, warping EOE image to obtain real-time CT image. This approach was validated on 4D XCAT phantom, the public DIR-Lab, and 4D-Lung dataset respectively, with and without simulated noise. Validation accuracy of the tumor centroid trajectory was observed as 0.04 ± 0.02mm on XCAT phantom. For the DIR-Lab dataset, 300 landmarks were annotated on the end-of-inhalation (EOI) images of each patient, and the mean displacements between their predicted and reference positions were below 2mm for all studied cases. For the 4D-Lung dataset, the average dice coefficients ± std between predicted and reference tumor contours at EOI phase were 0.835 ± 0.092 for all studied cases. A deep learning-based approach was proposed and validated to predict internal anatomy deformation from the surface motion, which is potentially applicable to on-line target navigation for accurate radiotherapy based on real-time 4D skin surface data and pretreatment images.

Lung image registration by featured surface matching method

ABSTRACT The objective is to validate lung image registration using the featured surface matching method. The method can be applied to volume-to-surface deformable image registration, which is the 3D volume image to be deformed and aligned with a 3D surface image. Curvature variation extracts the surface feature. A group of neighbour curvature variations forms a local surface feature. A surface-matching scheme uses the local surface feature to determine the correspondence between two surface points. A finite element model uses the surface point correspondence to propagate the surface displacement into internal tissues and determine the intraoperative landmark locations from the deformed image. The validation uses the publicly available DIRLAB and POPI datasets to assess target registration errors. The work shows that the target registration error is 1.88 ± 1.16 mm, 4.77 ± 2.59 mm, and 4.12 ± 2.22 mm, and the initial error is 4.01 ± 2.91 mm, 11.10 ± 6.98 mm, 11.66 ± 6.23 mm for DIRLAB lung #1, DIRLAB lung #6 and POPI lung #1, respectively. The proposed method outperforms the average of other methods. The proposed novel surface matching method is feasible and validated.

Lung-CRNet: A convolutional recurrent neural network for lung 4DCT image registration.

Deformable image registration (DIR) of lung four-dimensional computed tomography (4DCT) plays a vital role in a wide range of clinical applications. Most of the existing deep learning-based lung 4DCT DIR methods focus on pairwise registration which aims to register two images with large deformation. However, the temporal continuities of deformation fields between phases are ignored. This paper proposes a fast and accurate deep learning-based lung 4DCT DIR approach that leverages the temporal component of 4DCT images. We present Lung-CRNet, an end-to-end convolutional recurrent registration neural network for lung 4DCT images and reformulate 4DCT DIR as a spatiotemporal sequence predicting problem in which the input is a sequence of three-dimensional computed tomography images from the inspiratory phase to the expiratory phase in a respiratory cycle. The first phase in the sequence is selected as the only reference image and the rest as moving images. Multiple convolutional gated recurrent units (ConvGRUs) are stacked to capture the temporal clues between images. The proposed network is trained in an unsupervised way using a spatial transformer layer. During inference, Lung-CRNet is able to yield the respective displacement field for each reference-moving image pair in the input sequence. We have trained the proposed network using a publicly available lung 4DCT dataset and evaluated performance on the widely used the DIR-Lab dataset. The mean and standard deviation of target registration error are 1.56 1.05 mm on the DIR-Lab dataset. The computation time for each forward prediction is less than 1 s on average. The proposed Lung-CRNet is comparable to the existing state-of-the-art deep learning-based 4DCT DIR methods in both accuracy and speed. Additionally, the architecture of Lung-CRNet can be generalized to suit other groupwise registration tasks which align multiple imagessimultaneously.

An unsupervised multi-scale framework with attention-based network (MANet) for lung 4D-CT registration

Deformable image registration (DIR) of 4D-CT is very important in many radiotherapeutic applications including tumor target definition, image fusion, dose accumulation and response evaluation. It is a challenging task to performing accurate and fast DIR of lung 4D-CT images due to its large and complicated deformations. In this study, we propose an unsupervised multi-scale DIR framework with attention-based network (MANet). Three cascaded models used for aligning CT images in different resolution levels were involved and trained by minimizing the loss functions, which were defined as the combination of dissimilarity between the fixed image and the deformed image and DVF regularization term. In addition, attention gates were incorporated into the three models to distinguish the moving structures from non-moving or minimal-moving structures during registration. The three models were trained sequentially and separately to minimize the loss function in each scale to initialize the MANet, and then trained jointly to minimize the total loss function which incorporated an additional dissimilarity between fixed image and deformed image. Besides, an adversarial network was integrated into MANet to enforce the DVF regularization by penalizing the unrealistic deformed images. The proposed MANet was evaluated on the public dir-lab dataset, and the target registration errors (TREs) of the model were compared with convention iterative optimization-based methods and three recently published deep learning-based methods. The initial results showed that the MANet with an average of TRE of 1.53 ± 1.02 mm outperformed other registration methods, and its execution time took about 1 s for DVF estimation with no requirement of manual-tuning for parameters, which demonstrating that our proposed method had the ability of performing superior registration for 4D-CT.

Spatiotemporal Free-Form Registration Method Assisted by a Minimum Spanning Tree During Discontinuous Transformations.

The sliding motion along the boundaries of discontinuous regions has been actively studied in B-spline free-form deformation framework. This study focusses on the sliding motion for a velocity field-based 3D+t registration. The discontinuity of the tangent direction guides the deformation of the object region, and a separate control of two regions provides a better registration accuracy. The sliding motion under the velocity field-based transformation is conducted under the [Formula: see text]-Rényi entropy estimator using a minimum spanning tree (MST) topology. Moreover, a new topology changing method of the MST is proposed. The topology change is performed as follows: inserting random noise, constructing the MST, and removing random noise while preserving a local connection consistency of the MST. This random noise process (RNP) prevents the [Formula: see text]-Rényi entropy-based registration from degrading in sliding motion, because the RNP creates a small disturbance around special locations. Experiments were performed using two publicly available datasets: the DIR-Lab dataset, which consists of 4D pulmonary computed tomography (CT) images, and a benchmarking framework dataset for cardiac 3D ultrasound. For the 4D pulmonary CT images, RNP produced a significantly improved result for the original MST with sliding motion (p<0.05). For the cardiac 3D ultrasound dataset, only a discontinuity-based registration indicated activity of the RNP. In contrast, the single MST without sliding motion did not show any improvement. These experiments proved the effectiveness of the RNP for sliding motion.

4D CT Deformable Registration Using Unsupervised Deep Learning for Lung Stereotactic Body Radiation Therapy

In current lung stereotactic body radiation therapy (SBRT), physicians assess the tumor motion on the movie loops of the 4D CT images to select treatment phases for gated lung SBRT. However, physician’s manual selection of the treatment phase is time-consuming and subjective. To address this challenge, we propose to develop a 4D CT deformable registration method, namely LungRegNet, to accurately assess the respiratory motion of lung/tumor using 4D CT images which could help choose the optimal treatment phases for lung SBRT. The LungRegNet uses deep learning and consists of two sub-networks which are CoarseNet and FineNet. As the name suggests, CoarseNet predicts large lung motion on a coarse scale image while FineNet predicts local lung motion on a fine scale image. Both the CoarseNet and FineNet include a generator and a discriminator. The generator is trained to directly predict the displacement vector field (DVF) to deform the moving image. The discriminator is used to introduce additional DVF regularization to encourage realistic motion prediction by distinguishing the deformed images from the original images. CoarseNet is first trained to deform the moving images. The deformed images are then used by the FineNet for FineNet training. To increase the registration accuracy of the LungRegNet, we generate vessel-enhanced images by generating pulmonary vasculature probability maps prior to the network prediction. We performed five-fold cross validation on 10 lung 4D CT datasets, in which 10 CT images were acquired during a whole respiratory period for each patient. In addition, we tested our method using 10 datasets from public database DIRLAB that provided 300 manual landmark pairs per case for target registration error (TRE) calculation. The mean and standard deviation of TRE was 1.00±0.53mm for our patients and 1.59±1.58mm for the external DIRLAB datasets. The results indicated that our LungRegNet achieved better registration accuracy in terms of TRE than other available state-of-the-art deep learning-based methods on DIRLAB datasets. We have developed a novel unsupervised deep learning-based method to rapidly register 4D CT lung images and demonstrated its clinical feasibility and accuracy. This LungRegNet could accurately estimate patient-specific respiratory motion for lung SBRT to help physicians objectively find the optimal treatment phases, and enable more accurate accumulative dose calculation and thus more accurate plan evaluation. This tool will be further tested in prospective trials to determine if it could improve lung tumor delineation, reduce dose delivered to the organs-at-risk, and potentially improve survival of many lung cancer patients.

Lung Respiratory Motion Estimation Based on Fast Kalman Filtering and 4D CT Image Registration.

Respiratory motion estimation is an important part in image-guided radiation therapy and clinical diagnosis. However, most of the respiratory motion estimation methods rely on indirect measurements of external breathing indicators, which will not only introduce great estimation errors, but also bring invasive injury for patients. In this paper, we propose a method of lung respiratory motion estimation based on fast Kalman filtering and 4D CT image registration (LRME-4DCT). In order to perform dynamic motion estimation for continuous phases, a motion estimation model is constructed by combining two kinds of GPU-accelerated 4D CT image registration methods with fast Kalman filtering method. To address the high computational requirements of 4D CT image sequences, a multi-level processing strategy is adopted in the 4D CT image registration methods, and respiratory motion states are predicted from three independent directions. In the DIR-lab dataset and POPI dataset with 4D CT images, the average target registration error (TRE) of the LRME-4DCT method can reach 0.91 mm and 0.85 mm respectively. Compared with traditional estimation methods based on pair-wise image registration, the proposed LRME-4DCT method can estimate the physiological respiratory motion more accurately and quickly. Our proposed LRME-4DCT method fully meets the practical clinical requirements for rapid dynamic estimation of lung respiratory motion.

LungRegNet: An unsupervised deformable image registration method for 4D-CT lung.

To develop an accurate and fast deformable image registration (DIR) method for four-dimensional computed tomography (4D-CT) lung images. Deep learning-based methods have the potential to quickly predict the deformation vector field (DVF) in a few forward predictions. We have developed an unsupervised deep learning method for 4D-CT lung DIR with excellent performances in terms of registration accuracies, robustness, and computational speed. A fast and accurate 4D-CT lung DIR method, namely LungRegNet, was proposed using deep learning. LungRegNet consists of two subnetworks which are CoarseNet and FineNet. As the name suggests, CoarseNet predicts large lung motion on a coarse scale image while FineNet predicts local lung motion on a fine scale image. Both the CoarseNet and FineNet include a generator and a discriminator. The generator was trained to directly predict the DVF to deform the moving image. The discriminator was trained to distinguish the deformed images from the original images. CoarseNet was first trained to deform the moving images. The deformed images were then used by the FineNet for FineNet training. To increase the registration accuracy of the LungRegNet, we generated vessel-enhanced images by generating pulmonary vasculature probability maps prior to the network prediction. We performed fivefold cross validation on ten 4D-CT datasets from our department. To compare with other methods, we also tested our method using separate 10 DIRLAB datasets that provide 300 manual landmark pairs per case for target registration error (TRE) calculation. Our results suggested that LungRegNet has achieved better registration accuracy in terms of TRE than other deep learning-based methods available in the literature on DIRLAB datasets. Compared to conventional DIR methods, LungRegNet could generate comparable registration accuracy with TRE smaller than 2mm. The integration of both the discriminator and pulmonary vessel enhancements into the network was crucial to obtain high registration accuracy for 4D-CT lung DIR. The mean and standard deviation of TRE were 1.00±0.53mm and 1.59±1.58mm on our datasets and DIRLAB datasets respectively. An unsupervised deep learning-based method has been developed to rapidly and accurately register 4D-CT lung images. LungRegNet has outperformed its deep-learning-based peers and achieved excellent registration accuracy in terms of TRE.

Lung 4D CT Image Registration Based on High-Order Markov Random Field.

To solve the problem that traditional image registration methods based on continuous optimization for large motion lung 4D CT image sequences are easy to fall into local optimal solutions and lead to serious misregistration, a novel image registration method based on high-order Markov Random Field (MRF) is proposed. By analyzing the effect of the deformation field constraint of the potential functions with different order cliques in MRF model, energy functions with high-order cliques form are designed separately for 2D and 3D images to preserve topology of the deformation field. In order to preserve the topology of the deformation field more effectively, it is necessary to apply a smooth term and a topology preservation term simultaneously in the energy function and use logarithmic function to impose a penalty on the Jacobian matrix with high-order cliques in the topology preservation term. For the complexity of the designed energy function with high-order cliques form, Markov Chain Monte Carlo (MCMC) algorithm is used to solve the optimization problem of the designed energy function. To address the high computational requirements in lung 4D CT image registration, a multi-level processing strategy is adopted to reduce the space complexity of the proposed registration method and promotes the computational efficiency. In the DIR-lab dataset with 4D CT images and the COPD (Chronic Obstructive Pulmonary Disease) dataset with 3D CT images, the average target registration error (TRE) of our proposed method can reach 0.95 mm respectively.

Multiresolution eXtended Free-Form Deformations (XFFD) for non-rigid registration with discontinuous transforms.

Image registration is an essential technique to obtain point correspondences between anatomical structures from different images. Conventional non-rigid registration methods assume a continuous and smooth deformation field throughout the image. However, the deformation field at the interface of different organs is not necessarily continuous, since the organs may slide over or separate from each other. Therefore, imposing continuity and smoothness ubiquitously would lead to artifacts and increased errors near the discontinuity interface. In computational mechanics, the eXtended Finite Element Method (XFEM) was introduced to handle discontinuities without using computational meshes that conform to the discontinuity geometry. Instead, the interpolation bases themselves were enriched with discontinuous functional terms. Borrowing this concept, we propose a multiresolution eXtented Free-Form Deformation (XFFD) framework that seamlessly integrates within and extends the standard Free-Form Deformation (FFD) approach. Discontinuities are incorporated by enriching the B-spline basis functions coupled with extra degrees of freedom, which are only introduced near the discontinuity interface. In contrast with most previous methods, restricted to sliding motion, no ad hoc penalties or constraints are introduced to reduce gaps and overlaps. This allows XFFD to describe more general discontinuous motions. In addition, we integrate XFFD into a rigorously formulated multiresolution framework by introducing an exact parameter upsampling method. The proposed method has been evaluated in two publicly available datasets: 4D pulmonary CT images from the DIR-Lab dataset and 4D CT liver datasets. The XFFD achieved a Target Registration Error (TRE) of 1.17 ± 0.85mm in the DIR-lab dataset and 1.94 ± 1.01mm in the liver dataset, which significantly improves on the performance of the state-of-the-art methods handling discontinuities.

Lung motion estimation using dynamic point shifting: An innovative model based on a robust point matching algorithm.

Image-guided radiotherapy is an advanced 4D radiotherapy technique that has been developed in recent years. However, respiratory motion causes significant uncertainties in image-guided radiotherapy procedures. To address these issues, an innovative lung motion estimation model based on a robust point matching is proposed in this paper. An innovative robust point matching algorithm using dynamic point shifting is proposed to estimate patient-specific lung motion during free breathing from 4D computed tomography data. The correspondence of the landmark points is determined from the Euclidean distance between the landmark points and the similarity between the local images that are centered at points at the same time. To ensure that the points in the source image correspond to the points in the target image during other phases, the virtual target points are first created and shifted based on the similarity between the local image centered at the source point and the local image centered at the virtual target point. Second, the target points are shifted by the constrained inverse function mapping the target points to the virtual target points. The source point set and shifted target point set are used to estimate the transformation function between the source image and target image. The performances of the authors' method are evaluated on two publicly available DIR-lab and POPI-model lung datasets. For computing target registration errors on 750 landmark points in six phases of the DIR-lab dataset and 37 landmark points in ten phases of the POPI-model dataset, the mean and standard deviation by the authors' method are 1.11 and 1.11 mm, but they are 2.33 and 2.32 mm without considering image intensity, and 1.17 and 1.19 mm with sliding conditions. For the two phases of maximum inhalation and maximum exhalation in the DIR-lab dataset with 300 landmark points of each case, the mean and standard deviation of target registration errors on the 3000 landmark points of ten cases by the authors' method are 1.21 and 1.04 mm. In the EMPIRE10 lung registration challenge, the authors' method ranks 24 of 39. According to the index of the maximum shear stretch, the authors' method is also efficient to describe the discontinuous motion at the lung boundaries. By establishing the correspondence of the landmark points in the source phase and the other target phases combining shape matching and image intensity matching together, the mismatching issue in the robust point matching algorithm is adequately addressed. The target registration errors are statistically reduced by shifting the virtual target points and target points. The authors' method with consideration of sliding conditions can effectively estimate the discontinuous motion, and the estimated motion is natural. The primary limitation of the proposed method is that the temporal constraints of the trajectories of voxels are not introduced into the motion model. However, the proposed method provides satisfactory motion information, which results in precise tumor coverage by the radiation dose during radiotherapy.

A Locally Adaptive Regularization Based on Anisotropic Diffusion for Deformable Image Registration of Sliding Organs

We propose a deformable image registration algorithm that uses anisotropic smoothing for regularization to find correspondences between images of sliding organs. In particular, we apply the method for respiratory motion estimation in longitudinal thoracic and abdominal computed tomography scans. The algorithm uses locally adaptive diffusion tensors to determine the direction and magnitude with which to smooth the components of the displacement field that are normal and tangential to an expected sliding boundary. Validation was performed using synthetic, phantom, and 14 clinical datasets, including the publicly available DIR-Lab dataset. We show that motion discontinuities caused by sliding can be effectively recovered, unlike conventional regularizations that enforce globally smooth motion. In the clinical datasets, target registration error showed improved accuracy for lung landmarks compared to the diffusive regularization. We also present a generalization of our algorithm to other sliding geometries, including sliding tubes (e.g., needles sliding through tissue, or contrast agent flowing through a vessel). Potential clinical applications of this method include longitudinal change detection and radiotherapy for lung or abdominal tumours, especially those near the chest or abdominal wall.