Novel utilization and quantification of Xsight diaphragm tracking for respiratory motion compensation in Cyberknife Synchrony treatment of liver tumors.

PURPOSE: The Xsight lung tracking system (XLTS) utilizes an advanced image processing algorithm to precisely identify the position of a tumor and determine its location in orthogonal x-ray images, instead of finding fiducials, thereby minimizing the risk of fiducial insertion-related side effects. To assess and gauge the effectiveness of CyberKnife Synchrony in treating liver tumors located in close proximity to or within the diaphragm, we employed the Xsight diaphragm tracking system (XDTS), which was based on the XLTS. METHODS: We looked back at the treatment logs of 11 patients (8/11 [XDTS], 3/11 [Fiducial-based Target Tracking System-FTTS]) who had liver tumors in close proximity to or within the diaphragm. And the results are compared with the patients who undergo the treatment of FTTS. The breathing data information was calculated as a rolling average to reduce the effect of irregular breathing. We tested the tracking accuracy with a dynamic phantom (18023-A) on the basis of patient-specific respiratory curve. RESULTS: The average values for the XDTS and FTTS correlation errors were 1.38 ± 0.65  versus 1.50 ± 0.26 mm (superior-inferior), 1.28 ± 0.48  versus 0.40 ± 0.09 mm (left-right), and 0.96 ± 0.32  versus 0.47 ± 0.10 mm(anterior-posterior), respectively. The prediction errors for two methods of 0.65 ± 0.16  versus 5.48 ± 3.33 mm in the S-I direction, 0.34 ± 0.10  versus 1.41 ± 0.76 mm in the A-P direction, and 0.22 ± 0.072  versus 1.22 ± 0.48 mm in the L-R direction. The coverage rate of FTTS slightly less than that of XDTS, such as 96.53 ± 8.19% (FTTS) versus 98.03 ± 1.54 (XDTS). The prediction error, the motion amplitude, and the variation of the respiratory center phase were strongly related to each other. Especially, the higher the amplitude and the variation, the higher the prediction error. CONCLUSION: The diaphragm has the potential to serve as an alternative to gold fiducial markers for detecting liver tumors in close proximity or within it. We also found that we needed to reduce the motion amplitude and train the respiration of the patients during liver radiotherapy, as well as control and evaluate their breathing.

Compensation for respiratory motion-induced signal loss and phase corruption in free-breathing self-navigated cine DENSE using deep learning.

PURPOSE: To introduce a model that describes the effects of rigid translation due to respiratory motion in displacement encoding with stimulated echoes (DENSE) and to use the model to develop a deep convolutional neural network to aid in first-order respiratory motion compensation for self-navigated free-breathing cine DENSE of the heart. METHODS: The motion model includes conventional position shifts of magnetization and further describes the phase shift of the stimulated echo due to breathing. These image-domain effects correspond to linear and constant phase errors, respectively, in k-space. The model was validated using phantom experiments and Bloch-equation simulations and was used along with the simulation of respiratory motion to generate synthetic images with phase-shift artifacts to train a U-Net, DENSE-RESP-NET, to perform motion correction. DENSE-RESP-NET-corrected self-navigated free-breathing DENSE was evaluated in human subjects through comparisons with signal averaging, uncorrected self-navigated free-breathing DENSE, and breath-hold DENSE. RESULTS: Phantom experiments and Bloch-equation simulations showed that breathing-induced constant phase errors in segmented DENSE leads to signal loss in magnitude images and phase corruption in phase images of the stimulated echo, and that these artifacts can be corrected using the known respiratory motion and the model. For self-navigated free-breathing DENSE where the respiratory motion is not known, DENSE-RESP-NET corrected the signal loss and phase-corruption artifacts and provided reliable strain measurements for systolic and diastolic parameters. CONCLUSION: DENSE-RESP-NET is an effective method to correct for breathing-associated constant phase errors. DENSE-RESP-NET used in concert with self-navigation methods provides reliable free-breathing DENSE myocardial strain measurement.

Metabolite-cycled echo-planar spectroscopic imaging of the human heart.

PURPOSE: Spectroscopic imaging could provide insights into regional cardiac triglyceride variations, but is hampered by relatively long scan times. It is proposed to synergistically combine echo-planar spectroscopic imaging (EPSI) with motion-adapted gating, weighted acquisition and metabolite cycling to reduce scan times to less than 10 min while preserving spatial-spectral quality. The method is compared to single-voxel measurements and to metabolite-cycled EPSI with conventional acquisition for assessing triglyceride-to-water (TG/W) ratios in the human heart. METHODS: Measurements were performed on 10 healthy volunteers using a clinical 1.5T system. EPSI data was acquired both without and with motion-adapted gating in combination with weighted acquisition to assess TG/W ratios and relative Cramér-Rao lower bounds (CRLB) of TG. For comparison, single-voxel (PRESS) spectra were acquired in the interventricular septum. RESULTS: Bland-Altman analyses did not show a significant bias in TG/W when comparing both metabolite-cycled EPSI methods to PRESS for any of the cardiac segments. Scan time was 8.05 ± 2.06 min and 17.91 ± 3.93 min for metabolite-cycled EPSI with and without motion-adapted gating and weighted acquisition, respectively, while relative CRLB of TG did not differ significantly between the two methods for any of the cardiac segments. CONCLUSIONS: Metabolite-cycled EPSI with motion-adapted gating and weighted acquisition allows detecting TG/W ratios in different regions of the in vivo human heart. Scan time is reduced by more than 2-fold to less than 10 min as compared to conventional acquisition, while keeping the quality of TG fitting constant.

Free-Breathing Volumetric Liver R2* and Proton Density Fat Fraction Quantification in Pediatric Patients Using Stack-of-Radial MRI With Self-Gating Motion Compensation.

BACKGROUND: Stack-of-radial multiecho gradient-echo MRI is promising for free-breathing liver R2* quantification and may benefit children. PURPOSE: To validate stack-of-radial MRI with self-gating motion compensation in phantoms, and to evaluate it in children. STUDY TYPE: Prospective. PHANTOMS: Four vials with different R2* driven by a motion stage. SUBJECTS: Sixteen pediatric patients with suspected nonalcoholic fatty liver disease or steatohepatitis (five females, 13 ± 4 years, body mass index 29.2 ± 8.6 kg/m2 ). FIELD STRENGTH/SEQUENCES: Stack-of-radial, and 2D and 3D Cartesian multiecho gradient-echo sequences at 3T. ASSESSMENT: Ungated and gated stack-of-radial proton density fat fraction (PDFF) and R2* maps were reconstructed without and with self-gating motion compensation. Stack-of-radial R2* measurements of phantoms without and with motion were validated against reference 2D Cartesian results of phantoms without motion. In subjects, free-breathing stack-of-radial and reference breath-hold 3D Cartesian were acquired. Subject inclusion for statistical analysis and region of interest placement were determined independently by two observers. STATISTICAL TESTS: Phantom results were fitted with a weighted linear model. Demographic differences between excluded and included subjects were tested by multivariate analysis of variance. PDFF and R2* measurements were compared using Bland-Altman analysis. Interobserver agreement was assessed by the intraclass correlation coefficient (ICC). RESULTS: Ungated stack-of-radial R2* inside moving phantom vials showed a significant positive bias of 64.3 s-1 (P < 0.00001), unlike gated results (P > 0.31). Subject inclusion decisions for statistical analysis from two observers were consistent. No significant differences were found between four excluded and 12 included subjects (P = 0.14). Compared to breath-hold Cartesian, ungated and gated free-breathing stack-of-radial exhibited mean R2* differences of 18.5 s-1 and 3.6 s-1 . Mean PDFF differences were 1.1% and 1.0% for ungated and gated measurements, respectively. Interobserver agreement was excellent (ICC for PDFF = 0.99, ICC for R2* = 0.90; P < 0.0003). DATA CONCLUSION: Stack-of-radial MRI with self-gating motion compensation seems to allow free-breathing liver R2* and PDFF quantification in children. LEVEL OF EVIDENCE: 2 TECHNICAL EFFICACY STAGE: 2.

Whole-heart T1 mapping using a 2D fat image navigator for respiratory motion compensation.

PURPOSE: To combine a 3D saturation-recovery-based myocardial T1 mapping (3D SASHA) sequence with a 2D image navigator with fat excitation (fat-iNAV) to allow 3D T1 maps with 100% respiratory scan efficiency and predictable scan time. METHODS: Data from T1 phantom and 10 subjects were acquired at 1.5T. For respiratory motion compensation, a 2D fat-iNAV was acquired before each 3D SASHA k-space segment to correct for 2D translational motion in a beat-to-beat fashion. The effect of the fat-iNAV on the 3D SASHA T1 estimation was evaluated on the T1 phantom. For 3 representative subjects, the proposed free-breathing 3D SASHA with fat-iNAV was compared to the original implementation with the diaphragmatic navigator. The 3D SASHA with fat-iNAV was compared to the breath-hold 2D SASHA sequence in terms of accuracy and precision. RESULTS: In the phantom study, the Bland-Altman plot shows that the 2D fat-iNAVs does not affect the T1 quantification of the 3D SASHA acquisition (0 ± 12.5 ms). For the in vivo study, the 2D fat-iNAV permits to estimate the respiratory motion of the heart, while allowing for 100% scan efficiency, improving the precision of the T1 measurement compared to non-motion-corrected 3D SASHA. However, the image quality achieved with the proposed 3D SASHA with fat-iNAV is lower compared to the original implementation, with reduced delineation of the myocardial borders and papillary muscles. CONCLUSIONS: We demonstrate the feasibility to combine the 3D SASHA T1 mapping imaging sequence with a 2D fat-iNAV for respiratory motion compensation, allowing 100% respiratory scan efficiency and predictable scan time.

Navigator-free metabolite-cycled proton spectroscopy of the heart.

PURPOSE: Respiratory gating in cardiac water-suppressed (WS) proton spectroscopy leads to long and unpredictable scan times. Metabolite cycling allows to perform frequency and phase correction on the water signal and, hence, offers an approach to navigator-free cardiac spectroscopy with fixed scan time. The objective of the present study was to develop and implement navigator-free metabolite-cycled cardiac proton spectroscopy (MC nonav) and compare it with standard navigator-gated WS (WS nav) and navigator-free WS (WS nonav) measurements for the assessment of triglyceride-to-water ratios (TG/W) and creatine-to-water ratios (CR/W) in the intraventricular septum of the in vivo heart. METHODS: Navigator-free metabolite-cycled spectroscopy was implemented on a clinical 1.5T system. In vivo measurements were performed on 10 young and 5 older healthy volunteers to assess signal-to-noise ratio efficiency as well as TG/W and CR/W and the relative Cramér-Rao lower bounds for CR. The performance of the metabolite-cycled sequence was verified using simulations. RESULTS: On average, scan times of MC nonav were 3.4 times shorter compared with WS nav, while no significant bias for TG/W was observed (coefficient of variation = 14.0%). signal-to-noise ratio efficiency of both TG and CR increased for MC nonav compared with WS nav. Relative Cramér-Rao lower bounds of CR decreased for MC nonav. Overall spectral quality was found comparable between MC nonav and WS nav, while it was inferior for WS nonav. CONCLUSION: Navigator-free metabolite-cycled cardiac proton spectroscopy offers 3.4-fold accelerated assessment of TG/W and CR/W in the heart with preserved spectral quality when compared with navigator-gated WS scans.

Accelerated high-resolution free-breathing 3D whole-heart T2-prepared black-blood and bright-blood cardiovascular magnetic resonance.

BACKGROUND: The free-breathing 3D whole-heart T2-prepared Bright-blood and black-blOOd phase SensiTive inversion recovery (BOOST) cardiovascular magnetic resonance (CMR) sequence was recently proposed for simultaneous bright-blood coronary CMR angiography and black-blood late gadolinium enhancement (LGE) imaging. This sequence enables simultaneous visualization of cardiac anatomy, coronary arteries and fibrosis. However, high-resolution (< 1.4 × 1.4 × 1.4 mm3) fully-sampled BOOST requires long acquisition times of ~ 20 min. METHODS: In this work, we propose to extend a highly efficient respiratory-resolved motion-corrected reconstruction framework (XD-ORCCA) to T2-prepared BOOST to enable high-resolution 3D whole-heart coronary CMR angiography and black-blood LGE in a clinically feasible scan time. Twelve healthy subjects were imaged without contrast injection (pre-contrast BOOST) and 10 patients with suspected cardiovascular disease were imaged after contrast injection (post-contrast BOOST). A quantitative analysis software was used to compare accelerated pre-contrast BOOST against the fully-sampled counterpart (vessel sharpness and length of the left and right coronary arteries). Moreover, three cardiologists performed diagnostic image quality scoring for clinical 2D LGE and both bright- and black-blood 3D BOOST imaging using a 4-point scale (1-4, non-diagnostic-fully diagnostic). A two one-sided test of equivalence (TOST) was performed to compare the pre-contrast BOOST images. Nonparametric TOST was performed to compare post-contrast BOOST image quality scores. RESULTS: The proposed method produces images from 3.8 × accelerated non-contrast-enhanced BOOST acquisitions with comparable vessel length and sharpness to those obtained from fully- sampled scans in healthy subjects. Moreover, in terms of visual grading, the 3D BOOST LGE datasets (median 4) and the clinical 2D counterpart (median 3.5) were found to be statistically equivalent (p < 0.05). In addition, bright-blood BOOST images allowed for visualization of the proximal and middle left anterior descending and right coronary sections with high diagnostic quality (mean score > 3.5). CONCLUSIONS: The proposed framework provides high-resolution 3D whole-heart BOOST images from a single free-breathing acquisition in ~ 7 min.

Visualization of coronary arteries in paediatric patients using whole-heart coronary magnetic resonance angiography: comparison of image-navigation and the standard approach for respiratory motion compensation.

AIMS: To investigate the use of respiratory motion compensation using image-based navigation (iNAV) with constant respiratory efficiency using single end-expiratory thresholding (CRUISE) for coronary magnetic resonance angiography (CMRA), and compare it to the conventional diaphragmatic navigator (dNAV) in paediatric patients with congenital or suspected heart disease. METHODS: iNAV allowed direct tracking of the respiratory heart motion and was generated using balanced steady state free precession startup echoes. Respiratory gating was achieved using CRUISE with a fixed 50% efficiency. Whole-heart CMRA was acquired with 1.3 mm isotropic resolution. For comparison, CMRA with identical imaging parameters were acquired using dNAV. Scan time, visualization of coronary artery origins and mid-course, imaging quality and sharpness was compared between the two sequences. RESULTS: Forty patients (13 females; median weight: 44 kg; median age: 12.6, range: 3 months-17 years) were enrolled. 25 scans were performed in awake patients. A contrast agent was used in 22 patients. The scan time was significantly reduced using iNAV for awake patients (iNAV 7:48 ± 1:26 vs dNAV 9:48 ± 3:11, P = 0.01) but not for patients under general anaesthesia (iNAV = 6:55 ± 1:50 versus dNAV = 6:32 ± 2:16; P = 0.32). In 98% of the cases, iNAV image quality had an equal or higher score than dNAV. The visual score analysis showed a clear difference, favouring iNAV (P = 0.002). The right coronary artery and the left anterior descending vessel sharpness was significantly improved (iNAV: 56.8% ± 10.1% vs dNAV: 53.7% ± 9.9%, P < 0.002 and iNAV: 55.8% ± 8.6% vs dNAV: 53% ± 9.2%, P = 0.001, respectively). CONCLUSION: iNAV allows for a higher success-rate and clearer depiction of the mid-course of coronary arteries in paediatric patients. Its acquisition time is shorter in awake patients and image quality score is equal or superior to the conventional method in most cases.

Multipoint 5D flow cardiovascular magnetic resonance - accelerated cardiac- and respiratory-motion resolved mapping of mean and turbulent velocities.

BACKGROUND: Volumetric quantification of mean and fluctuating velocity components of transient and turbulent flows promises a comprehensive characterization of valvular and aortic flow characteristics. Data acquisition using standard navigator-gated 4D Flow cardiovascular magnetic resonance (CMR) is time-consuming and actual scan times depend on the breathing pattern of the subject, limiting the applicability of the method in a clinical setting. We sought to develop a 5D Flow CMR framework which combines undersampled data acquisition including multipoint velocity encoding with low-rank image reconstruction to provide cardiac- and respiratory-motion resolved assessment of velocity maps and turbulent kinetic energy in fixed scan times. METHODS: Data acquisition and data-driven motion state detection was performed using an undersampled Cartesian tiny Golden angle approach. Locally low-rank (LLR) reconstruction was implemented to exploit correlations among heart phases and respiratory motion states. To ensure accurate quantification of mean and turbulent velocities, a multipoint encoding scheme with two velocity encodings per direction was incorporated. Velocity-vector fields and turbulent kinetic energy (TKE) were obtained using a Bayesian approach maximizing the posterior probability given the measured data. The scan time of 5D Flow CMR was set to 4 min. 5D Flow CMR with acceleration factors of 19 .0 ± 0.21 (mean ± std) and velocity encodings (VENC) of 0.5 m/s and 1.5 m/s per axis was compared to navigator-gated 2x SENSE accelerated 4D Flow CMR with VENC = 1.5 m/s in 9 subjects. Peak velocities and peak flow were compared and magnitude images, velocity and TKE maps were assessed. RESULTS: While net scan time of 5D Flow CMR was 4 min independent of individual breathing patterns, the scan times of the standard 4D Flow CMR protocol varied depending on the actual navigator gating efficiency and were 17.8 ± 3.9 min on average. Velocity vector fields derived from 5D Flow CMR in the end-expiratory state agreed well with data obtained from the navigated 4D protocol (normalized root-mean-square error 8.9 ± 2.1%). On average, peak velocities assessed with 5D Flow CMR were higher than for the 4D protocol (3.1 ± 4.4%). CONCLUSIONS: Respiratory-motion resolved multipoint 5D Flow CMR allows mapping of mean and turbulent velocities in the aorta in 4 min.

Cardiac- versus diaphragm-based respiratory navigation for proton spectroscopy of the heart.

OBJECTIVES: To study inter-individual differences of the relation between diaphragm and heart motion, the objective of the present study was to implement respiratory navigation on the heart and compare it against the established method of navigator gating on the diaphragm for single-voxel cardiac 1H-MRS. MATERIALS AND METHODS: 1H-MRS was performed on a 1.5T system in 19 healthy volunteers of mixed age (range 24-75 years). Spectra were recorded in a 6-8 ml voxel in the ventricular septum using a PRESS (point-resolved spectroscopy) sequence and ECG gating. Water-unsuppressed data acquired with pencil beam navigation on the heart were compared to data with navigation on the diaphragm. Water-suppressed data were obtained to assess triglyceride-to-water ratios. RESULTS: Water phase and amplitude fluctuations for cardiac versus diaphragm navigation did not reveal significant differences. Both navigator positions provided comparable triglyceride-to-water ratios and gating efficiencies (coefficient of variation (CoV) 7.0%). The cardiac navigator showed a good reproducibility (CoV 5.2%). DISCUSSION: Respiratory navigation on the heart does not convey an advantage over diaphragm-based navigator gating for cardiac 1H-MRS, but also no disadvantage. Consequently, cardiac and diaphragm respiratory navigation may be used interchangeably.

Adaptive control of phase leading compensator parameters applied to respiratory motion compensation system.

PURPOSE: This study evaluates the feasibility of our previously developed Respiratory Motion Compensation System (RMCS) combined with the Phase Lead Compensator (PLC) to eliminate system delays during the compensation of respiration-induced tumor motion. The study objective is to improve the compensation effect of RMCS and the efficay of radiation therapy to reduce its side effects to the patients. MATERIAL AND METHODS: In this study, LabVIEW was used to develop the proposed software for calculating real-time adaptive control parameters, combined with PLC and RMCS for the compensation of total system delay time. Experiments of respiratory motion compensation were performed using 6 pre-recorded human respiration patterns and 7 sets of different sine waves. During the experiments, a respiratory simulation device, Respiratory Motion Simulation System (RMSS), was placed on the RMCS, and the detected target motion signals by the Ultrasound Image Tracking Algorithm (UITA) were transmitted to the RMCS, and the compensation of respiration induced motion was started. Finally, the tracking error of the system is obtained by comparing the encoder signals bwtween RMSS and RMCS. The compensation efficacy is verified by the root mean squared error (RMSE) and the system compensation rate (CR). RESULTS: The experimental results show that the calcuated CR with the simulated respiration patterns is between 42.85% ∼3.53% and 33.76% ∼2.62% in the Right-Left (RL) and Superior-Inferior (SI), respectively, after the RMCS compensation of using the adaptive control parameters in PLC. For the compensation results of human respiration patterns, the CR is between 58.95% ∼8.56% and 62.87% ∼9.05% in RL and SI, respectively. CONCLUSIONS: During the respiratory motion compensation, the influence of the delay time of the entire system (RMCS+RMSS+UITA) on the compensation effect was improved by adding an adaptive control PLC, which reduces compensation error and helps improve efficacy of radiation therapy.

Optimized respiratory-resolved motion-compensated 3D Cartesian coronary MR angiography.

PURPOSE: To develop a robust and efficient reconstruction framework that provides high-quality motion-compensated respiratory-resolved images from free-breathing 3D whole-heart Cartesian coronary magnetic resonance angiography (CMRA) acquisitions. METHODS: Recently, XD-GRASP (eXtra-Dimensional Golden-angle RAdial Sparse Parallel MRI) was proposed to achieve 100% scan efficiency and provide respiratory-resolved 3D radial CMRA images by exploiting sparsity in the respiratory dimension. Here, a reconstruction framework for Cartesian CMRA imaging is proposed, which provides respiratory-resolved motion-compensated images by incorporating 2D beat-to-beat translational motion information to increase sparsity in the respiratory dimension. The motion information is extracted from interleaved image navigators and is also used to compensate for 2D translational motion within each respiratory phase. The proposed Optimized Respiratory-resolved Cartesian Coronary MR Angiography (XD-ORCCA) method was tested on 10 healthy subjects and 2 patients with cardiovascular disease, and compared against XD-GRASP. RESULTS: The proposed XD-ORCCA provides high-quality respiratory-resolved images, allowing clear visualization of the right and left coronary arteries, even for irregular breathing patterns. Compared with XD-GRASP, the proposed method improves the visibility and sharpness of both coronaries. Significant differences (p < .05) in visible vessel length and proximal vessel sharpness were found between the 2 methods. The XD-GRASP method provides good-quality images in the absence of intraphase motion. However, motion blurring is observed in XD-GRASP images for respiratory phases with larger motion amplitudes and subjects with irregular breathing patterns. CONCLUSION: A robust respiratory-resolved motion-compensated framework for Cartesian CMRA has been proposed and tested in healthy subjects and patients. The proposed XD-ORCCA provides high-quality images for all respiratory phases, independently of the regularity of the breathing pattern.

Fully integrated 3D high-resolution multicontrast abdominal PET-MR with high scan efficiency.

PURPOSE: To provide 3D multicontrast anatomical MR with high isotropic resolution and metabolic positron emission tomography (PET) images using a respiratory motion-compensated simultaneous PET-MR examination with high scan efficiency. THEORY AND METHODS: Standard abdominal PET-MR examinations combine MR data obtained during multiple breath-holds with free-breathing PET acquisitions, limiting the achievable image resolution and potentially causing misalignment errors between breath-hold and free-breathing data. Here, a 3D free-breathing PET-MR acquisition is presented, yielding T1 and T2 -weighted MR images with an isotropic resolution of 1.5 mm3 . In addition, nonrigid respiratory motion information and respiratory-resolved attenuation-correction maps are obtained without an increase in scan time. Motion information is used in motion-compensated image reconstructions to improve MR and PET image quality while shortening scan times. RESULTS: The proposed approach was evaluated in 11 oncology patients and provided respiratory motion information with an accuracy of 1.3 ± 0.1 mm. Sharpness of anatomical features was increased by 19 ± 13% compared with the uncorrected MR images in a 54 ± 26% shorter scan time than a gated MR acquisition. The MR-based motion information improved uptake values (75 ± 94%) and resolution (16 ± 27%) of simultaneously acquired PET images. CONCLUSIONS: The proposed method provides motion-compensated 3D high-quality MR and PET images in a comprehensive and highly efficient examination. Magn Reson Med 79:900-911, 2018. © 2017 International Society for Magnetic Resonance in Medicine.

4D respiratory motion-compensated image reconstruction of free-breathing radial MR data with very high undersampling.

PURPOSE: To develop four-dimensional (4D) respiratory time-resolved MRI based on free-breathing acquisition of radial MR data with very high undersampling. METHODS: We propose the 4D joint motion-compensated high-dimensional total variation (4D joint MoCo-HDTV) algorithm, which alternates between motion-compensated image reconstruction and artifact-robust motion estimation at multiple resolution levels. The algorithm is applied to radial MR data of the thorax and upper abdomen of 12 free-breathing subjects with acquisition times between 37 and 41 s and undersampling factors of 16.8. Resulting images are compared with compressed sensing-based 4D motion-adaptive spatio-temporal regularization (MASTeR) and 4D high-dimensional total variation (HDTV) reconstructions. RESULTS: For all subjects, 4D joint MoCo-HDTV achieves higher similarity in terms of normalized mutual information and cross-correlation than 4D MASTeR and 4D HDTV when compared with reference 4D gated gridding reconstructions with 8.4 ± 1.1 times longer acquisition times. In a qualitative assessment of artifact level and image sharpness by two radiologists, 4D joint MoCo-HDTV reveals higher scores (P < 0.05) than 4D HDTV and 4D MASTeR at the same undersampling factor and the reference 4D gated gridding reconstructions, respectively. CONCLUSIONS: 4D joint MoCo-HDTV enables time-resolved image reconstruction of free-breathing radial MR data with undersampling factors of 16.8 while achieving low-streak artifact levels and high image sharpness. Magn Reson Med 77:1170-1183, 2017. © 2016 International Society for Magnetic Resonance in Medicine.

Cardio-respiratory motion compensation for coronary roadmapping in fluoroscopic imaging.

BACKGROUND: Inferring the shape and position of coronary artery poses challenges when using fluoroscopic image guidance during percutaneous coronary intervention (PCI) procedure. Although angiography enables coronary artery visualization, the use of injected contrast agent raises concerns about radiation exposure and the risk of contrast-induced nephropathy. To address these issues, dynamic coronary roadmapping overlaid on fluoroscopic images can provide coronary visual feedback without contrast injection. PURPOSE: This paper proposes a novel cardio-respiratory motion compensation method that utilizes cardiac state synchronization and catheter motion estimation to achieve coronary roadmapping in fluoroscopic images. METHODS: For more accurate cardiac state synchronization, video frame interpolation is applied to increase the frame rate of the original limited angiographic images, resulting in higher framerate and more adequate roadmaps. The proposed method also incorporates a multi-length cross-correlation based adaptive electrocardiogram (ECG) matching to address irregular cardiac motion situation. Furthermore, a shape-constrained path searching method is proposed to extract catheter structure from both fluoroscopic and angiographic image. Then catheter motion is estimated using a cascaded matching approach with an outlier removal strategy, leading to a final corrected roadmap. RESULTS: Evaluation of the proposed method on clinical x-ray images demonstrates its effectiveness, achieving a 92.8% F1 score for catheter extraction on 589 fluoroscopic and angiographic images. Additionally, the method achieves a 5.6-pixel distance error of the coronary roadmap on 164 intraoperative fluoroscopic images. CONCLUSIONS: Overall, the proposed method achieves accurate coronary roadmapping in fluoroscopic images and shows potential to overlay accurate coronary roadmap on fluoroscopic image in assisting PCI.

Real-time respiratory motion compensated roadmaps for hepatic arterial interventions.

PURPOSE: During hepatic arterial interventions, catheter or guidewire position is determined by referencing or overlaying a previously acquired static vessel roadmap. Respiratory motion leads to significant discrepancies between the true position and configuration of the hepatic arteries and the roadmap, which makes navigation and accurate catheter placement more challenging and time consuming. The purpose of this work was to develop a dynamic respiratory motion compensated device guidance system and evaluate the accuracy and real-time performance in an in vivo porcine liver model. METHODS: The proposed device navigation system estimates a respiratory motion model for the hepatic vasculature from prenavigational X-ray image sequences acquired under free-breathing conditions with and without contrast enhancement. During device navigation, the respiratory state is tracked based on live fluoroscopic images and then used to estimate vessel deformation based on the previously determined motion model. Additionally, guidewires and catheters are segmented from the fluoroscopic images using a deep learning approach. The vessel and device information are combined and shown in a real-time display. Two different display modes are evaluated within this work: (1) a compensated roadmap display, where the vessel roadmap is shown moving with the respiratory motion; (2) an inverse compensated device display, where the device representation is compensated for respiratory motion and overlaid on a static roadmap. A porcine study including seven animals was performed to evaluate the accuracy and real-time performance of the system. In each pig, a guidewire and microcatheter with a radiopaque marker were navigated to distal branches of the hepatic arteries under fluoroscopic guidance. Motion compensated displays were generated showing real-time overlays of the vessel roadmap and intravascular devices. The accuracy of the motion model was estimated by comparing the estimated vessel motion to the motion of the X-ray visible marker. RESULTS: The median (minimum, maximum) error across animals was 1.08 mm (0.92 mm, 1.87 mm). Across different respiratory states and vessel branch levels, the odds of the guidewire tip being shown in the correct vessel branch were significantly higher (odds ratio = 3.12, p < 0.0001) for motion compensated displays compared to a noncompensated display (median probabilities of 86 and 69%, respectively). The average processing time per frame was 17 ms. CONCLUSIONS: The proposed respiratory motion compensated device guidance system increased the accuracy of the displayed device position relative to the hepatic vasculature. Additionally, the provided display modes combine both vessel and device information and do not require the mental integration of different displays by the physician. The processing times were well within the range of conventional clinical frame rates.

The feasibility of an approximate irregular field dose distribution simulation program applied to a respiratory motion compensation system.

PURPOSE: This study optimized our previously proposed simulation program for the approximate irregular field dose distribution (SPAD) and applied it to a respiratory motion compensation system (RMCS) and respiratory motion simulation system (RMSS). The main purpose was to rapidly analyze the two-dimensional dose distribution and evaluate the compensation effect of the RMCS during radiotherapy. METHODS: This study modified the SPAD to improve the rapid analysis of the dose distribution. In the experimental setup, four different respiratory signal patterns were input to the RMSS for actuation, and an ultrasound image tracking algorithm was used to capture the real-time respiratory displacement, which was input to the RMCS for actuation. A linear accelerator simultaneously irradiated the EBT3 film. The gamma passing rate was used to verify the dose similarity between the EBT3 film and the SPAD, and conformity index (CI) and compensation rate (CR) were used to quantify the compensation effect. RESULTS: The Gamma passing rates were 70.48-81.39% (2%/2mm) and 88.23-96.23% (5%/3mm) for various collimator opening patterns. However, the passing rates of the SPAD and EBT3 film ranged from 61.85% to 99.85% at each treatment time point. Under the four different respiratory signal patterns, CR ranged between 21% and 75%. After compensation, the CI for 85%, 90%, and 95% isodose constraints were 0.78, 0.57, and 0.12, respectively. CONCLUSIONS: This study has demonstrated that the dose change during each stage of the treatment process can be analyzed rapidly using the improved SPAD. After compensation, applying the RMCS can reduce the treatment errors caused by respiratory movements.

Fast Fourier transform combined with phase leading compensator for respiratory motion compensation system.

BACKGROUND: The reduction of the delaying effect in the respiratory motion compensation system (RMCS) is still impossible to completely correct the respiratory waveform of the human body due to each patient has a unique respiratory rate. In order to further improve the effectiveness of radiation therapy, this study evaluates our previously developed RMCS and uses the fast Fourier transform (FFT) algorithm combined with the phase lead compensator (PLC) to further improve the compensation rate (CR) of different respiratory frequencies and patterns of patients. METHODS: In this study, an algorithm of FFT automatic frequency detection was developed by using LabVIEW software, uisng FFT combined with PLC and RMCS to compensate the system delay time. Respiratory motion compensation experiments were performed using pre-recorded respiratory signals of 25 patients. During the experiment, the respiratory motion simulation system (RMSS) was placed on the RMCS, and the pre-recorded patient breathing signals were sent to the RMCS by using our previously developed ultrasound image tracking algorithm (UITA). The tracking error of the RMCS is obtained by comparing the encoder signals of the RMSS and RMCS. The compensation effect is verified by root mean squared error (RMSE) and system CR. RESULTS: The experimental results show that the patient's respiratory patterns compensated by the RMCS after using the proposed FFT combined with PLC control method, the RMSE is between 1.50-5.71 and 3.15-8.31 mm in the right-left (RL) and superior-inferior (SI) directions, respectively. CR is between 72.86-93.25% and 62.3-83.81% in RL and SI, respectively. CONCLUSIONS: This study used FFT combined with PLC control method to apply to RMCS, and used UITA for respiratory motion compensation. Under the automatic frequency detection, the best dominant frequency of the human respiratory waveform can be determinated. In radiotherapy, it can be used to compensate the tumor movement caused by respiratory motion and reduce the radiation damage and side effects of normal tissues nearby the tumor.

Technical note: Accelerated nonrigid motion-compensated isotropic 3D coronary MR angiography.

PURPOSE: To develop an accelerated and nonrigid motion-compensated technique for efficient isotropic 3D whole-heart coronary magnetic resonance angiography (CMRA) with Cartesian acquisition. METHODS: Highly efficient whole-heart 3D CMRA was achieved by combining image reconstruction from undersampled data using compressed sensing (CS) with a nonrigid motion compensation framework. Undersampled acquisition was performed using a variable-density Cartesian trajectory with radial order (VD-CAPR). Motion correction was performed in two steps: beat-to-beat 2D translational correction with motion estimated from interleaved image navigators, and bin-to-bin 3D nonrigid correction with motion estimated from respiratory-resolved images reconstructed from undersampled 3D CMRA data using CS. Nonrigid motion fields were incorporated into an undersampled motion-compensated reconstruction, which combines CS with the general matrix description formalism. The proposed approach was tested on 10 healthy subjects and compared against a conventional twofold accelerated 5-mm navigator-gated and tracked acquisition. RESULTS: The proposed method achieves isotropic 1.2-mm Cartesian whole-heart CMRA in 5 min ± 1 min (~8× acceleration). The proposed approach provides good-quality images of the left and right coronary arteries, comparable to those of a twofold accelerated navigator-gated and tracked acquisition, but scan time was up to about four times faster. For both coronaries, no significant differences (P > 0.05) in vessel sharpness and length were found between the proposed method and reference scan. CONCLUSION: The feasibility of a highly efficient motion-compensated reconstruction framework for accelerated 3D CMRA has been demonstrated in healthy subjects. Further investigation is required to assess the clinical value of the method.

Experimental verification of a two-dimensional respiratory motion compensation system with ultrasound tracking technique in radiation therapy.

This study proposed respiratory motion compensation system (RMCS) combined with an ultrasound image tracking algorithm (UITA) to compensate for respiration-induced tumor motion during radiotherapy, and to address the problem of inaccurate radiation dose delivery caused by respiratory movement. This study used an ultrasound imaging system to monitor respiratory movements combined with the proposed UITA and RMCS for tracking and compensation of the respiratory motion. Respiratory motion compensation was performed using prerecorded human respiratory motion signals and also sinusoidal signals. A linear accelerator was used to deliver radiation doses to GAFchromic EBT3 dosimetry film, and the conformity index (CI), root-mean-square error, compensation rate (CR), and planning target volume (PTV) were used to evaluate the tracking and compensation performance of the proposed system. Human respiratory pattern signals were captured using the UITA and compensated by the RMCS, which yielded CR values of 34-78%. In addition, the maximum coronal area of the PTV ranged from 85.53 mm2 to 351.11 mm2 (uncompensated), which reduced to from 17.72 mm2 to 66.17 mm2 after compensation, with an area reduction ratio of up to 90%. In real-time monitoring of the respiration compensation state, the CI values for 85% and 90% isodose areas increased to 0.7 and 0.68, respectively. The proposed UITA and RMCS can reduce the movement of the tracked target relative to the LINAC in radiation therapy, thereby reducing the required size of the PTV margin and increasing the effect of the radiation dose received by the treatment target.